Gantry crane anti-swing and positioning method and system based on multi-sensor fusion

Abstract

The invention relates to the technical field of cranes, in particular to a gantry crane anti-swing and positioning method and system based on multi-sensor fusion. The method comprises the following steps: establishing a crane working three-dimensional coordinate system and dividing into a plurality of working areas; defining an area adjacent to the current working area of the crane hook as a buffer area and updating the buffer area in real time; monitoring the moving condition of a suspicious object in the working three-dimensional coordinate system, and obtaining warning area data according to a working area where the suspicious object is located; monitoring the overlapping condition of the buffer area and the warning area, and outputting lifting hook operation adjustment data according to the overlapping area of the buffer area and the warning area; the system comprises a coordinate system establishing module, a region updating module, a mobile monitoring module and an operation adjusting module. The operation adjustment data of the lifting hook are output according to the overlapping area of the buffer area and the warning area, the lifting hook is prevented from colliding with other objects in the working area, offshore operation accidents are avoided, and therefore the safety operation coefficient is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a gantry crane anti-sway and positioning method and system based on multi-sensor fusion. Background Art

[0002] The gantry crane is a common heavy lifting equipment, widely used in places such as sea, ports, docks, shipyards and large logistics warehouses. It is named after its unique gantry-shaped base, which can move on the track to meet the needs of different work locations. The main structure of the gantry crane includes columns, beams, lifting trolleys and operating rooms. It has multiple functions such as lifting, luffing, rotation and travel, and can efficiently complete the loading and unloading and handling of goods.

[0003] At present, gantry cranes are used in offshore operations. The situation at sea is relatively complicated. Around the operation of the crane, there may be sudden emergencies such as ships sailing on the sea, fish jumping out of the sea, birds flying in the air and other offshore operating equipment. These situations cannot be predicted in advance. If the above situations occur, the operator's emergency avoidance operation or no operation may cause the hook to collide with other objects, thereby causing an offshore operation accident.

[0004] In summary, it is very necessary to propose a gantry crane anti-sway and positioning method and system to prevent the hook from colliding with other objects in the working area and causing offshore operation accidents, thereby increasing the safety operation factor. Summary of the invention

[0005] The purpose of the present invention is to provide a gantry crane anti-sway and positioning method and system based on multi-sensor fusion, aiming to prevent the hook from colliding with other objects in the working area and causing offshore operation accidents, thereby increasing the safety operation factor.

[0006] To achieve the above purpose, the present invention adopts a portal crane anti-sway and positioning method based on multi-sensor fusion, which includes the following steps: According to the position of the crane, a three-dimensional working coordinate system of the crane is established, and the three-dimensional working coordinate system is divided into multiple working areas; Obtain the current working area and hook swing parameters of the crane hook, define the adjacent area of ​​the current working area as a buffer zone, obtain multi-sensor data after executing compensation control instructions, and update the buffer zone in real time; Monitor the movement of suspicious objects in the three-dimensional working coordinate system, and obtain warning area data based on the working area where the suspicious objects are located; Monitor the overlap of the buffer zone and the warning zone, and output the hook operation adjustment data based on the overlapping area of ​​the buffer zone and the warning zone.

[0007] Among them, in the step of establishing a crane working three-dimensional coordinate system according to the position of the crane and dividing the working three-dimensional coordinate system into multiple working areas: Taking the crane's rotation center as the origin, measure the three-dimensional coordinates of the base and convert them into a coordinate system, and calibrate the coordinate system using multiple sensors; The coordinate system is divided into a plurality of three-dimensional grid matrices by using a three-dimensional grid division method, and the three-dimensional grid matrix is ​​the working area.

[0008] Among them, in the steps of obtaining the current working area and hook swing parameters of the crane hook, defining the adjacent area of ​​the current working area as a buffer zone, obtaining multi-sensor data after executing the compensation control instruction, and updating the buffer zone in real time: Assigning operational attributes to the work area; the operational attributes include: free space, work area, and buffer zone; Query the current working area of ​​the crane hook, change the operation attribute of the current working area to the working area, and change the operation attribute of the adjacent area of ​​the current working area to the buffer zone; Acquire multi-sensor data and reset local area attributes in real time.

[0009] Before obtaining multi-sensor data and resetting local area attributes in real time: Predict the hook swing angle and generate compensation instructions, and then execute the compensation instructions.

[0010] Among them, in the step of monitoring the movement of the suspicious object in the working three-dimensional coordinate system and obtaining the warning area data according to the working area where the suspicious object is located: Sensors are used to cover the upper, middle and lower layers respectively; the upper layer is covered by millimeter-wave radar, the middle layer is covered by camera array, and the lower layer is covered by ToF lidar; Real-time monitoring of suspicious objects appearing in the upper, middle and lower layers, and obtaining data on the working areas where the suspicious objects are located; Change the operating attribute of the work area where the suspicious object is located to a warning area; Acquire multi-sensor data, reset local area attributes in real time, and output updated warning areas.

[0011] Among them, in the step of monitoring the overlap of the buffer zone and the warning zone, and outputting the hook operation adjustment data according to the overlap area of ​​the buffer zone and the warning zone: The buffer is used as the original buffer, and the first-level buffer, the second-level buffer, and the third-level buffer are expanded according to the original buffer; The warning area is taken as the original warning area, and the first-level warning area, the second-level warning area, and the third-level warning area are expanded according to the original warning area; Monitor the overlap of buffer and warning zones and output hook operation adjustment data.

[0012] Among them, in the step of monitoring the overlap of the buffer zone and the warning zone, and outputting the hook operation adjustment data according to the overlap area of ​​the buffer zone and the warning zone: When the third-level warning area touches the third-level buffer zone, the output hook stops running data and executes.

[0013] Among them, in the step of monitoring the overlap of the buffer zone and the warning zone, and outputting the hook operation adjustment data according to the overlap area of ​​the buffer zone and the warning zone: When the third-level warning area contacts the second-level buffer area, query the warning area reset data and upload the hook operation adjustment data.

[0014] Among them, in the step of monitoring the overlap of the buffer zone and the warning zone, and outputting the hook operation adjustment data according to the overlap area of ​​the buffer zone and the warning zone: When the third-level warning area contacts the first-level buffer zone, the hook operation adjustment data is executed.

[0015] The present invention also provides a portal crane anti-sway and positioning system based on multi-sensor fusion, including a coordinate system establishment module, a region update module, a mobile monitoring module, and an operation adjustment module; wherein: The coordinate system establishment module is used to establish a three-dimensional working coordinate system of the crane according to the position of the crane, and divide the working three-dimensional coordinate system into multiple working areas; The area update module is used to obtain the current working area and hook swing parameters of the crane hook, define the adjacent area of ​​the current working area as a buffer zone, obtain multi-sensor data after executing the compensation control instruction, and update the buffer zone in real time; The movement monitoring module is used to monitor the movement of suspicious objects in the working three-dimensional coordinate system and obtain warning area data according to the working area where the suspicious objects are located; The operation adjustment module is used to monitor the overlap between the buffer zone and the warning zone, and output the hook operation adjustment data according to the overlap area between the buffer zone and the warning zone.

[0016] The present invention discloses a gantry crane anti-sway and positioning method and system based on multi-sensor fusion, which adopts the coordinate system establishment module, the area update module, the movement monitoring module, and the operation adjustment module to perform the following process: according to the position of the crane, establish the crane working three-dimensional coordinate system, and divide the working three-dimensional coordinate system into multiple working areas; obtain the current working area and hook swing parameters of the crane hook, define the adjacent area of ​​the current working area as a buffer zone, obtain multi-sensor data after executing the compensation control instruction, and update the buffer zone in real time; monitor the movement of suspicious objects in the working three-dimensional coordinate system, and obtain warning zone data according to the working area where the suspicious objects are located; monitor the overlap of the buffer zone and the warning zone, and output the hook operation adjustment data according to the overlapping area of ​​the buffer zone and the warning zone. By setting up a buffer zone of the current working area of ​​the hook according to the offshore operation situation, and updating the buffer zone in real time according to the operation situation of the hook, defining a warning zone for the movement of suspicious objects, and outputting the hook operation adjustment data according to the overlapping area of ​​the buffer zone and the warning zone, the hook is prevented from colliding with other objects in the working area, thereby causing offshore operation accidents, thereby increasing the safety operation coefficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of the portal crane anti-sway and positioning method based on multi-sensor fusion of the present invention.

[0019] Figure 2 It is a flow chart of the steps of the portal crane anti-sway and positioning method based on multi-sensor fusion of the present invention.

[0020] Figure 3 It is a step flow chart of S100 of the present invention.

[0021] Figure 4 It is a step flow chart of S200 of the present invention.

[0022] Figure 5 It is a step flow chart of S300 of the present invention.

[0023] Figure 6 It is a step flow chart of S400 of the present invention.

[0024] Figure 7 It is a step flow chart of S500 of the present invention.

[0025] Figure 8 It is a structural principle diagram of the portal crane anti-sway and positioning system based on multi-sensor fusion of the present invention.

[0026] Fig. 9 It is a structural principle diagram of the electronic equipment of the present invention.

[0027] 601 - coordinate system establishment module, 602 - association judgment module, 603 - area update module, 604 - movement monitoring module, 605 - operation adjustment module. DETAILED DESCRIPTION

[0028] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0029] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0031] See also Figure 1 to Figure 7 The present invention provides a portal crane anti-sway and positioning method based on multi-sensor fusion, comprising the following steps: S100: According to the position of the crane, a three-dimensional working coordinate system of the crane is established, and the three-dimensional working coordinate system is divided into a plurality of working areas.

[0032] In this embodiment, according to the position of the crane, a three-dimensional working coordinate system of the crane is established, and the three-dimensional working coordinate system is divided into multiple working areas; the specific process is as follows: S101: Taking the crane rotation center as the origin, measure the three-dimensional coordinates of the base and convert them into a coordinate system, and calibrate the coordinate system using a multi-sensor; S102: using a three-dimensional grid division method to divide the coordinate system into a plurality of three-dimensional grid matrices, where the three-dimensional grid matrices are working areas.

[0033] In the above process, the three-dimensional coordinates of the base are first measured with the crane's rotation center as the origin using a laser tracker. At the same time, the NMEA-483 protocol is used to obtain the WGS84 coordinates provided by the RTK base station, which are converted to the engineering coordinate system using the seven-parameter method and calibrated using multiple sensors.

[0034] World coordinate system W: A fixed coordinate system based on the origin of the work site.

[0035] Local coordinate system L i : The moving coordinate system with the center of the base of the i-th crane as the origin.

[0036] The coordinate transformation process is: ; Where: R i is the rotation matrix, T is the translation vector (positioned by GPS+LiDAR); Coordinate system for: ; in: are the coordinates of the arm.

[0037] Then, the coordinate system is divided into multiple three-dimensional grid matrices using a three-dimensional grid division method. The three-dimensional grid matrix is ​​the working area. According to the characteristics of offshore operations, the relative movement speed of various objects is fast and the coordinate crossing speed is fast. The resolution of the three-dimensional grid matrix adopts a large value, such as 5m*5m*5m, 10m*10m*10m, 20m*20m*20m.

[0038] S200: Acquire the working three-dimensional coordinate systems of multiple cranes, define the operating area and virtual area of ​​each crane arm according to all the working three-dimensional coordinate systems, and determine the correlation between the operating areas and virtual areas of adjacent crane arms, and output arm operation adjustment data according to the determination results.

[0039] In this embodiment, the working three-dimensional coordinate systems of multiple cranes are obtained, the operating area and virtual area of ​​each crane arm are defined according to all the working three-dimensional coordinate systems, and the correlation between the operating areas and virtual areas of adjacent crane arms is determined, and the arm operation adjustment data is output according to the determination result; the specific process is as follows: S201: obtaining the working three-dimensional coordinate systems of multiple cranes in the same offshore operation area, defining the area where the crane arms are located as the operation area, and dividing the adjacent areas of the operation area into virtual areas; S202: Setting the working priority of each crane; S203: Determine the correlation between the operating area and the virtual area of ​​the adjacent crane arms, and output the arm operation adjustment data according to the work priority.

[0040] In the above process, the working three-dimensional coordinate systems of multiple cranes in the same offshore operation area are first obtained, and the area where each crane arm is located is defined as the operating area, and the adjacent area of ​​the operating area is divided into a virtual area. Then the work priority of each crane is set, and priority evaluation indicators such as task urgency, crane load, distance, and expected completion time are defined; real-time data is collected, including crane status, task queue, node status, etc.; the priority of each crane is calculated based on the evaluation indicators. Then the correlation between the operating area and the virtual area of ​​the adjacent crane arms is determined, and the arm operation adjustment data is output according to the work priority.

[0041] Through the laser radar, IMU inertial measurement unit and visual sensor, the following information is obtained in real time: position coordinates (three-dimensional space coordinates), attitude angles (pitch angle, yaw angle), movement speed and acceleration, load status (whether to lift cargo), and virtual areas are dynamically generated according to the load and arm length, such as: The virtual area of ​​crane A is a spherical area with a radius of 5 meters centered at the end of the boom.

[0042] The virtual area of ​​crane B is of the same type.

[0043] When the operating areas or virtual areas of the two arms overlap, an alarm is triggered: Case 1: The virtual area of ​​crane A overlaps with the operating area of ​​crane B, which is a high-risk conflict and requires immediate adjustment.

[0044] Case 2: If the virtual areas of the two arms overlap, a medium-risk warning is issued and monitoring or pre-adjustment is required.

[0045] Adjust the arm operation according to the following priorities: Urgent tasks take priority: Cranes carrying out urgent loading and unloading tasks have priority in passing through the overlap area.

[0046] Load status priority: Cranes carrying dangerous goods are given priority.

[0047] Path efficiency priority: The crane that is closer to the target position is given priority to maintain the path.

[0048] Default rule: Under the same priority, the crane that starts the task later will give way.

[0049] Adjust the data output process as follows: Input data: Crane A: target position (X1, Y1, Z1), speed V A, estimated arrival time T A .

[0050] Crane B: target position (X2, Y2, Z2), speed V B , estimated arrival time T B .

[0051] The coordinates of the conflict zone and its duration.

[0052] Path replanning: Generate a detour path for crane B to avoid the virtual area of ​​crane A (e.g., using the A* algorithm to search for the path).

[0053] Speed ​​adjustment: Reduce the speed of crane B to VB' so that it passes through the conflict zone later than crane A's TA+△t (△t is the safety time interval).

[0054] Anti-sway compensation: Combined with anti-sway algorithms (such as input shaping or fuzzy control), the trolley-spreader coordinated motion of crane B is adjusted to suppress the swing during the avoidance process.

[0055] Output data: { "Crane_B_Adjustment": { "New_Path": [[X3,Y3,Z3], [X4,Y4,Z4], ...], "Speed_Limit": v_B', "Avoidance_Time_Window": [t_start, t_end], "Anti_Swing_Params": { "Trolley_Accel": a_new, "Hoist_Speed": v_hoist_new } } } The PLC controller of crane B receives the adjustment instruction and drives the motor to adjust the motion parameters.

[0056] Dynamic adjustment of virtual area: Based on the load weight and the arm dynamics model, the virtual area boundary is calculated in real time.

[0057] Anti-sway and positioning coordination: During the avoidance process, the swing angle prediction model of the spreader, such as the Lagrange equation, is used to compensate the control amount to ensure smooth operation.

[0058] S300: Obtain the current working area and hook swing parameters of the crane hook, define the adjacent area of ​​the current working area as a buffer zone, obtain multi-sensor data after executing the compensation control instruction, and update the buffer zone in real time.

[0059] In this embodiment, the current working area and hook swing parameters of the crane hook are obtained, the adjacent area of ​​the current working area is defined as a buffer zone, multi-sensor data is obtained after executing the compensation control instruction, and the buffer zone is updated in real time; the specific process is as follows: S301: assigning operation attributes to the work area; the operation attributes include: free space, work area, buffer area, and warning area; S302: query the current working area of ​​the crane hook, change the operation attribute of the current working area to the working area, and change the operation attribute of the adjacent area of ​​the current working area to the buffer area; S303: predicting the hook swing angle and generating a compensation instruction, and executing the compensation instruction; S304: Acquire multi-sensor data, reset local area attributes in real time, and output an updated buffer.

[0060] In the above process: first, the operating attributes of the working area are assigned; the operating attributes include: free space, working area, buffer zone, and warning area. Then, the current working area of ​​the crane hook is queried, and the operating attributes of the current working area are changed to the working area, and the operating attributes of the adjacent area of ​​the current working area are changed to the buffer zone. Then, based on the hybrid algorithm combining the extended Kalman filter and the neural network, the hook swing angle is predicted in real time, a compensation instruction is generated, and the compensation instruction is executed. Finally, multi-sensor data is obtained, the local area attributes are reset in real time, and the updated buffer zone is output.

[0061] S400: Monitor the movement of the suspicious object in the working three-dimensional coordinate system, and obtain warning area data according to the working area where the suspicious object is located.

[0062] In this embodiment, the movement of the suspicious object in the working three-dimensional coordinate system is monitored, and the warning area data is obtained according to the working area where the suspicious object is located. The specific process is as follows: S401: Cover the upper layer, the middle layer, and the lower layer with sensors respectively, monitor suspicious objects appearing in the upper layer, the middle layer, and the lower layer in real time, and obtain data on the working area where the suspicious objects are located; S402: changing the operation attribute of the working area where the suspicious object is located to a warning area; S403: Acquire multi-sensor data, reset local area attributes in real time, and output an updated warning area.

[0063] In the above process, firstly, the upper, middle and lower layers are covered by sensors respectively, and suspicious objects appearing in the upper, middle and lower layers are monitored in real time to obtain the data of the working area where the suspicious objects are located. The upper layer (>20m): millimeter wave radar coverage, sampling rate 77GHz, detection radius 500m; middle layer (5-20m): RGB-D camera array coverage, accuracy 0.1m; low layer (<5m): ToF laser radar coverage, 10Hz sampling rate. Then the operating attribute of the working area where the suspicious object is located is changed to the warning area. Then obtain multi-sensor data, reset the local area attributes in real time, and output the updated warning area.

[0064] S500: monitor the overlap between the buffer zone and the warning zone, and output hook operation adjustment data according to the overlap area between the buffer zone and the warning zone.

[0065] In this embodiment, the overlap between the buffer zone and the warning zone is monitored, and the hook operation adjustment data is output according to the overlap area between the buffer zone and the warning zone; the specific process is as follows: S501: Using the buffer as the original buffer, expanding the primary buffer, the secondary buffer, and the tertiary buffer according to the original buffer; S502: taking the warning area as the original warning area, and expanding the first-level warning area, the second-level warning area, and the third-level warning area according to the original warning area; S503: Monitor the overlap between the buffer zone and the warning zone, and output hook operation adjustment data.

[0066] In the above process: the buffer zone is taken as the original buffer zone, and the first-level buffer zone, the second-level buffer zone, and the third-level buffer zone are expanded according to the original buffer zone; the third-level buffer zone wraps the second-level buffer zone, the second-level buffer zone wraps the first-level buffer zone, and the first-level buffer zone wraps the original buffer zone. The warning zone is taken as the original warning zone, and the first-level warning zone, the second-level warning zone, and the third-level warning zone are expanded according to the original warning zone; the third-level warning zone wraps the second-level warning zone, the second-level warning zone wraps the first-level warning zone, and the first-level warning zone wraps the original warning zone. Monitor the overlap between the buffer zone and the warning zone, and output the hook operation adjustment data.

[0067] When the third-level warning area does not touch the third-level buffer area, the buffer area and the warning area do not overlap, and the normal operation information of the hook is output.

[0068] When the third-level warning area contacts the third-level buffer, the third buffer and the third warning area overlap, the output hook stops running data, and executes.

[0069] When the third-level warning area contacts the second-level buffer area, the second buffer area and the second warning area overlap, the warning area reset data is queried, and the hook operation adjustment data is uploaded.

[0070] When the third-level warning area contacts the first-level buffer area, the first buffer area and the first warning area overlap, and the hook operation adjustment data is executed.

[0071] In the present invention, firstly, according to the position of the crane, a three-dimensional working coordinate system of the crane is established, and the working three-dimensional coordinate system is divided into multiple working areas. Then, the working three-dimensional coordinate systems of multiple cranes are obtained, and the operating area and virtual area of ​​each crane arm are defined according to all the working three-dimensional coordinate systems, and the correlation between the operating area and virtual area of ​​the adjacent crane arms is judged, and the arm operation adjustment data is output according to the judgment result. Then, the current working area and hook swing parameters of the crane hook are obtained, and the adjacent area of ​​the current working area is defined as a buffer zone. After executing the compensation control instruction, multi-sensor data is obtained, and the buffer zone is updated in real time. Then, the movement of suspicious objects in the working three-dimensional coordinate system is monitored, and the warning zone data is obtained according to the working area where the suspicious objects are located. Finally, the overlap of the buffer zone and the warning zone is monitored, and the hook operation adjustment data is output according to the overlapping area of ​​the buffer zone and the warning zone. By setting up a buffer zone of the current working area of ​​the hook according to the offshore operation situation, and updating the buffer zone in real time according to the operation situation of the hook, a warning zone is defined for the movement of the suspicious object, and the operation adjustment data of the hook is output according to the overlapping area of ​​the buffer zone and the warning zone, the hook is prevented from colliding with other objects in the working area, thereby causing offshore operation accidents, thereby increasing the safety operation coefficient.

[0072] Corresponding to the aforementioned embodiment of the portal crane anti-sway and positioning method based on multi-sensor fusion, the present application also provides an embodiment of the portal crane anti-sway and positioning system based on multi-sensor fusion.

[0073] Figure 8 is a block diagram of a portal crane anti-sway and positioning system based on multi-sensor fusion according to an exemplary embodiment. Figure 8 The system may include: a coordinate system establishment module 601, an association determination module 602, an area update module 603, a movement monitoring module 604, and an operation adjustment module 605; wherein: The coordinate system establishment module 601 is used to establish a three-dimensional working coordinate system of the crane according to the position of the crane, and divide the working three-dimensional coordinate system into multiple working areas; The association judgment module 602 is used to obtain the working three-dimensional coordinate systems of multiple cranes, define the operating area and virtual area of ​​each crane arm according to all the working three-dimensional coordinate systems, and judge the association between the operating areas and virtual areas of adjacent crane arms, and output arm operation adjustment data according to the judgment results; The area update module 603 is used to obtain the current working area and hook swing parameters of the crane hook, define the adjacent area of ​​the current working area as a buffer zone, obtain multi-sensor data after executing the compensation control instruction, and update the buffer zone in real time; The movement monitoring module 604 is used to monitor the movement of suspicious objects in the working three-dimensional coordinate system and obtain warning area data according to the working area where the suspicious objects are located; The operation adjustment module 605 is used to monitor the overlap between the buffer zone and the warning zone, and output the hook operation adjustment data according to the overlap area between the buffer zone and the warning zone.

[0074] In this embodiment, the coordinate system establishment module 601 establishes a three-dimensional working coordinate system of the crane according to the position of the crane, and divides the working three-dimensional coordinate system into multiple working areas; the association judgment module 602 obtains the working three-dimensional coordinate systems of multiple cranes, defines the operating area and virtual area of ​​each crane arm according to all the working three-dimensional coordinate systems, and judges the association between the operating area and virtual area of ​​the adjacent crane arms, and outputs the arm operation adjustment data according to the judgment result; the area update module 603 obtains the current working area and hook swing parameters of the crane hook, defines the adjacent area of ​​the current working area as a buffer zone, obtains multi-sensor data after executing the compensation control instruction, and updates the buffer zone in real time; the movement monitoring module 604 monitors the movement of suspicious objects in the working three-dimensional coordinate system, and obtains warning area data according to the working area where the suspicious objects are located; the operation adjustment module 605 monitors the overlap of the buffer zone and the warning zone, and outputs the hook operation adjustment data according to the overlapping area of ​​the buffer zone and the warning zone. By setting up a buffer zone in the current working area of ​​the hook according to the offshore operation situation, and updating the buffer zone in real time according to the operation status of the hook, defining a warning zone for the movement of suspicious objects, and outputting the operation adjustment data of the hook according to the overlapping area of ​​the buffer zone and the warning zone, it can prevent the hook from colliding with other objects in the working area and causing offshore operation accidents, thereby increasing the safety operation coefficient.

[0075] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0076] For the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application. A person of ordinary skill in the art can understand and implement it without creative work.

[0077] Accordingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned gantry crane anti-sway and positioning method based on multi-sensor fusion. Fig. 9 As shown in FIG. 1 , a hardware structure diagram of a gantry crane anti-sway and positioning system based on multi-sensor fusion provided by an embodiment of the present invention is provided for any device with data processing capability, except Fig. 9 In addition to the processor, memory and network interface shown, any device with data processing capability in which the apparatus in the embodiment is located may also include other hardware, generally based on the actual functions of the device with data processing capability, which will not be described in detail.

[0078] Correspondingly, the present application also provides a computer-readable storage medium on which computer instructions are stored. When the instructions are executed by the processor, the anti-sway and positioning method of the portal crane based on multi-sensor fusion as described above is implemented. The computer-readable storage medium can be an internal storage unit of any device with data processing capabilities described in any of the aforementioned embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash card (Flash Card), etc. equipped on the device. Furthermore, the computer-readable storage medium can also include both an internal storage unit and an external storage device of any device with data processing capabilities. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and can also be used to temporarily store data that has been output or is to be output.

[0079] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0080] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A portal crane anti-sway and positioning method based on multi-sensor fusion, characterized in that: The steps include: According to the position of the crane, a three-dimensional working coordinate system of the crane is established, and the three-dimensional working coordinate system is divided into multiple working areas; Obtain the current working area and hook swing parameters of the crane hook, define the adjacent area of ​​the current working area as a buffer zone, obtain multi-sensor data after executing compensation control instructions, and update the buffer zone in real time; Monitor the movement of suspicious objects in the three-dimensional working coordinate system, and obtain warning area data based on the working area where the suspicious objects are located; Monitor the overlap of the buffer zone and the warning zone, and output the hook operation adjustment data based on the overlapping area of ​​the buffer zone and the warning zone.

2. The portal crane anti-sway and positioning method based on multi-sensor fusion according to claim 1 is characterized in that: In the step of establishing the crane's working three-dimensional coordinate system according to the crane's position and dividing the working three-dimensional coordinate system into multiple working areas: Taking the crane's rotation center as the origin, measure the three-dimensional coordinates of the base and convert them into a coordinate system, and calibrate the coordinate system using multiple sensors; The coordinate system is divided into a plurality of three-dimensional grid matrices by using a three-dimensional grid division method, and the three-dimensional grid matrix is ​​the working area.

3. The portal crane anti-sway and positioning method based on multi-sensor fusion according to claim 1, characterized in that: In the steps of obtaining the current working area and hook swing parameters of the crane hook, defining the adjacent area of ​​the current working area as a buffer zone, obtaining multi-sensor data after executing compensation control instructions, and updating the buffer zone in real time: Assigning operational attributes to the work area; the operational attributes include: free space, work area, and buffer zone; Query the current working area of ​​the crane hook, change the operation attribute of the current working area to the working area, and change the operation attribute of the adjacent area of ​​the current working area to the buffer zone; Acquire multi-sensor data and reset local area attributes in real time.

4. The portal crane anti-sway and positioning method based on multi-sensor fusion according to claim 3 is characterized in that: Before acquiring multi-sensor data and resetting local area attributes in real time: Predict the hook swing angle and generate compensation instructions, and then execute the compensation instructions.

5. The portal crane anti-sway and positioning method based on multi-sensor fusion according to claim 1, characterized in that: In the step of monitoring the movement of suspicious objects in the working three-dimensional coordinate system and obtaining the warning area data according to the working area where the suspicious objects are located: Sensors are used to cover the upper, middle and lower layers respectively; the upper layer is covered by millimeter-wave radar, the middle layer is covered by camera array, and the lower layer is covered by ToF lidar; Real-time monitoring of suspicious objects appearing in the upper, middle and lower layers, and obtaining data on the working areas where the suspicious objects are located; Change the operating attribute of the work area where the suspicious object is located to a warning area; Acquire multi-sensor data, reset local area attributes in real time, and output updated warning areas.

6. The portal crane anti-sway and positioning method based on multi-sensor fusion according to claim 1, characterized in that: In the step of monitoring the overlap of the buffer zone and the warning zone and outputting the hook operation adjustment data according to the overlap area of ​​the buffer zone and the warning zone: The buffer is used as the original buffer, and the first-level buffer, the second-level buffer, and the third-level buffer are expanded according to the original buffer; The warning area is taken as the original warning area, and the first-level warning area, the second-level warning area, and the third-level warning area are expanded according to the original warning area; Monitor the overlap of buffer and warning zones and output hook operation adjustment data.

7. The portal crane anti-sway and positioning method based on multi-sensor fusion according to claim 6, characterized in that: In the step of monitoring the overlap of the buffer zone and the warning zone and outputting the hook operation adjustment data according to the overlap area of ​​the buffer zone and the warning zone: When the third-level warning area touches the third-level buffer zone, the output hook stops running data and executes.

8. The portal crane anti-sway and positioning method based on multi-sensor fusion according to claim 7, characterized in that: In the step of monitoring the overlap of the buffer zone and the warning zone and outputting the hook operation adjustment data according to the overlap area of ​​the buffer zone and the warning zone: When the third-level warning area contacts the second-level buffer area, query the warning area reset data and upload the hook operation adjustment data.

9. The portal crane anti-sway and positioning method based on multi-sensor fusion according to claim 8, characterized in that: In the step of monitoring the overlap of the buffer zone and the warning zone and outputting the hook operation adjustment data according to the overlap area of ​​the buffer zone and the warning zone: When the third-level warning area contacts the first-level buffer zone, the hook operation adjustment data is executed.

10. A portal crane anti-sway and positioning system based on multi-sensor fusion, applied to the portal crane anti-sway and positioning method based on multi-sensor fusion as claimed in claim 1, characterized in that: It includes coordinate system establishment module, area update module, mobile monitoring module and operation adjustment module; among which: The coordinate system establishment module is used to establish a three-dimensional working coordinate system of the crane according to the position of the crane, and divide the working three-dimensional coordinate system into multiple working areas; The area update module is used to obtain the current working area and hook swing parameters of the crane hook, define the adjacent area of ​​the current working area as a buffer zone, obtain multi-sensor data after executing the compensation control instruction, and update the buffer zone in real time; The movement monitoring module is used to monitor the movement of suspicious objects in the working three-dimensional coordinate system and obtain warning area data according to the working area where the suspicious objects are located; The operation adjustment module is used to monitor the overlap between the buffer zone and the warning zone, and output the hook operation adjustment data according to the overlap area between the buffer zone and the warning zone.

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