Crane operation avoidance method, device and equipment and storage medium

Abstract

The invention discloses a crane operation avoidance method, device and equipment and a storage medium, and the method comprises the following steps: when a target crane in a track is ready to execute a task, driving the target crane to move to the execution position of the task, aiming at each of other cranes except the target crane on the track, when a crane different from the other cranes approaches to the other cranes, driving the target crane to move to the execution position of the task; and when the distance between the crane and other cranes is smaller than a preset distance threshold value, the other cranes are controlled to move in the direction avoiding the crane so that the distance between the other cranes and the crane can be larger than the preset distance threshold value, and after the target crane moves to the execution position, the other cranes except the target crane are controlled to stop moving. Therefore, when the crane executes the task, other cranes can automatically avoid the crane, and in the avoiding process, the preset distance threshold value or above is kept between the cranes, so that the cranes are prevented from colliding in the task executing process, manual intervention is not needed, and the garbage treatment efficiency of the cranes is improved.

Description

Technical Field

[0001] The present application relates to the technical field of garbage disposal, and more specifically, to a crane operation avoidance method, device, equipment and storage medium. Background Art

[0002] As cities develop, the amount of garbage generated increases dramatically. Garbage treatment plants rely on multiple cranes to grab garbage from garbage chutes to improve processing efficiency. However, when multiple cranes run on the same track, destination coordinate conflicts frequently occur, seriously affecting operations.

[0003] The garbage disposal process is complicated. Cranes need to frequently shuttle between garbage troughs according to different tasks to lift garbage to designated processing stations. Due to the intensive tasks and the fact that multiple cranes are running on the same track, different cranes are prone to planning overlapping routes and heading to the same destination coordinates. For example, in large domestic waste treatment plants, some cranes have to lift combustible garbage to the incineration area, while others have to transport recyclables to the classified recycling area. Once a scheduling error occurs, multiple cranes may drive to the same unloading point at the same time, causing conflicts.

[0004] If the crane fails to evade in time, the crane is large and heavy-loaded, and the collision will seriously damage the mechanical structure, resulting in high maintenance costs and long cycles, which will greatly reduce production capacity. The spilled garbage will also cause secondary pollution, endanger the safety of workers, disrupt production order, and bring huge economic losses. At present, garbage treatment plants mainly rely on operators to communicate through walkie-talkies and coordinate avoidance based on experience. However, manual coordination is inefficient and difficult to deal with complex situations, resulting in low efficiency of crane garbage treatment.

[0005] Based on this, how to coordinate and avoid between crane tasks and improve the garbage disposal efficiency of the crane is an issue that needs attention. Summary of the invention

[0006] In view of the above problems, the present application provides a crane operation avoidance method, device, equipment and storage medium to improve the garbage disposal efficiency of the crane.

[0007] In order to achieve the above objectives, the specific plan is proposed as follows:

[0008] A crane operation avoidance method is applied to a crane control system, wherein the crane control system is used to control each crane on the same track;

[0009] The method includes:

[0010] When there is only a first target crane in the track ready to execute the task, driving the first target crane to move to the execution position of the task;

[0011] for each other crane on the track except the first target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than a preset distance threshold, controlling the other crane to move in a direction to avoid the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold;

[0012] When the first target crane moves to the execution position, all other cranes except the first target crane are controlled to stop moving.

[0013] Optionally, the method further includes:

[0014] When there are multiple cranes in the track ready to execute the corresponding tasks, determine the target task with the highest execution priority among the tasks, and a second target crane to execute the target task;

[0015] driving the second target crane to move to the execution position of the target task;

[0016] for each other crane on the track except the second target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than the preset distance threshold, controlling the other crane to move in a direction to avoid the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold;

[0017] When the second target crane moves to the execution position of the target task, all other cranes except the second target crane are controlled to stop moving.

[0018] Optionally, the method further includes:

[0019] When there are multiple cranes in the track ready to perform corresponding tasks, each crane to be executed is driven to move to its corresponding task execution position;

[0020] Determine the task execution priority of each crane that is ready to execute the task, and the third target crane with the highest task execution priority;

[0021] for each other crane on the track except the third target crane, when an approaching crane different from the other crane approaches the other crane so that the distance between the approaching crane and the other crane is less than the preset distance threshold, determining the task execution priority of the approaching crane;

[0022] For each other crane on the track except the third target crane, if the task execution priority of the approaching crane is higher than that of the other cranes, control the other cranes to move in a direction avoiding the approaching crane so that the distance between the other cranes and the approaching crane is greater than the preset distance threshold, and update the task execution priority of the other cranes to the task execution priority of the approaching crane;

[0023] When the third target crane moves to the task execution position corresponding to it, all other cranes except the third target crane are controlled to stop moving.

[0024] Optionally, the method further includes:

[0025] When there is only a first target crane in the track ready to execute the task, determining all cranes to be avoided between the current position of the first target crane and the execution position;

[0026] Controlling all the cranes to be avoided to move toward the execution position so that all the cranes to be avoided exceed the preset distance threshold after the execution position;

[0027] The first target crane is driven to move to the execution position.

[0028] Optionally, controlling all the cranes to be avoided to move toward the execution position includes:

[0029] For each crane to be avoided, the preset distance threshold is used as the minimum interval between the crane to be avoided and its adjacent cranes, and the crane to be avoided is controlled to move toward the execution position.

[0030] A crane operation avoidance device is applied to a crane control system, wherein the crane control system is used to control each crane on the same track;

[0031] The device includes:

[0032] A crane driving and moving unit, used for driving the first target crane to move to the execution position of the task when there is only a first target crane in the track ready to execute the task;

[0033] a first crane avoidance control unit, for each other crane on the track except the first target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than a preset distance threshold, controlling the other crane to move in a direction of avoiding the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold;

[0034] The stop movement control unit is used to control all cranes except the first target crane to stop moving after the first target crane moves to the execution position.

[0035] Optionally, the device further comprises:

[0036] A highest priority crane determination unit, used for determining a target task with the highest execution priority among the tasks and a second target crane for executing the target task when there are multiple cranes in the track ready to execute the corresponding tasks;

[0037] The highest priority crane driving moving unit is used to drive the second target crane to move to the execution position of the target task;

[0038] a crane avoidance second control unit, for each other crane on the track except the second target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than the preset distance threshold, controlling the other crane to move in a direction of avoiding the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold;

[0039] The moving stop unit is used to control the other cranes except the second target crane to stop moving after the second target crane moves to the execution position of the target task.

[0040] Optionally, the device further comprises:

[0041] A multi-vehicle movement control unit, used for driving each crane to be executed to move to its corresponding task execution position when there are multiple cranes in the track ready to execute the corresponding tasks;

[0042] A task execution priority determination unit, used to determine the task execution priority of each crane ready to execute the task, and the third target crane with the highest task execution priority;

[0043] an approaching crane priority determination unit, for determining, for each other crane on the track except the third target crane, a task execution priority of the approaching crane when an approaching crane different from the other crane approaches the other crane so that the distance between the approaching crane and the other crane is less than the preset distance threshold;

[0044] an avoidance selection unit, configured to, for each other crane on the track except the third target crane, if the task execution priority of the approaching crane is higher than that of the other crane, control the other crane to move in a direction of avoiding the approaching crane so that the distance between the other crane and the approaching crane is greater than the preset distance threshold, and update the task execution priority of the other crane to the task execution priority of the approaching crane;

[0045] The moving stopping unit is used to control the other cranes except the third target crane to stop moving after the third target crane moves to the task execution position corresponding to it.

[0046] Optionally, the device further comprises:

[0047] a crane-to-be-avoided determining unit, configured to determine all cranes to be avoided between a current position of the first target crane and the execution position when there is only a first target crane in the track ready to execute the task;

[0048] A crane avoidance unit for avoiding cranes, used for controlling all the cranes to be avoided to move in the direction of the execution position, so that all the cranes to be avoided exceed the preset distance threshold after the execution position;

[0049] The crane rear driving moving unit is used to drive the first target crane to move to the execution position.

[0050] Optionally, the crane avoidance unit to be avoided includes:

[0051] The crane avoiding subunit is used for controlling the crane to be avoided to move toward the execution position with respect to each crane to be avoided, taking the preset distance threshold as the minimum interval between the crane to be avoided and its adjacent crane.

[0052] A crane operation avoidance device, comprising a memory and a processor;

[0053] The memory is used to store programs;

[0054] The processor is used to execute the program to implement the various steps of the crane operation avoidance method as described above.

[0055] A storage medium stores a computer program, which, when executed by a processor, implements the various steps of the crane operation avoidance method as described above.

[0056] By means of the above technical solution, when there is only the first target crane in the track ready to perform the task, the first target crane is driven to move to the execution position of the task. For each other crane on the track except the first target crane, when a crane different from other cranes approaches other cranes so that the distance between the crane and other cranes is less than the preset distance threshold, other cranes are controlled to move in the direction of avoiding the crane so that the distance between other cranes and the crane is greater than the preset distance threshold. When the first target crane moves to the execution position, all other cranes except the first target crane are controlled to stop moving. It can be seen that when the crane performs the task, other cranes can automatically avoid it, and during the avoidance process, the distance between the cranes is kept above the preset distance threshold, so that the cranes avoid collision in the process of performing the task without manual intervention, thereby improving the garbage disposal efficiency of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0058] Figure 1 A schematic diagram of a process for implementing crane operation avoidance provided in an embodiment of the present application;

[0059] Figure 2 A schematic diagram of a first scenario of crane avoidance provided in an embodiment of the present application;

[0060] Figure 3 A schematic diagram of a second crane avoidance scenario provided in an embodiment of the present application;

[0061] Figure 4 A schematic diagram of a device structure for realizing crane operation avoidance provided in an embodiment of the present application;

[0062] Figure 5 A schematic diagram of the structure of a device for achieving crane operation avoidance provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] The solution of the present application can be implemented based on a terminal with data processing capability, which can be a crane control system.

[0065] It is understandable that there can be multiple cranes performing tasks on each track at the same time, and each track can be equipped with a crane control system to control the movement of each crane in the direction of the track.

[0066] Next, combine Figure 1 The crane operation avoidance method of the present application may include the following steps:

[0067] Step S110: When there is only the first target crane in the track ready to execute the task, the first target crane is driven to move to the execution position of the task.

[0068] Examples include Figure 2 There are three stationary cranes on the track, A, B and C from left to right. At this time, only crane A is ready to execute the task, and the task execution point of crane A is on the right side of crane C. Then crane A can be driven to move to the A task execution point.

[0069] Step S120: for each other crane on the track except the first target crane, when a crane different from the other cranes approaches the other cranes so that the distance between the other cranes and the other cranes is less than a preset distance threshold, control the other cranes to move in a direction to avoid the crane so that the distance between the other cranes and the crane is greater than the preset distance threshold.

[0070] Examples include Figure 2 , except for the first target crane A, the other cranes on the track are B and C. For B, when A approaches B until the distance between A and B is less than the threshold x, then B needs to make an avoidance, and the direction of B avoiding A is to move to the right, so B can be controlled to move to the right, and the distance between A and B is kept greater than the threshold x during the movement. For C, when B approaches C until the distance between B and C is less than the threshold x,, ​​then C needs to make an avoidance, and the direction of C avoiding B is to move to the right, so C can be controlled to move to the right, and the distance between B and C is kept greater than the threshold x during the movement.

[0071] Step S130: After the first target crane moves to the execution position, all other cranes except the first target crane are controlled to stop moving.

[0072] Examples include Figure 2 , when the first target crane A moves to the A task execution point, B has moved to a position greater than x on the right side of A due to avoidance, and C has moved to a position greater than 2x on the right side of A due to avoidance. At this time, B and C can be controlled to stop moving.

[0073] The crane operation avoidance method provided in this embodiment is as follows: when there is only the first target crane in the track ready to perform the task, the first target crane is driven to move to the execution position of the task; for each other crane on the track except the first target crane, when a crane different from other cranes approaches other cranes so that the distance between the crane and other cranes is less than a preset distance threshold, other cranes are controlled to move in a direction to avoid the crane so that the distance between the other cranes and the crane is greater than the preset distance threshold; when the first target crane moves to the execution position, all other cranes except the first target crane are controlled to stop moving. It can be seen that when the crane performs the task, other cranes can automatically avoid it, and during the avoidance process, the distance between the cranes is kept above the preset distance threshold, so that the cranes avoid collisions in the process of performing the task without manual intervention, thereby improving the garbage disposal efficiency of the crane.

[0074] Considering that more than one crane may need to perform tasks on the track, based on this, some embodiments of the present application provide scenarios where multiple cranes are ready to perform tasks. The crane operation avoidance method provided by the present application may also include:

[0075] S1. When there are multiple cranes in the track ready to execute corresponding tasks, determine a target task with the highest execution priority among the tasks, and a second target crane to execute the target task.

[0076] Specific examples include Figure 2 , the three cranes A, B, and C on the track all need to perform the corresponding tasks, and the task execution priority is T A >T B >T C Therefore, it can be determined that crane A is the second target crane, and its task execution position is task execution point A located on the right side of crane C.

[0077] S2. Drive the second target crane to move to the execution position of the target task.

[0078] Specific examples include Figure 2 , since the second target crane is crane A, and the execution position of its target task is task execution point A, crane A can be driven to move to task execution point A.

[0079] S3. For each other crane on the track except the second target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than the preset distance threshold, control the other crane to move in a direction to avoid the crane so that the distance between the other crane and the crane is greater than the preset distance threshold.

[0080] Examples include Figure 2, except for the second target crane A, the other cranes on the track are B and C. For B, when A approaches B until the distance between A and B is less than the threshold x, then B needs to make an avoidance, and the direction of B avoiding A is to move to the right, so B can be controlled to move to the right, and the distance between A and B is kept greater than the threshold x during the movement. For C, when B approaches C until the distance between B and C is less than the threshold x,, ​​then C needs to make an avoidance, and the direction of C avoiding B is to move to the right, so C can be controlled to move to the right, and the distance between B and C is kept greater than the threshold x during the movement.

[0081] S4. When the second target crane moves to the execution position of the target task, control all cranes except the second target crane to stop moving.

[0082] Examples include Figure 2 , when the second target crane A moves to the A task execution point, B has moved to a position greater than x on the right side of A due to avoidance, and C has moved to a position greater than 2x on the right side of A due to avoidance. At this time, B and C can be controlled to stop moving.

[0083] Furthermore, after the second target crane A completes its task, a new second target crane is selected from the remaining cranes that are ready to perform tasks, and the second target crane A is moved, and the other cranes give way.

[0084] The crane operation avoidance method provided in this embodiment, if there are multiple cranes on the track ready to execute tasks, by sorting their task priorities, the crane with a low task execution priority will suspend the task execution first to avoid the crane with the highest task execution priority, thus ensuring the safe operation of multiple cranes.

[0085] In order to further improve the efficiency of the crane in handling garbage, when the crane needs to perform a task, although its task execution priority is not the highest, it can also perform the task first, and then avoid according to specific circumstances during the movement of the crane. Based on this, some embodiments of the present application provide a scenario in which multiple cranes are ready to perform tasks. Based on this, the crane operation avoidance method provided by the present application may also include:

[0086] S1. When there are multiple cranes in the track ready to perform corresponding tasks, drive each crane to perform a task to move to its corresponding task execution position.

[0087] Specific examples include Figure 3There are three stationary cranes on the track, namely A, D, B and C from left to right. At this time, the four cranes A, B, C and D are ready to perform tasks. The task execution point of crane A is on the right side of crane C, the task execution point of crane B is between crane B and crane C, the task execution point of crane C is between crane B and crane D, and the task execution point of crane D is on the left side of crane A. The crane control system can simultaneously control A, B, C and D to move to their corresponding task execution positions.

[0088] S2. Determine the task execution priority of each crane that is ready to execute the task, and the third target crane with the highest task execution priority.

[0089] Specific examples include Figure 3 , the task execution priority of each of the four cranes A, B, C, and D is T A >T D >T C >T B , then the third target crane with the highest task execution priority is A.

[0090] S3. For each other crane on the track except the third target crane, when an approaching crane different from the other cranes approaches the other cranes so that the distance between the approaching crane and the other cranes is less than the preset distance threshold, determine the task execution priority of the approaching crane.

[0091] S4. For each other crane on the track except the third target crane, if the task execution priority of the approaching crane is higher than that of the other cranes, control the other cranes to move in a direction avoiding the approaching crane so that the distance between the other cranes and the approaching crane is greater than the preset distance threshold, and update the task execution priority of the other cranes to the task execution priority of the approaching crane.

[0092] Specific examples include Figure 3 , except for the second target crane A, the other cranes on the track are B, C and D. At this time, the following events will occur:

[0093] Phase 1: For B, when B moves to the right, C moves to the left to approach B. When the distance between B and C is less than the preset distance threshold x, the task execution priority of C, which is the approaching crane of B, is determined to be T. C Compare the task execution priorities of crane B and crane C, and get T C >T B , then control B to move in the direction of avoiding C, that is, control B to move left, and set B's priority to T C .

[0094] The second stage: for D, when D moves to the left, A moves to the left to approach D. When the distance between A and D is less than the preset distance threshold x, the task execution priority of A as the approaching crane of D is determined to be T. A Compare the task execution priorities of crane A and crane D, and get T A >T D , then control D to move in the direction of avoiding A, that is, D moves to the right, and set D's priority to T A .

[0095] The third stage: For B, when B moves to the left, D moves to the right and approaches B. When the distance between B and D is less than the preset distance threshold x, the task execution priority of D, which is the approaching crane of B, is determined to be T. A Compare the task execution priorities of crane B and crane D, and get T A >T C , then control B to move in the direction of avoiding D, that is, B moves to the right, and set B's priority to T A .

[0096] The fourth stage: for C, when C moves to the left, B moves to the right and approaches C. When the distance between B and C is less than the preset distance threshold x, the task execution priority of B, which is the approaching crane of C, is determined to be T. A Compare the task execution priorities of crane B and crane D, and get T A >T C , then control C to move in the direction of avoiding B, that is, C moves to the right, and set C's priority to T A .

[0097] Furthermore, suppose there is a crane E on the left side of A, which also needs to execute a task. Its task execution point is on the left side of crane E, although the task execution priority of crane E is T E <T A However, since its task execution process does not conflict with crane A, crane E can perform its task normally.

[0098] S5. When the third target crane moves to the task execution position corresponding to it, control all other cranes except the third target crane to stop moving.

[0099] It can be understood that when each crane is performing a task at the same time, by comparing the task execution priorities of the two cranes, the one with a lower priority gives way to the one with a higher priority, so that the cranes can coordinate and avoid each other efficiently, and for the crane that does not conflict with the high-priority crane, it will not affect its own task execution, further improving the efficiency of the crane in handling garbage.

[0100] In order to improve the processing efficiency of cranes performing tasks, in some embodiments of the present application, by clearing the obstacle cranes in advance, the cranes that need to perform tasks can be more unobstructed during the task execution, avoiding the risk of collision caused by failure / malfunction of other cranes and delaying the task execution. The process may specifically include:

[0101] S1. When there is only a first target crane in the track ready to execute a task, determine all cranes to be avoided between a current position of the first target crane and the execution position.

[0102] Examples include Figure 2 , when A is the first target crane, its execution position is the A task execution point, then all cranes B and C to be avoided between the A position and the A task execution point can be determined.

[0103] S2. Control all the cranes to be avoided to move toward the execution position, so that all the cranes to be avoided exceed the preset distance threshold after the execution position.

[0104] Examples include Figure 2 , B and C can move toward the execution point of task A (or avoid A), so that B and C move to the preset distance threshold x or later after the execution point of task A.

[0105] Furthermore, assuming Figure 2 There are other cranes on the right side of crane C, and these cranes need to give way to the oncoming crane to avoid collision.

[0106] Specifically, the process of controlling all the cranes to be avoided to move toward the execution position is further introduced, and the process may include:

[0107] For each crane to be avoided, a preset distance threshold is used as the minimum interval between the crane to be avoided and its adjacent cranes, and the crane to be avoided is controlled to move toward the execution position.

[0108] It is understandable that during the movement of each crane to be avoided, a safe crane distance, i.e. a preset distance threshold, needs to be maintained to avoid a collision between the cranes.

[0109] S3. Drive the first target crane to move to the execution position.

[0110] Specifically, when all the cranes to be avoided (or all the cranes to be avoided and all the cranes avoiding these cranes to be avoided) move to their positions and stop, the first target crane can be driven to move to its execution position. It can be seen that before the first target crane performs its task, the other cranes make avoidance to the first target crane in advance, which can eliminate the potential collision risk during the movement of the first target crane in advance, improve the safety of the first target crane in performing its task, and thus improve the garbage disposal efficiency of the crane.

[0111] The following is a description of a device for implementing crane operation avoidance provided in an embodiment of the present application. The device for implementing crane operation avoidance described below and the method for implementing crane operation avoidance described above can be referenced to each other.

[0112] See also Figure 4 , Figure 4 A schematic diagram of the structure of a device for realizing crane operation avoidance disclosed in an embodiment of the present application.

[0113] like Figure 4 As shown, the device may include:

[0114] A crane driving and moving unit 11 is used to drive the first target crane to move to the execution position of the task when there is only a first target crane in the track ready to execute the task;

[0115] a crane avoidance first control unit 12, for each other crane on the track except the first target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than a preset distance threshold, controlling the other crane to move in a direction of avoiding the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold;

[0116] The stop movement control unit 13 is used to control the other cranes except the first target crane to stop moving after the first target crane moves to the execution position.

[0117] Optionally, the device further comprises:

[0118] A highest priority crane determination unit, used for determining a target task with the highest execution priority among the tasks and a second target crane for executing the target task when there are multiple cranes in the track ready to execute the corresponding tasks;

[0119] The highest priority crane driving moving unit is used to drive the second target crane to move to the execution position of the target task;

[0120] a crane avoidance second control unit, for each other crane on the track except the second target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than the preset distance threshold, controlling the other crane to move in a direction of avoiding the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold;

[0121] The moving stop unit is used to control the other cranes except the second target crane to stop moving after the second target crane moves to the execution position of the target task.

[0122] Optionally, the device further comprises:

[0123] A multi-vehicle movement control unit, used for driving each crane to be executed to move to its corresponding task execution position when there are multiple cranes in the track ready to execute the corresponding tasks;

[0124] A task execution priority determination unit, used to determine the task execution priority of each crane ready to execute the task, and the third target crane with the highest task execution priority;

[0125] an approaching crane priority determination unit, for determining, for each other crane on the track except the third target crane, a task execution priority of the approaching crane when an approaching crane different from the other crane approaches the other crane so that the distance between the approaching crane and the other crane is less than the preset distance threshold;

[0126] an avoidance selection unit, configured to, for each other crane on the track except the third target crane, if the task execution priority of the approaching crane is higher than that of the other crane, control the other crane to move in a direction of avoiding the approaching crane so that the distance between the other crane and the approaching crane is greater than the preset distance threshold, and update the task execution priority of the other crane to the task execution priority of the approaching crane;

[0127] The moving stopping unit is used to control the other cranes except the third target crane to stop moving after the third target crane moves to the task execution position corresponding to it.

[0128] Optionally, the device further comprises:

[0129] a crane-to-be-avoided determining unit, configured to determine all cranes to be avoided between a current position of the first target crane and the execution position when there is only a first target crane in the track ready to execute the task;

[0130] A crane avoidance unit for avoiding cranes, used for controlling all the cranes to be avoided to move in the direction of the execution position, so that all the cranes to be avoided exceed the preset distance threshold after the execution position;

[0131] The crane rear driving moving unit is used to drive the first target crane to move to the execution position.

[0132] Optionally, the crane avoidance unit to be avoided includes:

[0133] The crane avoiding subunit is used for controlling the crane to be avoided to move toward the execution position with respect to each crane to be avoided, taking the preset distance threshold as the minimum interval between the crane to be avoided and its adjacent crane.

[0134] The crane operation avoidance device provided in the embodiment of the present application can be applied to crane operation avoidance equipment, such as a crane control system. Optionally, Figure 5 The hardware structure diagram of the crane operation avoidance device is shown. Figure 5 ,The hardware structure of the crane operation avoidance device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;

[0135] In the embodiment of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 communicate with each other through the communication bus 4;

[0136] The processor 1 may be a central processing unit CPU, or an application-specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0137] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), etc., such as at least one disk memory;

[0138] The memory stores a program, and the processor can call the program stored in the memory, wherein the program is used to:

[0139] When there is only a first target crane in the track ready to execute the task, driving the first target crane to move to the execution position of the task;

[0140] for each other crane on the track except the first target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than a preset distance threshold, controlling the other crane to move in a direction to avoid the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold;

[0141] When the first target crane moves to the execution position, all other cranes except the first target crane are controlled to stop moving.

[0142] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0143] The embodiment of the present application further provides a storage medium, which may store a program suitable for execution by a processor, wherein the program is used to:

[0144] When there is only a first target crane in the track ready to execute the task, driving the first target crane to move to the execution position of the task;

[0145] for each other crane on the track except the first target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than a preset distance threshold, controlling the other crane to move in a direction to avoid the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold;

[0146] When the first target crane moves to the execution position, all other cranes except the first target crane are controlled to stop moving.

[0147] Optionally, the detailed functions and extended functions of the program may refer to the above description.

[0148] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0149] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can refer to each other.

[0150] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A crane operation avoidance method, characterized in that: Applicable to a crane control system, the crane control system is used to control each crane on the same track; The method includes: When there is only a first target crane in the track ready to execute the task, driving the first target crane to move to the execution position of the task; for each other crane on the track except the first target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than a preset distance threshold, controlling the other crane to move in a direction to avoid the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold; When the first target crane moves to the execution position, all other cranes except the first target crane are controlled to stop moving.

2. The method according to claim 1, characterized in that: Also includes: When there are multiple cranes in the track ready to execute the corresponding tasks, determine the target task with the highest execution priority among the tasks, and a second target crane to execute the target task; driving the second target crane to move to the execution position of the target task; for each other crane on the track except the second target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than the preset distance threshold, controlling the other crane to move in a direction to avoid the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold; When the second target crane moves to the execution position of the target task, all other cranes except the second target crane are controlled to stop moving.

3. The method according to claim 1, characterized in that Also includes: When there are multiple cranes in the track ready to perform corresponding tasks, each crane to be executed is driven to move to its corresponding task execution position; Determine the task execution priority of each crane that is ready to execute the task, and the third target crane with the highest task execution priority; for each other crane on the track except the third target crane, when an approaching crane different from the other crane approaches the other crane so that the distance between the approaching crane and the other crane is less than the preset distance threshold, determining the task execution priority of the approaching crane; For each other crane on the track except the third target crane, if the task execution priority of the approaching crane is higher than that of the other cranes, control the other cranes to move in a direction avoiding the approaching crane so that the distance between the other cranes and the approaching crane is greater than the preset distance threshold, and update the task execution priority of the other cranes to the task execution priority of the approaching crane; When the third target crane moves to the task execution position corresponding to it, all other cranes except the third target crane are controlled to stop moving.

4. The method according to claim 1, characterized in that: Also includes: When there is only a first target crane in the track ready to execute the task, determining all cranes to be avoided between the current position of the first target crane and the execution position; Controlling all the cranes to be avoided to move toward the execution position so that all the cranes to be avoided exceed the preset distance threshold after the execution position; The first target crane is driven to move to the execution position.

5. The method according to claim 4, characterized in that Controlling all the cranes to be avoided to move toward the execution position includes: For each crane to be avoided, the preset distance threshold is used as the minimum interval between the crane to be avoided and its adjacent crane, and the crane to be avoided is controlled to move toward the execution position.

6. A crane operation avoidance device, characterized in that: Applicable to a crane control system, the crane control system is used to control each crane on the same track; The device includes: A crane driving and moving unit, used for driving the first target crane to move to the execution position of the task when there is only a first target crane in the track ready to execute the task; a first crane avoidance control unit, for each other crane on the track except the first target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than a preset distance threshold, controlling the other crane to move in a direction of avoiding the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold; The stop movement control unit is used to control all cranes except the first target crane to stop moving after the first target crane moves to the execution position.

7. The device according to claim 6, characterized in that Also includes: A highest priority crane determination unit, used for determining a target task with the highest execution priority among the tasks and a second target crane for executing the target task when there are multiple cranes in the track ready to execute the corresponding tasks; The highest priority crane driving moving unit is used to drive the second target crane to move to the execution position of the target task; a crane avoidance second control unit, for each other crane on the track except the second target crane, when a crane different from the other crane approaches the other crane so that the distance between the other crane and the other crane is less than the preset distance threshold, controlling the other crane to move in a direction of avoiding the other crane so that the distance between the other crane and the crane is greater than the preset distance threshold; The moving stop unit is used to control the other cranes except the second target crane to stop moving after the second target crane moves to the execution position of the target task.

8. The device according to claim 6, characterized in that Also includes: A multi-vehicle movement control unit, used for driving each crane to be executed to move to its corresponding task execution position when there are multiple cranes in the track ready to execute the corresponding tasks; A task execution priority determination unit, used to determine the task execution priority of each crane ready to execute the task, and the third target crane with the highest task execution priority; an approaching crane priority determination unit, for determining, for each other crane on the track except the third target crane, a task execution priority of the approaching crane when an approaching crane different from the other crane approaches the other crane so that the distance between the approaching crane and the other crane is less than the preset distance threshold; an avoidance selection unit, configured to, for each other crane on the track except the third target crane, if the task execution priority of the approaching crane is higher than that of the other crane, control the other crane to move in a direction of avoiding the approaching crane so that the distance between the other crane and the approaching crane is greater than the preset distance threshold, and update the task execution priority of the other crane to the task execution priority of the approaching crane; The moving stopping unit is used to control the other cranes except the third target crane to stop moving after the third target crane moves to the task execution position corresponding to it.

9. A crane operation avoidance device, characterized in that: including memory and processor; The memory is used to store programs; The processor is used to execute the program to implement the various steps of the crane operation avoidance method as described in any one of claims 1-5.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, each step of the crane operation avoidance method as described in any one of claims 1 to 5 is implemented.

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