Method and System for Anti-Sway and Positioning of Portal Crane Based on Multi-Sensor Fusion

Abstract

The present invention relates to the technical field of cranes, and specifically relates to a sway prevention and positioning method and system for a portal crane based on multi-sensor fusion. The method includes: establishing a three-dimensional working coordinate system for the crane and dividing it into multiple working areas; defining the adjacent areas of the current working area of the crane hook as buffer areas and updating the buffer areas in real time; monitoring the movement of suspicious objects in the three-dimensional working coordinate system, and obtaining warning area data according to the working area where the suspicious objects are located; monitoring the overlapping situation between the buffer areas and the warning areas, and outputting hook operation adjustment data according to the overlapping areas of the buffer areas and the warning areas. The system includes: a coordinate system establishment module, an area update module, a movement monitoring module, and an operation adjustment module. By outputting the hook operation adjustment data according to the overlapping areas of the buffer areas and the warning areas, collisions between the hook and other objects in the working area are prevented, thereby triggering offshore operation accidents, and thus increasing the safety operation coefficient.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and particularly to a sway prevention and positioning method and system for a portal crane based on multi-sensor fusion. Background Art

[0002] A portal crane is a common heavy lifting equipment, widely used in places such as the sea, ports, docks, shipyards, and large logistics warehouses. It gets its name from its unique portal-shaped base and can move on rails to meet the needs of different working locations. The main structures of a portal crane include a column, a crossbeam, a hoisting trolley, and an operating room, etc., and it has multiple functions such as hoisting, luffing, slewing, and traveling, and can efficiently complete the loading and unloading and handling of goods.

[0003] Currently, when using a portal crane for offshore operations, the situation at sea is relatively complex. Around the operation of the crane, sudden situations such as ships sailing at sea, fish jumping out of the sea, birds flying in the air, and other offshore operation equipment may occur. These situations cannot be predicted in advance. If the above situations occur, the emergency avoidance operation or non-operation of the operator may cause the hook to collide with other objects, thereby triggering offshore operation accidents.

[0004] In summary, it is very necessary to propose a sway prevention and positioning method and system for a portal crane that can prevent the hook from colliding with other objects in the working area and triggering offshore operation accidents, thereby increasing the safety operation coefficient. Summary of the Invention

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

[0006] To achieve the above purpose, a sway prevention and positioning method for a portal crane based on multi-sensor fusion adopted by the present invention includes the following steps:

[0007] According to the position of the crane, establish a three-dimensional working coordinate system of the crane and divide the three-dimensional working coordinate system into multiple working areas;

[0008] Obtain the current working area of the crane hook and the hook swing parameters, define the adjacent area of the current working area as the buffer area, obtain multi-sensor data after executing the compensation control instruction, and update the buffer area in real time;

[0009] Monitor the movement of suspicious objects in the three-dimensional working coordinate system, and obtain warning area data according to the working area where the suspicious objects are located;

[0010] Monitor the overlapping situation between the buffer zone and the warning zone, and output the hook operation adjustment data according to the overlapping area between the buffer zone and the warning zone.

[0011] Among them, in the step of establishing a three-dimensional coordinate system for the crane's work based on the position of the crane and dividing the three-dimensional coordinate system for work into multiple work areas:

[0012] Taking the center of rotation of the crane as the origin, measuring the three-dimensional coordinates of the base and converting them to the coordinate system, and calibrating the coordinate system using multiple sensors;

[0013] Using a three-dimensional grid division method, dividing the coordinate system into multiple three-dimensional grid matrices, and this three-dimensional grid matrix is the work area.

[0014] Among them, in the step of obtaining the current work area of the crane hook and the hook swing parameters, defining the adjacent area of the current work area as the buffer zone, obtaining multi-sensor data after executing the compensation control instruction, and updating the buffer zone in real time:

[0015] Assign operation attributes to the work area; among them, the operation attributes include: free space, working area, buffer zone;

[0016] Query the current work area of the crane hook, change the operation attribute of the current work area to the working area, and change the operation attribute of the adjacent area of the current work area to the buffer zone;

[0017] Obtain multi-sensor data and reset the local area attributes in real time.

[0018] Among them, before the step of obtaining multi-sensor data and resetting the local area attributes in real time:

[0019] Predict the hook swing angle and generate a compensation instruction, and execute this compensation instruction.

[0020] Among them, in the step of monitoring the movement of suspicious objects in the three-dimensional coordinate system for work and obtaining warning zone data according to the work area where the suspicious objects are located:

[0021] Cover the high altitude layer, middle altitude layer, and low altitude layer with sensors respectively; among them, the high altitude layer is covered with millimeter wave radar, the middle altitude layer is covered with a camera array; the low altitude layer is covered with ToF lidar;

[0022] Real-time monitor the suspicious objects appearing in the high altitude layer, middle altitude layer, and low altitude layer, and obtain the work area data where the suspicious objects are located;

[0023] Change the operation attribute of the work area where the suspicious object is located to the warning zone;

[0024] Obtain multi-sensor data, reset the local area attributes in real time, and output the updated warning zone.

[0025] Among them, in the step of monitoring the overlapping situation between the buffer zone and the warning zone, and outputting the hook operation adjustment data according to the overlapping area between the buffer zone and the warning zone:

[0026] Take the buffer zone as the original buffer zone, and expand the primary buffer zone, secondary buffer zone, and tertiary buffer zone according to the original buffer zone;

[0027] Take the warning zone as the original warning zone, and expand the primary warning zone, secondary warning zone, and tertiary warning zone according to the original warning zone;

[0028] Monitor the overlapping situation between the buffer zone and the warning zone, and output the hook operation adjustment data.

[0029] Among them, in the step of monitoring the overlapping situation between the buffer zone and the warning zone, and outputting the hook operation adjustment data according to the overlapping area between the buffer zone and the warning zone:

[0030] When the tertiary warning zone touches the tertiary buffer zone, output the hook stop operation data and execute it.

[0031] Among them, in the step of monitoring the overlapping situation between the buffer zone and the warning zone, and outputting the hook operation adjustment data according to the overlapping area between the buffer zone and the warning zone:

[0032] When the tertiary warning zone touches the secondary buffer zone, query the warning zone reset data and upload the hook operation adjustment data.

[0033] Among them, in the step of monitoring the overlapping situation between the buffer zone and the warning zone, and outputting the hook operation adjustment data according to the overlapping area between the buffer zone and the warning zone:

[0034] When the tertiary warning zone touches the primary buffer zone, execute the hook operation adjustment data.

[0035] 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 movement monitoring module, and an operation adjustment module; wherein:

[0036] 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 three-dimensional working coordinate system into multiple working areas;

[0037] The region update module is used to obtain the current working area of the crane hook and the hook swing parameters, define the adjacent area of the current working area as the buffer zone, obtain multi-sensor data after executing the compensation control instruction, and update the buffer zone in real time;

[0038] The movement monitoring module is used to monitor the movement situation of suspicious objects in the three-dimensional working coordinate system, and obtain the warning zone data according to the working area where the suspicious objects are located;

[0039] The operation adjustment module is configured to monitor the overlapping situation between the buffer area and the warning area, and output the hook operation adjustment data according to the overlapping area between the buffer area and the warning area.

[0040] A portal crane anti-sway and positioning method and system based on multi-sensor fusion of the present invention uses the coordinate system establishment module, the area update module, the movement monitoring module, and the operation adjustment module to perform the following processes: establish a three-dimensional working coordinate system of the crane according to the position of the crane, and divide the three-dimensional working coordinate system into multiple working areas; obtain the current working area of the crane hook and the hook swing parameters, define the adjacent area of the current working area as the buffer area, obtain multi-sensor data after executing the compensation control instruction, and update the buffer area in real time; monitor the movement of suspicious objects in the three-dimensional working coordinate system, and obtain the warning area data according to the working area where the suspicious objects are located; monitor the overlapping situation between the buffer area and the warning area, and output the hook operation adjustment data according to the overlapping area between the buffer area and the warning area. By setting up a buffer area for the current working area of the hook according to the offshore operation situation, updating the buffer area in real time according to the operation of the hook, defining the warning area according to the movement of the suspicious object, and outputting the hook operation adjustment data according to the overlapping area between the buffer area and the warning area, it is possible to prevent the hook from colliding with other objects in the working area, thereby triggering an offshore operation accident, and thus increasing the safety operation coefficient. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 It is a schematic flowchart of the method for anti-sway and positioning of a portal crane based on multi-sensor fusion of the present invention.

[0043] Figure 2 It is a step flowchart of the method for anti-sway and positioning of a portal crane based on multi-sensor fusion of the present invention.

[0044] Figure 3 It is a step flowchart of S100 of the present invention.

[0045] Figure 4 It is a step flowchart of S200 of the present invention.

[0046] Figure 5 It is a step flowchart of S300 of the present invention.

[0047] Figure 6 It is the flowchart of the steps of S400 of the present invention.

[0048] Figure 7 It is the flowchart of the steps of S500 of the present invention.

[0049] Figure 8 It is the structural schematic diagram of the slewing prevention and positioning system for a portal crane based on multi-sensor fusion of the present invention.

[0050] Figure 9 It is the structural schematic diagram of the electronic device of the present invention.

[0051] 601 - Coordinate system establishment module, 602 - Association judgment module, 603 - Area update module, 604 - Movement monitoring module, 605 - Operation adjustment module. Detailed implementation manners

[0052] Here, the exemplary embodiments will be described in detail, and the examples are shown in the 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 implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application.

[0053] The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms of "a", "the" and "said" used in the present application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. 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 of the associated listed items.

[0054] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, such 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 "when" or "while" or "in response to determining".

[0055] Please refer to Figures 1 to 7 , the present invention provides a slewing prevention and positioning method for a portal crane based on multi-sensor fusion, including the following steps:

[0056] S100: According to the position of the crane, establish a three-dimensional working coordinate system for the crane and divide the three-dimensional working coordinate system into multiple working areas.

[0057] 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:

[0058] S101: Taking the slewing center of the crane as the origin, measure the three-dimensional coordinates of the base and convert them to the coordinate system, and calibrate the coordinate system using multiple sensors.

[0059] S102: Using the division method of three-dimensional grids, divide the coordinate system into multiple three-dimensional grid matrices, and this three-dimensional grid matrix is the working area.

[0060] In the above process, first, taking the slewing center of the crane as the origin, measure the three-dimensional coordinates of the base through a laser tracker. At the same time, obtain the WGS84 coordinates provided by the RTK base station using the NMEA-483 protocol, convert them to the engineering coordinate system through the seven-parameter method, and calibrate the coordinate system using multiple sensors.

[0061] World coordinate system W: A fixed coordinate system based on the origin of the working site.

[0062] Local coordinate system L i : A moving coordinate system with the center of the base of the i-th crane as the origin.

[0063] The coordinate conversion process is: ;

[0064] Where: R i is the rotation matrix, and T is the translation vector (positioned by GPS + lidar);

[0065] Coordinate system is:

[0066] ;

[0067] Where: is the coordinate of the boom.

[0068] Then, using the division method of three-dimensional grids, divide the coordinate system into multiple three-dimensional grid matrices, and this three-dimensional grid matrix is the working area. Among them, according to the characteristics of offshore operations, the relative movement speed of various objects is relatively fast, and the coordinate crossing speed is relatively fast. The resolution of the three-dimensional grid matrix adopts large values, such as 5m * 5m * 5m, 10m * 10m * 10m, 20m * 20m * 20m.

[0069] S200: Obtain the three-dimensional working coordinate systems of multiple cranes, define the operating area and virtual area of each crane boom according to all the three-dimensional working coordinate systems, judge the association situation of the operating area and virtual area of adjacent crane booms, and output the boom operation adjustment data according to the judgment result.

[0070] In this embodiment, the working three-dimensional coordinate systems of multiple cranes are obtained, the operating areas and virtual areas of each crane boom are defined according to all the working three-dimensional coordinate systems, the association between the operating areas and virtual areas of adjacent crane booms is judged, and boom operation adjustment data is output according to the judgment result. The specific process is as follows:

[0071] S201: Obtain the working three-dimensional coordinate systems of multiple cranes in the same offshore operation area, define the area where the crane boom is located as the operating area, and divide the area adjacent to the operating area into the virtual area;

[0072] S202: Set the working priorities of each crane;

[0073] S203: Judge the association between the operating areas and virtual areas of adjacent crane booms, and output boom operation adjustment data according to the working priorities.

[0074] In the above process, first, obtain the working three-dimensional coordinate systems of multiple cranes in the same offshore operation area, define the area where each crane boom is located as the operating area respectively, and divide the area adjacent to the operating area into the virtual area. Then set the working priorities of each crane, define the priority evaluation indicators, such as task urgency, crane load, distance, estimated completion time, etc.; collect real-time data, including crane status, task queue, node status, etc.; calculate the priority of each crane according to the evaluation indicators. Next, judge the association between the operating areas and virtual areas of adjacent crane booms, and output boom operation adjustment data according to the working priorities.

[0075] The position coordinates (three-dimensional space coordinates), attitude angles (pitch angle, yaw angle), moving speed and acceleration, and load status (whether lifting goods) of the two booms are obtained in real time through lidar, IMU inertial measurement unit and vision sensor, and the virtual area is dynamically generated according to the load and boom length, such as:

[0076] The virtual area of Crane A is a spherical area with a radius of 5 meters centered on the end of the boom.

[0077] The virtual area of Crane B has the same type of parameters.

[0078] When the operating areas or virtual areas of the two booms overlap, a warning is triggered:

[0079] Case 1: The virtual area of Crane A overlaps with the operating area of Crane B, then it is a high-risk conflict and immediate adjustment is required.

[0080] Case 2: The virtual areas of the two booms overlap, then it is a medium-risk warning and monitoring or pre-adjustment is required.

[0081] Adjust the boom operation according to the following priorities:

[0082] Emergency task priority: Cranes performing emergency loading and unloading tasks have priority to pass through the overlapping area.

[0083] Load status priority: Cranes carrying dangerous goods have priority to give way.

[0084] Path efficiency priority: Cranes closer to the target position have priority to maintain their paths.

[0085] Default rule: Under the same priority, the crane that starts the task later gives way.

[0086] Adjust the data output process as follows:

[0087] Input data:

[0088] Crane A: Target position (X1, Y1, Z1), speed V A , estimated arrival time T A .

[0089] Crane B: Target position (X2, Y2, Z2), speed V B , estimated arrival time T B .

[0090] The coordinate range and duration of the conflict area.

[0091] Path replanning: Generate a detour path for Crane B to avoid the virtual area of Crane A (such as using the A* algorithm to search for the path).

[0092] Speed adjustment:

[0093] Reduce the speed of Crane B to V_B' so that its passing time through the conflict area is later than T_A + Δt of Crane A (Δt is the safety time interval).

[0094] Anti-sway compensation:

[0095] Combine the anti-sway algorithm (such as input shaping or fuzzy control) to adjust the coordinated movement of the trolley and spreader of Crane B to suppress the swing during the avoidance process.

[0096] Output data:

[0097] {

[0098] "Crane_B_Adjustment": {

[0099] "New_Path": [[X3, Y3, Z3], [X4, Y4, Z4],...],

[0100] "Speed_Limit": v_B',

[0101] "Avoidance_Time_Window": [t_start, t_end],

[0102] "Anti_Swing_Params": { "Trolley_Accel": a_new, "Hoist_Speed": v_hoist_new

[0103] }

[0104] }

[0105] }

[0106] The PLC controller of Crane B receives adjustment instructions and drives the motor to adjust the motion parameters.

[0107] Dynamic adjustment of the virtual area: Based on the load weight and the boom dynamics model, the boundaries of the virtual area are calculated in real time.

[0108] Coordination of anti-swing and positioning: During the avoidance process, through the sling swing angle prediction model, such as the Lagrangian equation to compensate the control quantity, ensure smooth operation.

[0109] S300: Obtain the current working area of the crane hook and the hook swing parameters, define the adjacent area of the current working area as the buffer zone, obtain multi-sensor data after executing the compensation control instruction, and update the buffer zone in real time.

[0110] In this embodiment, obtain the current working area of the crane hook and the hook swing parameters, define the adjacent area of the current working area as the buffer zone, obtain multi-sensor data after executing the compensation control instruction, and update the buffer zone in real time; the specific process is as follows:

[0111] S301: Assign operation attributes to the working area; where the operation attributes include: free space, working area, buffer zone, warning area;

[0112] 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 zone;

[0113] S303: Predict the hook swing angle and generate a compensation instruction, and execute the compensation instruction;

[0114] S304: Obtain multi-sensor data, reset the local area attributes in real time, and output the updated buffer zone.

[0115] In the above process: First, the operation attributes are assigned to the working area; the operation attributes include: free space, working area, buffer area, and warning area. Then, the current working area of the crane hook is queried, the operation attribute of the current working area is changed to the working area, and the operation attributes of the adjacent areas of the current working area are changed to the buffer area. Then, based on the hybrid algorithm combining the extended Kalman filter and neural network, the swing angle of the hook is predicted in real time and a compensation instruction is generated, and the compensation instruction is executed. Finally, multi-sensor data is obtained, the attributes of the local area are reset in real time, and the updated buffer area is output.

[0116] S400: Monitor the movement of suspicious objects in the three-dimensional working coordinate system, and obtain the warning area data according to the working area where the suspicious objects are located.

[0117] In this embodiment, monitor the movement of suspicious objects in the three-dimensional working coordinate system, and obtain the warning area data according to the working area where the suspicious objects are located; the specific process is as follows:

[0118] S401: Conduct sensor coverage on the high altitude layer, middle altitude layer, and low altitude layer respectively, monitor the suspicious objects appearing in the high altitude layer, middle altitude layer, and low altitude layer in real time, and obtain the working area data where the suspicious objects are located;

[0119] S402: Change the operation attribute of the working area where the suspicious object is located to the warning area;

[0120] S403: Obtain multi-sensor data, reset the attributes of the local area in real time, and output the updated warning area.

[0121] In the above process, first conduct sensor coverage on the high altitude layer, middle altitude layer, and low altitude layer respectively, monitor the suspicious objects appearing in the high altitude layer, middle altitude layer, and low altitude layer in real time, and obtain the working area data where the suspicious objects are located. Among them, for the high altitude layer (>20m): millimeter-wave radar coverage is adopted, the sampling rate is 77GHz, and the detection radius is 500m; for the middle altitude layer (5 - 20m): RGB-D camera array coverage is adopted, and the accuracy is 0.1m; for the low altitude layer (<5m): ToF lidar coverage is adopted, and the sampling rate is 10Hz. Then change the operation attribute of the working area where the suspicious object is located to the warning area. Then obtain multi-sensor data, reset the attributes of the local area in real time, and output the updated warning area.

[0122] S500: Monitor the overlapping situation between the buffer area and the warning area, and output the hook operation adjustment data according to the overlapping area between the buffer area and the warning area.

[0123] In this embodiment, monitor the overlapping situation between the buffer area and the warning area, and output the hook operation adjustment data according to the overlapping area between the buffer area and the warning area; the specific process is as follows:

[0124] S501: Use the buffer as the original buffer, and expand the primary buffer, secondary buffer, and tertiary buffer based on the original buffer;

[0125] S502: Use the warning area as the original warning area, and expand the primary warning area, secondary warning area, and tertiary warning area based on the original warning area;

[0126] S503: Monitor the overlapping situation between the buffer and the warning area, and output the hook operation adjustment data.

[0127] In the above process: Use the buffer as the original buffer, and expand the primary buffer, secondary buffer, and tertiary buffer based on the original buffer; among them, the tertiary buffer wraps the secondary buffer, the secondary buffer wraps the primary buffer, and the primary buffer wraps the original buffer. Use the warning area as the original warning area, and expand the primary warning area, secondary warning area, and tertiary warning area based on the original warning area; among them, the tertiary warning area wraps the secondary warning area, the secondary warning area wraps the primary warning area, and the primary warning area wraps the original warning area. Monitor the overlapping situation between the buffer and the warning area, and output the hook operation adjustment data.

[0128] When the tertiary warning area does not touch the tertiary buffer, the buffer and the warning area do not overlap, and output the normal operation information of the hook.

[0129] When the tertiary warning area touches the tertiary buffer, the third buffer and the third warning area overlap, output the hook stop operation data, and execute.

[0130] When the tertiary warning area touches the secondary buffer, the second buffer and the second warning area overlap, query the warning area reset data, and upload the hook operation adjustment data.

[0131] When the tertiary warning area touches the primary buffer, the first buffer and the first warning area overlap, and execute the hook operation adjustment data.

[0132] In the present invention, first, 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. Then, the three-dimensional working coordinate systems of multiple cranes are obtained, the operating areas and virtual areas of each crane boom are defined according to all the three-dimensional working coordinate systems, the association between the operating areas and virtual areas of adjacent crane booms is judged, and boom operation adjustment data is output according to the judgment result. Next, the current working area of the crane hook and the hook swing parameters are obtained, the adjacent area of the current working area is defined as the buffer area, multi-sensor data is obtained after executing the compensation control instruction, and the buffer area is updated in real time. Then, the movement of suspicious objects in the three-dimensional working coordinate system is monitored, and warning area data is obtained according to the working area where the suspicious objects are located. Finally, the overlap between the buffer area and the warning area is monitored, and hook operation adjustment data is output according to the overlapping area between the buffer area and the warning area. By setting up a buffer area for the current working area of the hook according to the offshore operation conditions, updating the buffer area in real time according to the operation conditions of the hook, defining a warning area for the movement of suspicious objects, and outputting hook operation adjustment data according to the overlapping area between the buffer area and the warning area, it is possible to prevent the hook from colliding with other objects in the working area, thereby triggering offshore operation accidents, and thus increasing the safety operation coefficient.

[0133] Corresponding to the embodiment of the portal crane anti-sway and positioning method based on multi-sensor fusion described above, the present application also provides an embodiment of a portal crane anti-sway and positioning system based on multi-sensor fusion.

[0134] Figure 8 is a block diagram of a portal crane anti-sway and positioning system based on multi-sensor fusion shown according to an exemplary embodiment. Refer to Figure 8 and the system may include: a coordinate system establishment module 601, an association judgment module 602, a region update module 603, a movement monitoring module 604, and an operation adjustment module 605; wherein:

[0135] The coordinate system establishment module 601 is configured to establish a three-dimensional working coordinate system of the crane according to the position of the crane, and divide the three-dimensional working coordinate system into multiple working areas;

[0136] The association judgment module 602 is configured to obtain the three-dimensional working coordinate systems of multiple cranes, define the operating areas and virtual areas of each crane boom according to all the three-dimensional working coordinate systems, judge the association between the operating areas and virtual areas of adjacent crane booms, and output boom operation adjustment data according to the judgment result;

[0137] The region update module 603 is configured to obtain the current working area of the crane hook and the hook swing parameters, define the adjacent area of the current working area as the buffer area, obtain multi-sensor data after executing the compensation control instruction, and update the buffer area in real time;

[0138] The mobile monitoring module 604 is configured to monitor the movement of suspicious objects in the three-dimensional working coordinate system, and obtain warning area data according to the working area where the suspicious objects are located.

[0139] The operation adjustment module 605 is configured to monitor the overlapping situation between the buffer area and the warning area, and output the hook operation adjustment data according to the overlapping area between the buffer area and the warning area.

[0140] 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 three-dimensional working coordinate system into multiple working areas; the association judgment module 602 obtains the three-dimensional working coordinate systems of multiple cranes, defines the operation area and virtual area of each crane boom according to all the three-dimensional working coordinate systems, and judges the association situation between the operation area and virtual area of adjacent crane booms, and outputs the boom operation adjustment data according to the judgment result; the area update module 603 obtains the current working area of the crane hook and the hook swing parameters, defines the adjacent area of the current working area as the buffer area, obtains multi-sensor data after executing the compensation control instruction, and updates the buffer area in real time; the mobile monitoring module 604 monitors the movement of suspicious objects in the three-dimensional working 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 overlapping situation between the buffer area and the warning area, and outputs the hook operation adjustment data according to the overlapping area between the buffer area and the warning area. By setting up a buffer area for the current working area of the hook according to the offshore operation situation, and updating the buffer area in real time according to the operation situation of the hook, defining a warning area for the movement of suspicious objects, and outputting the hook operation adjustment data according to the overlapping area between the buffer area and the warning area, it is possible to prevent the hook from colliding with other objects in the working area, thereby triggering an offshore operation accident, and thus increasing the safety operation coefficient.

[0141] Regarding the system in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0142] 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 embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present application. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0143] Correspondingly, the present application further provides an electronic device, including: 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 portal crane anti-sway and positioning method based on multi-sensor fusion. As Figure 9 shown, it is a hardware structure diagram of a device with any data processing ability where the portal crane anti-sway and positioning system based on multi-sensor fusion provided by an embodiment of the present invention is located. Except for Figure 9 the processors, memory, and network interfaces shown, any device with data processing ability where the device in the embodiment is located usually includes other hardware according to the actual functions of the device with any data processing ability, which will not be elaborated here.

[0144] Correspondingly, the present application further provides a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the above-mentioned portal crane anti-sway and positioning method based on multi-sensor fusion is implemented. The computer-readable storage medium may be an internal storage unit of any device with data processing ability described in any of the foregoing embodiments, such as a hard disk or memory. The computer-readable storage medium may also be an external storage device, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash card, etc. equipped on the device. Further, the computer-readable storage medium may also include both the internal storage unit of any device with data processing ability and the external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing ability, and may also be used to temporarily store the data that has been output or will be output.

[0145] Those skilled in the art will readily think of other implementation schemes of the present application after considering the specification and practicing the content disclosed herein. The present application aims to cover any variations, uses, or adaptive changes of the present application, and these variations, uses, or adaptive changes follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application.

[0146] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope.

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 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; 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 ​​a working area; 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; Predicting the hook swing angle and generating compensation instructions, and executing the compensation instructions; Acquire multi-sensor data and reset local area attributes in real time; 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; 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 between the buffer zone and the warning zone, and output the hook operation adjustment data; when the third-level warning zone contacts the third-level buffer zone, output the hook stop operation data and execute it; when the third-level warning zone contacts the second-level buffer zone, query the warning zone reset data and upload the hook operation adjustment data; when the third-level warning zone contacts the first-level buffer zone, execute the hook operation adjustment data.

2. 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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