Method, device and equipment for determining passable area of hoisting object of engineering machinery and medium

Abstract

The embodiment of the invention relates to the technical field of intelligent construction, in particular to a passable area determining method, device and equipment for an engineering machinery hanging object and a medium. According to the scheme, the method comprises the following steps: determining a hoisting object movement interval, an engineering machinery operation interval and a non-hoisting object movement interval based on an expected hoisting object movement track of the engineering machinery; selecting a first bounding box with the minimum pitch angle in a non-hoisting object movement interval; selecting a second bounding box with the minimum pitch angle in the working interval of the engineering machinery; a third bounding box with the maximum elevation is selected from bounding boxes of obstacles in the hanging object movement interval; and according to the position and elevation of the first bounding box, the position and elevation of the second bounding box and the position and elevation of the third bounding box, determining a passable area of the hanging object. According to the embodiment of the invention, a reliable and complete passable area is provided for trajectory planning based on the position and elevation of the bounding box in the working interval of the engineering machinery, so that the engineering machinery can accurately avoid obstacles, and the safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent construction, and particularly to a method, device, equipment and medium for determining a passable area of a lifted object by construction machinery. Background Art

[0002] Trajectory planning refers to determining the trajectory path of an object's movement in construction machinery so that the object can complete a specific task according to the specified path. In actual construction machinery design, trajectory planning can avoid collisions between objects and achieve smooth, efficient and safe movement processes. For example, tower cranes are one of the important heavy construction machinery and equipment in the production and construction fields. When a tower crane hoists an object, collisions may occur in the following scenarios: (1) In the production and construction scenarios of a tower crane group, including at least two tower cranes, collisions occur between tower cranes; (2) Components such as the boom, hoisting wire rope, hook, and lifted object of the tower crane collide with surrounding buildings, trees and other obstacles in the scene. For scenario (1), since the position of the tower body is fixed, it is relatively easy to judge the position information of the boom and the luffing trolley between tower cranes in real time, so as to avoid collisions. For scenario (2), it is difficult to achieve adaptive anti-collision. Usually, a lidar is used to scan the scene to obtain point cloud data and construct a map for obstacle avoidance. For the lidar installed at the root of the tower crane boom, due to the radial field of view occlusion in the scene, the point cloud of the outer obstacles obtained by the lidar may be missing, resulting in an incomplete point cloud map describing the scene, which cannot provide accurate and complete map perception capabilities for the automatic operation of the tower crane, such as trajectory planning and obstacle avoidance, and is also extremely likely to cause danger.

[0003] In view of the above problems, the existing solution constructs a point cloud map by using a lidar installed on the trolley of the boom. Although this method can provide a relatively complete point cloud map for tower crane obstacle avoidance, due to the limitation of the radar field of view angle, the mapping time is relatively long, and usually the boom needs to be rotated multiple times to scan the scene completely. In addition, since the boom is a non-rigid structure, the accuracy of the point cloud map constructed during the movement process is limited by the point cloud matching algorithm, and there are extremely likely problems with insufficient accuracy, which also poses potential safety hazards to the tower crane trajectory planning and obstacle avoidance. In summary, how to provide a reliable and complete passable area for construction machinery trajectory planning and obstacle avoidance is an urgent problem to be solved at present. Summary of the Invention

[0004] In view of the above problems of the prior art, the embodiments of the present application provide a method, device, equipment and medium for determining a passable area of a lifted object by construction machinery, which provide a reliable and complete passable area for trajectory planning based on the position and elevation of the bounding box within the operation range of the construction machinery, so that the construction machinery can accurately avoid obstacles and ensure safety.

[0005] To achieve the above object, the first aspect of the present application provides a method for determining a passable area for a lifting object of a construction machine, including:

[0006] Based on the expected movement trajectory of the lifting object of the construction machine, determine the lifting object movement interval, the construction machine operation interval, and the non-lifting object movement interval; wherein, the projection of the lifting object movement interval on the horizontal plane includes an annular area determined by a first polar radius range and a polar angle range, and the first polar radius range is between the maximum value and the minimum value of the polar radii of all the trajectory points in the expected movement trajectory; the projection of the construction machine operation interval on the horizontal plane includes a sector area determined by a second polar radius range and a polar angle range, and the second polar radius range is between zero and the maximum value of the polar radius; the non-lifting object movement interval is the interval obtained by removing the lifting object movement interval from the construction machine operation interval;

[0007] Among the bounding boxes of the obstacles in the non-lifting object movement interval, select the first bounding box with the smallest pitch angle; and among the bounding boxes of the obstacles in the construction machine operation interval, select the second bounding box with the smallest pitch angle; wherein, the pitch angle of the bounding box is the minimum value of the pitch angles of all the points in the bounding box;

[0008] Among the bounding boxes of the obstacles in the lifting object movement interval, select the third bounding box with the highest elevation;

[0009] Determine the passable area of the lifting object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box.

[0010] As a possible implementation manner of the first aspect, before selecting the first bounding box with the smallest pitch angle and the second bounding box with the smallest pitch angle, the method further includes:

[0011] Connect each vertex of the bounding box to the radar origin respectively to form rays pointing from the radar origin to each vertex of the bounding box;

[0012] Calculate the pitch angle formed by each ray and the horizontal plane passing through the radar origin to obtain the pitch angles of each vertex;

[0013] Select the smallest pitch angle among the pitch angles of each vertex as the pitch angle of the bounding box; wherein, the vertex corresponding to the smallest pitch angle is used as the highest vertex of the bounding box.

[0014] As a possible implementation manner of the first aspect, the determining the passable area of the lifting object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box includes:

[0015] When the second bounding box is within the non-lifting object movement range, the area above the projection line of the second bounding box is determined as the passable area of the lifting object; wherein, the projection line of the bounding box is the ray from the radar origin to the highest vertex of the bounding box.

[0016] As a possible implementation of the first aspect, the determining the passable area of the lifting object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box includes:

[0017] Judging whether the obstacle occlusion condition is satisfied according to the projection distance and the minimum value of the polar radius; wherein, the projection distance is the maximum distance of the projection of the first bounding box on the horizontal ground based on the radar origin; satisfying the obstacle occlusion condition means that there is a possibility that an obstacle within the non-lifting object movement range occludes an obstacle within the lifting object movement range;

[0018] Determining the passable area of the lifting object according to the result of the judgment.

[0019] As a possible implementation of the first aspect, the judging whether the obstacle occlusion condition is satisfied according to the projection distance and the minimum value of the polar radius includes:

[0020] When the projection distance is greater than the minimum value of the polar radius, it is determined that the obstacle occlusion condition is satisfied.

[0021] As a possible implementation of the first aspect, the determining the passable area of the lifting object according to the result of the judgment includes:

[0022] When the second bounding box is within the lifting object movement range and the obstacle occlusion condition is not satisfied, the passable area of the lifting object is determined according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box; wherein, the projection line of the bounding box is the ray from the radar origin to the highest vertex of the bounding box.

[0023] As a possible implementation of the first aspect, the determining the passable area of the lifting object according to the result of the judgment includes:

[0024] When the second bounding box is within the lifting object movement range, the obstacle occlusion condition is satisfied, and the elevation of the third bounding box is greater than or equal to the projection height of the first bounding box on the minimum boundary line, the passable area of the lifting object is determined according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0025] When the second bounding box is within the moving range of the suspended object, meets the obstacle occlusion condition, and the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the horizontal line where the projected height is located;

[0026] Wherein, the projection line of the bounding box is a ray from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding segment of the minimum value of the polar radius and parallel to the longitudinal axis.

[0027] As a possible implementation manner of the first aspect, determining the passable area of the suspended object according to the judgment result includes, when a part of the second bounding box is outside the operating range of the construction machinery and does not meet the obstacle occlusion condition, determining the passable area of the suspended object according to one of the following:

[0028] When the third bounding box is entirely within the operating range of the construction machinery and the elevation of the third bounding box is greater than the projected height of the projection line of the second bounding box on the maximum boundary line, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0029] When the third bounding box is entirely within the operating range of the construction machinery and the elevation of the third bounding box is less than or equal to the projected height of the projection line of the second bounding box on the maximum boundary line, determine the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended object;

[0030] When a part of the third bounding box is outside the operating range of the construction machinery, determine the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended object.

[0031] Wherein, the projection line of the bounding box is a ray from the radar origin to the highest vertex of the bounding box; the maximum boundary line is a straight line passing through the endpoints of the corresponding segment of the maximum value of the polar radius and parallel to the longitudinal axis.

[0032] As a possible implementation manner of the first aspect, determining the passable area of the suspended object according to the judgment result includes, when a part of the second bounding box is outside the operating range of the construction machinery and meets the obstacle occlusion condition, determining the passable area of the suspended object according to one of the following:

[0033] When the elevation of the third bounding box is greater than or equal to the projected height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the first boundary line is less than the maximum value of the polar radius, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0034] When the elevation of the third bounding box is greater than or equal to the projected height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the first boundary line is greater than or equal to the maximum value of the polar radius, determine the area above the horizontal line passing through the highest vertex of the third bounding box as the passable area of the suspended object;

[0035] Wherein, the intersection point of the first boundary line is the intersection point of the horizontal line passing through the highest vertex of the third bounding box and the projection line of the second bounding box;

[0036] When the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the second boundary line is less than the maximum value of the polar radius, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line where the projection point of the first bounding box on the minimum boundary line is located;

[0037] When the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the second boundary line is greater than or equal to the maximum value of the polar radius, determine the area above the horizontal line where the projection point of the first bounding box on the minimum boundary line is located as the passable area of the suspended object;

[0038] Wherein, the intersection point of the second boundary line is the intersection point of the horizontal line where the projection point of the first bounding box on the minimum boundary line is located and the projection line of the second bounding box;

[0039] Wherein, the projection line of the bounding box is a ray pointing from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding line segment of the minimum value of the polar radius and parallel to the longitudinal axis.

[0040] The second aspect of the present application provides a device for determining the passable area of a suspended object of a construction machinery, including:

[0041] A first determination unit, configured to: determine a load movement range, a construction machinery operation range, and a non-load movement range based on an expected movement trajectory of a load of a construction machinery; wherein, a projection of the load movement range on a horizontal plane includes an annular region determined by a first polar radius range and a polar angle range, and the first polar radius range is between a maximum value and a minimum value of polar radii of all trajectory points in the expected movement trajectory; a projection of the construction machinery operation range on the horizontal plane includes a sector region determined by a second polar radius range and a polar angle range, and the second polar radius range is between zero and the maximum value of the polar radius; the non-load movement range is an area obtained by removing the load movement range from the construction machinery operation range.

[0042] A first selection unit, configured to: select a first bounding box with the smallest pitch angle from the bounding boxes of obstacles within the non-load movement range; and select a second bounding box with the smallest pitch angle from the bounding boxes of obstacles within the construction machinery operation range; wherein, the pitch angle of the bounding box is the minimum value of the pitch angles of all points in the bounding box.

[0043] A second selection unit, configured to: select a third bounding box with the highest elevation from the bounding boxes of obstacles within the load movement range.

[0044] A second determination unit, configured to: determine a passable area of the load according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box.

[0045] As a possible implementation manner of the second aspect, the apparatus further includes a preprocessing unit, and the preprocessing unit is configured to:

[0046] Before selecting the first bounding box with the smallest pitch angle and the second bounding box with the smallest pitch angle, respectively connect each vertex of the bounding box to the radar origin to form a ray pointing from the radar origin to each vertex of the bounding box.

[0047] Calculate a pitch angle formed by each ray and a horizontal plane passing through the radar origin to obtain the pitch angles of the respective vertices.

[0048] Select the smallest pitch angle among the pitch angles of the respective vertices as the pitch angle of the bounding box; wherein, the vertex corresponding to the smallest pitch angle is used as the highest vertex of the bounding box.

[0049] As a possible implementation manner of the second aspect, the second determination unit is configured to:

[0050] When the second bounding box is within the non-lifting object movement range, the area above the projection line of the second bounding box is determined as the passable area of the lifting object; wherein, the projection line of the bounding box is the ray from the radar origin to the highest vertex of the bounding box.

[0051] As a possible implementation manner of the second aspect, the second determination unit includes:

[0052] A judgment subunit, configured to: judge whether the obstacle occlusion condition is satisfied according to the projection distance and the minimum value of the polar radius; wherein, the projection distance is the maximum distance of the projection of the first bounding box on the horizontal ground based on the radar origin; satisfying the obstacle occlusion condition means that there is a possibility that an obstacle within the non-lifting object movement range occludes an obstacle within the lifting object movement range;

[0053] A determination subunit, configured to: determine the passable area of the lifting object according to the result of the judgment.

[0054] As a possible implementation manner of the second aspect, the judgment subunit is configured to:

[0055] When the projection distance is greater than the minimum value of the polar radius, it is determined that the obstacle occlusion condition is satisfied.

[0056] As a second possible implementation manner of the second aspect, the determination subunit is configured to:

[0057] When the second bounding box is within the lifting object movement range and the obstacle occlusion condition is not satisfied, determine the passable area of the lifting object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box; wherein, the projection line of the bounding box is the ray from the radar origin to the highest vertex of the bounding box.

[0058] As a possible implementation manner of the second aspect, the determination subunit is configured to:

[0059] When the second bounding box is within the lifting object movement range, the obstacle occlusion condition is satisfied, and the elevation of the third bounding box is greater than or equal to the projected height of the first bounding box on the minimum boundary line, determine the passable area of the lifting object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0060] When the second bounding box is within the lifting object movement range, the obstacle occlusion condition is satisfied, and the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line, determine the passable area of the lifting object according to the projection line of the second bounding box and the horizontal line passing through the horizontal line where the projected height is located;

[0061] Among them, the projection line of the bounding box is a ray from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding line segment with the minimum value of the polar radius and parallel to the longitudinal axis.

[0062] As a possible implementation of the second aspect, when a part of the second bounding box is outside the construction machinery operation range and does not meet the obstacle occlusion condition, the determination subunit is used to determine the passable area of the suspended object according to one of the following:

[0063] When the third bounding box is entirely within the construction machinery operation range and the elevation of the third bounding box is greater than the projection height of the projection line of the second bounding box on the maximum boundary line, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0064] When the third bounding box is entirely within the construction machinery operation range and the elevation of the third bounding box is less than or equal to the projection height of the projection line of the second bounding box on the maximum boundary line, determine the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended object;

[0065] When a part of the third bounding box is outside the construction machinery operation range, determine the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended object.

[0066] Among them, the projection line of the bounding box is a ray from the radar origin to the highest vertex of the bounding box; the maximum boundary line is a straight line passing through the endpoints of the corresponding line segment with the maximum value of the polar radius and parallel to the longitudinal axis.

[0067] As a possible implementation of the second aspect, when a part of the second bounding box is outside the construction machinery operation range and meets the obstacle occlusion condition, the determination subunit is used to determine the passable area of the suspended object according to one of the following:

[0068] When the elevation of the third bounding box is greater than or equal to the projection height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the first boundary line is less than the maximum value of the polar radius, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0069] When the elevation of the third bounding box is greater than or equal to the projected height of the first bounding box on the minimum boundary line, and the polar radius of the intersection point of the first boundary line is greater than or equal to the maximum value of the polar radius, the area above the horizontal line of the highest vertex of the third bounding box is determined as the passable area of the suspended object;

[0070] Wherein, the intersection point of the first boundary line is the intersection point of the horizontal line passing through the highest vertex of the third bounding box and the projection line of the second bounding box;

[0071] When the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line, and the polar radius of the intersection point of the second boundary line is less than the maximum value of the polar radius, the passable area of the suspended object is determined according to the projection line of the second bounding box and the horizontal line where the projection point of the first bounding box on the minimum boundary line is located;

[0072] When the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line, and the polar radius of the intersection point of the second boundary line is greater than or equal to the maximum value of the polar radius, the area above the horizontal line where the projection point of the first bounding box on the minimum boundary line is located is determined as the passable area of the suspended object;

[0073] Wherein, the intersection point of the second boundary line is the intersection point of the horizontal line where the projection point of the first bounding box on the minimum boundary line is located and the projection line of the second bounding box;

[0074] Wherein, the projection line of the bounding box is a ray pointing from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding line segment of the minimum value of the polar radius and parallel to the longitudinal axis.

[0075] A third aspect of the present application provides a computing device, including:

[0076] A communication interface;

[0077] At least one processor, which is connected to the communication interface; and

[0078] At least one memory, which is connected to the processor and stores program instructions, and when the program instructions are executed by the at least one processor, the at least one processor executes the method according to any one of the above first aspects.

[0079] A fourth aspect of the present application provides a computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a computer, the computer executes the method according to any one of the above first aspects.

[0080] These and other aspects of the present invention will become more apparent and understandable in the following description of the (multiple) embodiments. Description of the Drawings

[0081] The following further describes the various features of the present invention and the relationships between the various features with reference to the drawings. The drawings are all exemplary. Some features are not shown to scale, and in some drawings, conventional features in the field related to the present application that are not necessary for the present application may be omitted, or features that are not necessary for the present application may be additionally shown. The combinations of the various features shown in the drawings are not intended to limit the present application. Additionally, throughout this specification, the content referred to by the same reference numerals is the same. The specific description of the drawings is as follows:

[0082] Figure 1 It is a schematic diagram of an embodiment of a method for determining a passable area of a lifted object by construction machinery provided in an embodiment of the present application;

[0083] Figure 2 It is a schematic diagram of the relationship between a cylindrical coordinate system and a spatial rectangular coordinate system of an embodiment of a method for determining a passable area of a lifted object by construction machinery provided in an embodiment of the present application;

[0084] Figure 3 It is a top view of an operation range of an embodiment of a method for determining a passable area of a lifted object by construction machinery provided in an embodiment of the present application;

[0085] Figure 4 It is a schematic diagram of a plane coordinate system of an embodiment of a method for determining a passable area of a lifted object by construction machinery provided in an embodiment of the present application;

[0086] Figure 5 It is a schematic diagram of a bounding box in a plane coordinate system of an embodiment of a method for determining a passable area of a lifted object by construction machinery provided in an embodiment of the present application;

[0087] Figure 6 It is a schematic diagram of calculating a pitch angle of an embodiment of a method for determining a passable area of a lifted object by construction machinery provided in an embodiment of the present application;

[0088] Figures 7 to 18 It is a schematic diagram of a passable area of an embodiment of a method for determining a passable area of a lifted object by construction machinery provided in an embodiment of the present application;

[0089] Figure 19 It is a schematic diagram of an embodiment of a method for determining a passable area of a lifted object by construction machinery provided in an embodiment of the present application;

[0090] Figure 20 It is a schematic diagram of an embodiment of a device for determining a passable area of a lifted object by construction machinery provided in an embodiment of the present application;

[0091] Figure 21 Schematic diagram of an embodiment of the device for determining the passable area of a lifted object of a construction machine provided by an embodiment of the present application;

[0092] Figure 22 Schematic diagram of an embodiment of the device for determining the passable area of a lifted object of a construction machine provided by an embodiment of the present application;

[0093] Figure 23 Schematic diagram of a computing device provided by an embodiment of the present application. Detailed implementation manners

[0094] The terms "first", "second", "third", etc. or terms such as module A, module B, module C, etc. in the description and claims are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that, where permitted, the specific order or sequence can be interchanged so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0095] In the following description, the reference numerals of the steps involved, such as S110, S120,... etc., do not necessarily mean that the steps will be executed in this order. Where permitted, the order of the front and rear steps can be interchanged, or they can be executed simultaneously.

[0096] The term "comprising" used in the description and claims should not be construed as being limited to the content listed thereafter; it does not exclude other elements or steps. Therefore, it should be construed as specifying the presence of the described features, wholes, steps or components, but does not exclude the presence or addition of one or more other features, wholes, steps or components and their groups. Therefore, the expression "a device comprising device A and B" should not be limited to a device consisting only of components A and B.

[0097] The "one embodiment" or "embodiment" mentioned in this specification means that the specific features, structures or characteristics described in connection with the embodiment are included in at least one embodiment of the present invention. Therefore, the phrases "in one embodiment" or "in an embodiment" that appear throughout this specification do not necessarily all refer to the same embodiment, but may refer to the same embodiment. In addition, in one or more embodiments, the various specific features, structures or characteristics can be combined in any suitable manner, as will be apparent to those of ordinary skill in the art from this disclosure.

[0098] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. In case of inconsistency, the meaning stated in this specification or the meaning derived from the content recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application. For the purpose of accurately describing the technical content in this application and for accurately understanding the present invention, the following explanations or definitions of the terms used in this specification are given before the description of the specific embodiments:

[0099] 1) Voxel: short for Volume Pixel, the solid containing voxels can be represented by volume rendering or extracting the isosurface of polygons of a given threshold contour. Voxels are conceptually similar to pixels, the smallest unit in two-dimensional space. Pixels are used in the image data of two-dimensional computer images. As the name implies, voxels are the smallest unit for the segmentation of digital data in three-dimensional space and are used in fields such as three-dimensional imaging, scientific data, and medical imaging.

[0100] 2) Elevation: The elevation refers to the distance from a certain point along the plumb line direction to the absolute reference plane, called the absolute elevation, or simply elevation.

[0101] First, the existing methods will be introduced below, and then the technical solutions of this application will be introduced in detail.

[0102] Tower cranes are one of the important heavy engineering mechanical equipment in the production and construction fields. When a tower crane hoists an object, collisions may occur in the following scenarios: (1) In the production and construction scenarios of a tower crane group, including at least two tower cranes, collisions may occur between tower cranes; (2) Components such as the boom, hoisting wire rope, hook, and the object being hoisted of the tower crane may collide with surrounding buildings, trees, and other obstacles in the scenario. For scenario (1), since the position of the tower body is fixed, it is relatively easy to judge the position information of the boom and luffing trolley between tower cranes in real time, so as to avoid collisions. For scenario (2), it is very difficult to achieve adaptive anti-collision. Usually, a lidar is used to scan the scenario to obtain point cloud data and construct a map for obstacle avoidance. For the lidar installed at the root of the tower crane boom, due to the radial field of view occlusion in the scenario, the point cloud of the outer obstacles obtained by the lidar may be missing, resulting in an incomplete point cloud map of the scenario, which cannot provide accurate and complete map perception capabilities for the automatic operation of the tower crane, such as trajectory planning and obstacle avoidance, and is also extremely likely to cause danger.

[0103] To address the above problems, existing solutions construct a point cloud map using lidar installed on the trolley of the jib. Although this method can provide a relatively complete point cloud map for tower crane obstacle avoidance, due to the limited field of view angle of the lidar, the mapping time is relatively long, and usually multiple rotations of the jib are required to scan the scene completely. In addition, since the jib is a non-rigid structure, the accuracy of the point cloud map constructed during movement is limited by the point cloud matching algorithm, and there is an extremely high probability of insufficient accuracy, which also poses potential safety hazards for tower crane trajectory planning and obstacle avoidance. Some other existing solutions are to obtain the highest point of the point cloud in a local area and regard the area above the highest point as a safe and passable area. However, this solution also fails to completely eliminate the trajectory planning and collision risks caused by occlusion. In summary, how to provide a reliable and complete passable area for construction machinery trajectory planning and obstacle avoidance is an urgent problem to be solved currently.

[0104] The prior art has the following defects: Due to the occlusion between obstacles, inaccurate or incorrect judgments are made on the passable area of the suspended load, and the passable area of the suspended load cannot be determined quickly and accurately.

[0105] Based on the above technical problems existing in the prior art, the embodiments of the present application provide a method, device, equipment, and medium for determining the passable area of a suspended load of construction machinery. By analyzing the positions and elevations of the bounding boxes of various obstacles in the operation area of the construction machinery, the influence relationship between the passable safety area and obstacle occlusion can be accurately and concisely described, thereby eliminating the incorrect judgment of the passable area caused by the occlusion between obstacles, providing a reliable and complete passable area and map information for construction machinery trajectory planning and obstacle avoidance, enabling the construction machinery to accurately avoid obstacles, ensuring the safety of the construction machinery, and thus solving the technical problem in the prior art that inaccurate or incorrect judgments are made on the passable area of the suspended load due to the occlusion between obstacles.

[0106] Figure 1 This is a schematic diagram of an embodiment of the method for determining the passable area of a suspended load of construction machinery provided by the embodiments of the present application. As Figure 1 shown, the method may specifically include:

[0107] Step S110: Based on the expected motion trajectory of the hoisted object of the construction machinery, determine the hoisted object motion interval, the construction machinery operation interval, and the non-hoisted object motion interval. Among them, the projection of the hoisted object motion interval on the horizontal plane includes an annular region determined by the first polar radius range and the polar angle range. The first polar radius range is between the maximum and minimum polar radii of all the trajectory points in the expected motion trajectory. The projection of the construction machinery operation interval on the horizontal plane includes a sector region determined by the second polar radius range and the polar angle range. The second polar radius range is between zero and the maximum polar radius. The non-hoisted object motion interval is the interval obtained by removing the hoisted object motion interval from the construction machinery operation interval.

[0108] Step S120: Among the bounding boxes of the obstacles in the non-hoisted object motion interval, select the first bounding box with the minimum pitch angle; and among the bounding boxes of the obstacles in the construction machinery operation interval, select the second bounding box with the minimum pitch angle. Among them, the pitch angle of the bounding box is the minimum pitch angle of all the points in the bounding box.

[0109] Step S130: Among the bounding boxes of the obstacles in the hoisted object motion interval, select the third bounding box with the maximum elevation.

[0110] Step S140: Determine the passable area of the hoisted object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box.

[0111] The construction machinery in the embodiments of the present application can be heavy construction machinery and equipment such as tower cranes and tower hoists. Taking a tower crane as an example, it is necessary to accurately avoid obstacles in the planned trajectory during operation. If the lifting height in the planned trajectory is not enough, for example, the lifting height is lower than the height of the obstacle, the tower crane may encounter an obstacle during operation. To accurately avoid obstacles, it is first necessary to identify the obstacles that the tower crane may encounter during operation within the range where the tower crane operation interval is located. Specifically, a lidar installed at the root of the tower crane boom, that is, below the intersection of the tower base and the jib, can be used to establish a map, perform image segmentation on the obstacles to obtain the bounding boxes of the obstacles, and calculate the pitch angle of each bounding box of the obstacles. Among them, the pitch angle of the bounding box is the minimum pitch angle of all the points in the bounding box. Then, a vector map composed of the bounding boxes is used to replace the point cloud map. Based on the vector map, the operation path of the tower crane is planned to determine the passable area of the hoisted object.

[0112] Figure 2It is the coordinate system in the tower crane operation scenario, which shows the schematic diagram of the relationship between the space rectangular coordinate system o-xyz and the cylindrical coordinate system o-rφz. The coordinates of point P in the space rectangular coordinate system are (x, y, z), and the coordinates in the cylindrical coordinate system are (r, φ, z). r is the perpendicular distance from point P to the z-axis, called the radial axis (r-axis); φ is the angle between the projection line of line segment OP on the xy-plane and the positive x-axis, called the transverse axis (φ-axis); z is equal to the z in the rectangular coordinates, that is, the distance from point P to the xy-plane. Among them, the positive direction of the z-axis is vertically upward, called the longitudinal axis (z-axis) or the height axis.

[0113] As Figure 3 shown, R is the maximum length of the tower crane's front arm, and the annular shaded area is the hoisting object movement range for one operation of the tower crane. The expected movement trajectory of the tower crane's hoisting object is within this hoisting object movement range. The hoisting object movement range is defined by two concentric circles with radii r1 and r2 respectively, two rays with polar angles φ1 and φ2 respectively, and the side with polar angle φ1 turning counterclockwise to the side with polar angle φ2.

[0114] Still taking the tower crane as an example, in step S110, first, determine the hoisting object movement range based on the expected movement trajectory of the tower crane's hoisting object. Refer to Figure 3 , take the range between the maximum value r2 and the minimum value r1 of the polar radii of all trajectory points in the expected movement trajectory as the first polar radius range. Take the angular range of the polar angle φ1 turning counterclockwise to the polar angle φ2 as the polar angle range. Then, the projection of the hoisting object movement range on the horizontal plane includes the annular area determined by the first polar radius range and the polar angle range, that is, Figure 3 the annular area bounded by line segments A1B1, C1D1, and arcs A1D1, B1C1 in

[0115] Secondly, determine the tower crane operation range based on the expected movement trajectory of the tower crane's hoisting object. Refer to Figure 3 , take the range less than or equal to the maximum value of the polar radii of all trajectory points in the expected movement trajectory as the second polar radius range. Take the angular range of the polar angle φ1 turning counterclockwise to the polar angle φ2 as the polar angle range. Then, the projection of the tower crane operation range on the horizontal plane includes the sector area determined by the second polar radius range and the polar angle range, that is, Figure 3 the sector area OB1C1 bounded by line segments OB1, OC1, and arc B1C1 in

[0116] Thirdly, determine the non-hoisting object movement range as the range in the tower crane operation range excluding the hoisting object movement range, that is, Figure 3 the sector area OA1D1 bounded by line segments OA1, OD1, and arc A1D1 in

[0117] Further, before performing step S120, based on the position information of the bounding box and the position information of the hoisted object movement range, the tower crane operation range, and the non-hoisted object movement range, the bounding boxes of the obstacles in each of the above ranges can be detected.

[0118] For each range, the bounding box with the minimum pitch angle value in the area can be selected in the following manner: traverse the pitch angle ρ of each bounding box in the range to obtain the bounding box with the minimum pitch angle value in the range Its pitch angle is ρ I , where I represents the I-th bounding box. Among them, the pitch angle of the bounding box is the minimum value of the pitch angles of all the points in the bounding box. Based on the above method, in step S120, among the bounding boxes of the obstacles in the non-hoisted object movement range, select the first bounding box with the minimum pitch angle; and among the bounding boxes of the obstacles in the tower crane operation range, select the second bounding box with the minimum pitch angle.

[0119] In step S130, among the bounding boxes of the obstacles in the hoisted object movement range, select the third bounding box with the maximum elevation. As Figure 3 shown, the annular shaded area is the hoisted object movement range for one operation of the tower crane. Detect the bounding box {G} of the obstacles in the hoisted object movement range, traverse the elevation of the highest vertex of all the bounding boxes in this range in the space rectangular coordinate system to obtain the highest bounding box Its maximum elevation is h k , and use it as the height lower limit of the safe passage area for the hoisted object in the range, where the subscript k represents the k-th bounding box.

[0120] As Figure 4 shown, the cylindrical coordinate system o-rφz in the area can be transformed into a plane coordinate system o-rz. That is to say, take the plane passing through the longitudinal axis in the cylindrical coordinate system, which is the Figure 4 shown plane coordinate system. Just omit the φ coordinate value in the cylindrical coordinate system to obtain the rz plane coordinate system.

[0121] Further, as Figure 5 shown, project the bounding box within the operation range of the tower crane in the cylindrical coordinate system onto the plane coordinate system. See Figure 5 , EF represents the hoisted object movement range; OF represents the tower crane operation range, and its length is the maximum value r2 of the above polar radius; OE represents the non-hoisted object movement range, and its length is the minimum value r1 of the above polar radius; point S represents the position of the lidar; R is the maximum length of the tower crane's front arm.

[0122] See Figure 5, the bounding box 1 is the bounding box with the smallest pitch angle within the range of OE, that is, the first bounding box; the maximum horizontal distance from all points on the first bounding box to the origin O is r3. The bounding box 2 is the bounding box with the smallest pitch angle within the range of OF, that is, the second bounding box; the maximum horizontal distance from all points on the second bounding box to the origin O is r4. The bounding box 3 is the bounding box with the highest elevation within the range of EF, that is, the third bounding box; the maximum horizontal distance from all points on the third bounding box to the origin O is r5. The bounding box 4 represents other bounding boxes.

[0123] In step S140, according to the positional relationship between the first bounding box, the second bounding box, and the third bounding box, and the elevations of the first bounding box, the second bounding box, and the third bounding box, the passable area of the suspended load is determined.

[0124] For example, referring to Figures 1 to 5 , if the second bounding box is located within the non-suspended load movement interval, that is, the bounding box with the smallest pitch angle within the entire tower crane operation interval OB1C1 is within the non-suspended load movement interval OA1D1, then the second bounding box and the first bounding box are the same bounding box. In this case, the area above the projection line of the second bounding box is determined as the passable area of the suspended load. Among them, the projection line of the bounding box is the ray from the radar origin to the highest vertex of the bounding box.

[0125] Another example, referring to Figures 1 to 5 , if the second bounding box is located within the suspended load movement interval and there are no obstacles in the non-suspended load movement interval blocking the suspended load movement interval, then according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box, the passable area of the suspended load is determined.

[0126] In the example of the tower crane, the pitch angle of a point in space is the angle between the line connecting the lidar and the point and the line where the boom is located. On the one hand, under the condition of the same polar radius, the smaller the pitch angle, the higher the height of the point; on the other hand, under the condition of the same polar radius, the smaller the pitch angle of the bounding box, the larger the range of the tower crane operation interval blocked. Therefore, the first bounding box and the second bounding box with the smallest pitch angle can be used as one of the bases for determining the height and occlusion relationship of the passable area. In addition, the obstacles in the tower crane operation interval are usually buildings, trees, goods, or other engineering building materials on the ground, so there are more obstacles at low places. If the position of the suspended load is higher than the height of all obstacles, then running at this height can accurately avoid obstacles. Therefore, the third bounding box with the highest elevation can also be used as one of the bases for determining the passable area. In summary, the embodiments of the present application provide a reliable and complete passable area for trajectory planning based on the positions and elevations of each bounding box within the suspended load movement interval, the tower crane operation interval, and the non-suspended load movement interval, enabling the tower crane to accurately avoid obstacles and ensuring the safety of the tower crane.

[0127] In one implementation, before Figure 1 step S120 in

[0128] connecting each vertex of the bounding box to the radar origin respectively to form rays pointing from the radar origin to each vertex of the bounding box;

[0129] calculating the elevation angle formed by each ray and the horizontal plane passing through the radar origin to obtain the elevation angles of the respective vertices;

[0130] selecting the minimum elevation angle among the elevation angles of the respective vertices as the elevation angle of the bounding box; wherein, the vertex corresponding to the minimum elevation angle is used as the highest vertex of the bounding box.

[0131] Figure 6 is a schematic diagram for calculating the elevation angle. Refer to Figure 6 , the shaded part represents the ground, and the formula for calculating the elevation angle ρ = ∠MSP of point P is as follows:

[0132]

[0133] wherein, H is the height of the radar origin, h is the height of the upper bottom surface of the bounding box, d is the horizontal distance from the radar origin to point P, and SM is the horizontal plane passing through the radar origin S.

[0134] In one example, the point cloud can be divided into voxels with upper and lower bottom surfaces parallel to the horizontal plane, where the side length of a single voxel is l. According to the point cloud within each voxel, a bounding box with a maximum side length not exceeding is generated. Taking the shape of the bounding box as a cuboid as an example, obtaining the coordinates of the 8 vertices of the bounding box in the space rectangular coordinate system and the coordinates of the lidar origin, connecting the 8 vertices of the bounding box to the radar origin respectively to form 8 rays pointing from the radar origin to the 8 vertices of the bounding box; calculating the elevation angles formed by each ray and the horizontal plane passing through the radar origin respectively to obtain the elevation angles of the 8 vertices; finally, selecting the minimum elevation angle among the elevation angles of the 8 vertices, which is the elevation angle of the bounding box relative to the radar origin. Among them, the vertex corresponding to the minimum elevation angle is used as the highest vertex of the bounding box. The height value of the highest vertex is the elevation of the bounding box.

[0135] Furthermore, add an elevation angle attribute to each bounding box, and use the vector map composed of bounding boxes to replace the point cloud map. Wherein, the bounding box vector map includes the position information, elevation angle and elevation of the bounding box. In subsequent steps, based on the generated bounding box vector map, select the bounding box with the minimum elevation angle within the specified interval.

[0136] In a specific example, the eight vertices of the bounding box are respectively connected to the radar origin to form eight rays pointing from the radar origin to the eight vertices of the bounding box. Calculate the pitch angle formed by each ray and the horizontal plane passing through the radar origin. Among them, the subscript of the pitch angle ρ represents the j-th bounding box, and the superscript represents the i-th vertex of the bounding box. The value range of its pitch angle is (-90, 90), and it is positive along the negative z-axis. That is, when the angle between the ray and the negative z-axis is less than 90 degrees, the SP is below the horizontal plane, and at this time the pitch angle is positive. In another case, the P point is above the SM plane, and at this time the pitch angle is negative. Finally, take the minimum pitch angle ρ. j As the overall pitch angle of a single bounding box.

[0137] In one implementation, Figure 1 In step S140 of, the determining the passable area of the suspended object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box includes:

[0138] Judge whether the obstacle occlusion condition is satisfied according to the projection distance and the minimum value of the polar radius; wherein, the projection distance is the farthest distance of the projection of the first bounding box on the horizontal ground based on the radar origin; satisfying the obstacle occlusion condition means that there is a possibility that the obstacles in the non-suspended object movement interval occlude the obstacles in the suspended object movement interval.

[0139] Determine the passable area of the suspended object according to the result of the judgment.

[0140] In one implementation, the judging whether the obstacle occlusion condition is satisfied according to the projection distance and the minimum value of the polar radius includes:

[0141] In the case where the projection distance is greater than the minimum value of the polar radius, it is determined that the obstacle occlusion condition is satisfied.

[0142] As Figure 5 shown, the EF interval is the movement range of the suspended object. The obstacles inside it may be occluded by the obstacles in the non-suspended object movement interval OE, resulting in the missing of the point cloud of the obstacles, so that the bounding box vector map is incomplete and cannot provide reliable map information for trajectory planning and obstacle avoidance, resulting in potential collision risks during the movement of the suspended object. To solve this problem, first analyze whether the obstacles in the OE interval may occlude the obstacles in the suspended object movement interval EF. The specific method is as follows:

[0143] According to the circular ring radius interval [0, r1] and the polar angles φ1 and φ2 of the start and end sides, select the bounding box with the smallest pitch angle in the OE interval according to the method in step S120. Its pitch angle is denoted as ρ.m , such as Figure 5 the bounding box 1 in, the maximum distance from the OS axis is r3, ST is the ray passing through the vertex A of the bounding box 1, and then according to its pitch angle ρ m and the height H of the lidar origin, the farthest distance OC value r of the projection of the top of the bounding box on the horizontal ground can be calculated oc . r oc is the farthest distance of the projection of the first bounding box on the horizontal ground based on the radar origin, that is, the projection distance. The calculation formula is as follows:

[0144]

[0145] The coordinates of point B are (r1, h eb ), and the value of line segment EB, that is, h m , can be calculated using the pitch angle ρ eb and the value of r1. The calculation formula is as follows:

[0146] h eb = H - r1 tanρ m (5.2)

[0147] If r1 ≥ r oc , the projection distance is less than or equal to the minimum value of the polar radius, then the obstacles in the OE interval have no possibility of blocking the obstacles in the EF interval, and the obstacle blocking condition is not satisfied; on the contrary, when the projection distance is greater than the minimum value of the polar radius, the obstacles in the OE interval may block the obstacles in the EF interval, and the obstacle blocking condition is satisfied.

[0148] Refer to again Figure 5 , after judging whether the obstacle blocking condition is satisfied, select the bounding box with the smallest pitch angle in the OF interval. Specifically, according to the circular ring radius interval [0, r2] and the polar angles φ1 and φ2 of the start and end sides, select the bounding box with the smallest pitch angle in the OF interval according to the method in step S120 and denote it as such as Figure 5 the bounding box 2 in, the farthest distance value from the OS axis is r4, the pitch angle is ρ N , and the corresponding ray is SG which passes through the vertex D of the bounding box and intersects with the outer boundary of the lifting object running interval at point G. The coordinates of point G are (r2, h fg ), and the formula for calculating the elevation FG value h fg of point G is as follows:

[0149] h fg = H - r2tanρ n (5.3)

[0150] In the following steps, by analyzing the passable safety area in the o-rz coordinate system, the passable safety area within the range of radius [r1, r2] and initial and final side polar angles φ1 and φ2 respectively in the cylindrical coordinate system o-rφz can be determined. Specifically, it can be divided into the following situations:

[0151] In the first situation, in an embodiment, Figure 1 in step S140 of, the determining of the passable area of the suspended object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box includes:

[0152] When the second bounding box is located within the non-suspended object movement interval, the area above the projection line of the second bounding box is determined as the passable area of the suspended object; wherein, the projection line of the bounding box is the ray pointing from the radar origin to the highest vertex of the bounding box.

[0153] Refer to Figure 5 and Figure 7 , if r1≥r4, that is, the second bounding box is located within the non-suspended object movement interval. At this time, the first bounding box and the second bounding box are the same bounding box, r3 = r4. Then, within the interval EF, the area above the line segment BT is the passable safety area. This area is not blocked by obstacles and there are no obstacles within this area. Therefore, this area can be determined as a safe passable area. The radar origin S, the highest vertex A of the first bounding box, and the line segment BT are on a straight line. That is to say, the line segment BT is located on the ray pointing from the radar origin S to the highest vertex A of the bounding box, that is, the line segment BT is the part intercepted by the projection line of the second bounding box within the suspended object movement interval. Therefore, within the suspended object movement interval, the area above the projection line of the second bounding box is determined as the passable area of the suspended object.

[0154] In summary, in this case, the occlusion relationship is determined based on the second bounding box. The area above the projection line of the second bounding box is not blocked by obstacles and there are no obstacles within this area. Therefore, this area is determined as the passable area of the suspended object, which can completely eliminate the trajectory planning and collision risks caused by occlusion, and provide a reliable and complete passable area for the trajectory planning and obstacle avoidance of construction machinery.

[0155] In the second situation, in an embodiment, the determining of the passable area of the suspended object according to the judgment result includes:

[0156] When the second bounding box is within the moving range of the suspended object and does not meet the obstacle occlusion condition, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box; wherein, the projection line of the bounding box is a ray pointing from the radar origin to the highest vertex of the bounding box.

[0157] See Figure 5 and Figure 8 , if r2≥r4>r1, r1≥r oc , that is, the second bounding box is within the moving range EF of the suspended object, and the obstacles within the OE range have no possibility of occluding the obstacles within the EF range. According to the circular ring radius range [r1, r4] and the polar angles φ1 and φ2 of the starting and ending sides, select the bounding box with the highest elevation within the EJ range according to the method in step S130 See Figure 5 , since point J is the projection point of the highest vertex of the bounding box with the smallest pitch angle within the entire OF range on the horizontal plane, then Figure 5 the elevation of the bounding box farther from the origin O than point J in Figure 5 will be relatively smaller, so the bounding box with the highest elevation within the EJ range is also the bounding box with the highest elevation within the EF range, that is q the bounding box 3 in Figure 8 , and its elevation is the value of the line segment KL denoted as h

[0158] According to the coordinates of the generated point M are (r1, h q ), the coordinates of point N are (r6, h q ), the coordinates of point V are (r2, h q ), and the formula for calculating r6 is as follows:

[0159]

[0160] wherein, see Figure 5 and Figure 8 , point N is the intersection point of the projection line of the second bounding box and the horizontal line where the highest vertex of the third bounding box is located. r6 is the distance between the projection point Q of point N on the horizontal plane and the origin O.

[0161] In summary, in this case, the occlusion relationship is determined based on the second bounding box. The area above the projection line of the second bounding box is not occluded by obstacles, and there are no obstacles in this area. Therefore, referring to Figure 5 and Figure 8 , if this area is determined as the passable area for the suspended load, that is, the area above the line where NG is located is determined as the passable area for the suspended load, the trajectory planning and collision risks caused by occlusion can be completely eliminated. However, since the second bounding box is within the movement range of the suspended load and does not meet the obstacle occlusion condition, in this case, the range of the passable area can still be further expanded. The area above the horizontal line of the highest vertex of the third bounding box is safe. Therefore, the area above the horizontal line of the highest vertex of the third bounding box can also be extended to the passable area, that is, the area above the line where MN is located is extended to the passable area. Through the above extension, a reliable and complete passable area is provided for trajectory planning and obstacle avoidance.

[0162] The third case, in one implementation, determining the passable area of the suspended load according to the judgment result includes:

[0163] When the second bounding box is within the movement range of the suspended load, meets the obstacle occlusion condition, and the elevation of the third bounding box is greater than or equal to the projection height of the first bounding box on the minimum boundary line, the passable area of the suspended load is determined according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0164] When the second bounding box is within the movement range of the suspended load, meets the obstacle occlusion condition, and the elevation of the third bounding box is less than the projection height of the first bounding box on the minimum boundary line, the passable area of the suspended load is determined according to the projection line of the second bounding box and the horizontal line passing through the projection height;

[0165] Wherein, the projection line of the bounding box is a ray from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding line segment of the minimum value of the polar radius and parallel to the longitudinal axis.

[0166] Referring to Figure 5 , if r2≥r4>r1, r oc >r1, that is, the second bounding box is within the movement range EF of the suspended load, and the obstacles in the OE interval may occlude the obstacles in the EF interval. At this time, the coordinates of point M are (r1, h q ), and the coordinates of point N are (r6, h q ). Draw a straight line parallel to the r-axis through point B, which intersects the ray SG at point N1 and the extension line of the outer boundary FG of the movement area at point V1. The coordinates of N1 are recorded as (r7, heb ),The coordinates of V1 are denoted as (r2, h eb ), and the formula for calculating r7 is as follows:

[0167]

[0168] Compare the elevation values of points M and B, and handle them separately in the following two cases according to the comparison results.

[0169] See Figure 5 and Figure 9 , the range of the first polar radius determined by the lifting object movement interval EF is between the maximum and minimum polar radii of all trajectory points of the lifting object. The corresponding line segment of the minimum polar radius is OE, and the straight line ME passing through the end point E of the line segment OE and parallel to the longitudinal axis z-axis is the minimum boundary line. The projected height of the first bounding box on the minimum boundary line is the length h of the line segment EB eb . If h q ≥h eb , that is, the elevation of the third bounding box is greater than or equal to the projected height of the first bounding box on the minimum boundary line, then the area above the broken line formed by connecting points M, N, and G in sequence is the passable safety area inside the interval EF. Among them, the straight line where the line segment NG is located is the projection line of the second bounding box, and the straight line where MN is located is the horizontal line of the highest vertex of the third bounding box

[0170] See Figure 5 and Figure 10 , if h q <h eb , that is, the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line, then the area above the broken line formed by connecting points B, N1, and G in sequence is the passable safety area inside the interval EF. Among them, the straight line where the line segment N1G is located is the projection line of the second bounding box, and the straight line where BN1 is located is the horizontal line where the projected height of the first bounding box on the minimum boundary line is located, that is, the horizontal line where point B is located

[0171] In summary, in this case, the occlusion relationship is determined based on the first bounding box and the second bounding box. The area above the projection line of the second bounding box is not blocked by obstacles, and there are no obstacles in this area. Therefore, see Figure 5 , Figure 9 and Figure 10, if this area is determined as the passable area for the suspended load, that is, the area above the straight line where NG is located is determined as the passable area for the suspended load, the trajectory planning and collision risks caused by occlusion can be completely eliminated. However, when the second bounding box is within the movement range of the suspended load and meets the obstacle occlusion condition, the range of the passable area can still be further expanded in this case. If the position of the suspended load is higher than the elevation of the third bounding box and higher than the projection height of the first bounding box on the minimum boundary line, operating at this height can accurately avoid obstacles. Therefore, comparing the elevation of the third bounding box and the projection height of the first bounding box on the minimum boundary line is to compare the heights of point N and point N1. See Figure 9 , when point N is relatively high, the area above the horizontal line of the highest vertex of the third bounding box, that is, the area above the straight line where MN is located, is expanded into the range of the passable area; see Figure 10 , when point N1 is relatively high, the area above the projection height of the first bounding box on the minimum boundary line, that is, the area above the straight line where BN1 is located, is expanded into the range of the passable area. Through the above expansion, a reliable and complete passable area is provided for trajectory planning and obstacle avoidance.

[0172] Fourth case, in an implementation, determining the passable area of the suspended load according to the result of the judgment includes, when a part of the second bounding box is outside the construction machinery operation range and does not meet the obstacle occlusion condition, determining the passable area of the suspended load according to one of the following:

[0173] When the third bounding box is entirely within the construction machinery operation range and the elevation of the third bounding box is greater than the projection height of the projection line of the second bounding box on the maximum boundary line, determining the passable area of the suspended load according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0174] When the third bounding box is entirely within the construction machinery operation range and the elevation of the third bounding box is less than or equal to the projection height of the projection line of the second bounding box on the maximum boundary line, determining the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended load;

[0175] When a part of the third bounding box is outside the construction machinery operation range, determining the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended load.

[0176] Wherein, the projection line of the bounding box is a ray from the radar origin to the highest vertex of the bounding box; the maximum boundary line is a straight line passing through the endpoints of the corresponding line segment of the maximum value of the polar radius and parallel to the longitudinal axis.

[0177] Still taking the tower crane as an example, refer to Figure 5 , if r4 > r2 and r1 ≥ r oc , that is, a part of the second bounding box is located outside the working range of the tower crane, and the obstacles within the OE interval have no possibility of blocking the obstacles in the EF interval. According to the circular ring radius interval [r1, r2] and the polar angles φ1 and φ2 of the start and end sides, select the bounding box with the highest elevation in the EF interval according to the method in step S130 Such as Figure 5 The bounding box 3 in s , and its elevation is the value of the line segment KL, denoted as h , and the coordinates of the generated point M are (r1, h s ), the coordinates of point N are (r oq , h s ), the coordinates of point V are (r2, h s ), r oq is the length value of OQ, and calculate ro q的 The formula is as follows:

[0178]

[0179] Refer to Figure 5 and Figure 11 , the first polar radius range determined by the lifting object movement interval EF is between the maximum value and the minimum value of the polar radii of all trajectory points of the lifting object. The corresponding line segment of the maximum value of the polar radius is OF, and the straight line GF passing through the end point F of the line segment OF and parallel to the longitudinal axis z-axis is the maximum boundary line. The projected height of the second bounding box on the maximum boundary line is the length h fg of the line segment GF. If r2 > r5 and h s > h fg , that is, the third bounding box is entirely located within the working range of the tower crane, and the elevation of the third bounding box is greater than the projected height of the projection line of the second bounding box on the maximum boundary line, then the area above the broken line formed by connecting the three points M, N, and G in sequence is the passable safety area inside the interval EF. Among them, the straight line where the line segment NG is located is the projection line of the second bounding box, and the straight line where MN is located is the horizontal line of the highest vertex of the third bounding box.

[0180] Refer to Figure 5 and Figure 12 , if r2 > r5 and h s ≤ h fgWhen the third bounding box is entirely within the tower crane operation area and the elevation of the third bounding box is less than or equal to the projection height of the projection line of the second bounding box on the maximum boundary line, the area above the line connecting points M and V is the passable safety area within the interval EF. The line connecting points M and V is the horizontal line passing through the highest vertex of the third bounding box.

[0181] See Figure 5 , Figure 13 and Figure 14 . If r2 ≤ r5, that is, a part of the third bounding box is outside the tower crane operation area, the area above the line formed by connecting points M and V in sequence is the passable safety area within the interval EF. Figure 14 is Figure 13 a partial enlarged view inside the circle. The line connecting points M and V is the horizontal line of the highest vertex of the third bounding box.

[0182] In summary, in this case, if a part of the second bounding box is outside the construction machinery operation area, it is necessary to consider the projection height of the projection line of the second bounding box on the maximum boundary line, that is, the height of point G. When the obstacle occlusion condition is not met, there is no need to consider the position and elevation of the first bounding box, and only the positions and elevations of the second bounding box and the third bounding box need to be compared. See Figure 5 and Figure 11 . When the third bounding box is entirely within the tower crane operation area and the elevation of the third bounding box is greater than the projection height of the projection line of the second bounding box on the maximum boundary line, that is, point L is higher than point G. This situation is similar to Figure 8 . On the basis of the area above the projection line of the second bounding box, that is, the area above the line where NG is located, the range of the passable area is further expanded, and the area above the horizontal line of the highest vertex of the third bounding box, that is, the area above the line where MN is located, is extended to the passable area, which can provide a reliable and complete passable area for trajectory planning and obstacle avoidance. See Figure 12 and Figure 13 . In the situation of the elevation of the third bounding box in Fig. l2 being less than or equal to the projection height of the projection line of the second bounding box on the maximum boundary line, Figure 13 and a part of the third bounding box in

[0183] being outside the construction machinery operation area, the projected position of point N is outside the range of EF in these two cases. Therefore, only the area above the horizontal line of the highest vertex of the third bounding box, that is, the area above the line connecting points M and V, is determined as the passable safety area within the interval EF. Regarding the position and elevation relationships of each bounding box above, the range of the passable area is expanded as much as possible on the premise of ensuring safety, so that the construction machinery can accurately avoid obstacles and ensure the safety of the construction machinery.Fifth case, in an implementation, determining the passable area of the suspended load according to the result of the judgment includes, when a part of the second bounding box is outside the operation range of the construction machinery and the obstacle occlusion condition is satisfied, determining the passable area of the suspended load according to one of the following:

[0184] When the elevation of the third bounding box is greater than or equal to the projected height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the first boundary line is less than the maximum value of the polar radius, determining the passable area of the suspended load according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0185] When the elevation of the third bounding box is greater than or equal to the projected height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the first boundary line is greater than or equal to the maximum value of the polar radius, determining the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended load;

[0186] Wherein, the intersection point of the first boundary line is the intersection point of the horizontal line passing through the highest vertex of the third bounding box and the projection line of the second bounding box;

[0187] When the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the second boundary line is less than the maximum value of the polar radius, determining the passable area of the suspended load according to the projection line of the second bounding box and the horizontal line where the projection point of the first bounding box on the minimum boundary line is located;

[0188] When the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the second boundary line is greater than or equal to the maximum value of the polar radius, determining the area above the horizontal line where the projection point of the first bounding box on the minimum boundary line is located as the passable area of the suspended load;

[0189] Wherein, the intersection point of the second boundary line is the intersection point of the horizontal line where the projection point of the first bounding box on the minimum boundary line is located and the projection line of the second bounding box;

[0190] Wherein, the projection line of the bounding box is a ray pointing from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding line segment of the minimum value of the polar radius and parallel to the longitudinal axis.

[0191] Taking a tower crane as an example, see Figure 5 , if r4>r2, r1<r oc, at this time, a part of the second bounding box is located outside the tower crane operation area, and the obstacles within the OE area may block the obstacles in the EF area. The coordinates of point M are (r1, h s ), the coordinates of point N are (r oq , h s ), the coordinates of point V are (r2, h s ), and the coordinates of N1 are denoted as (r7, h eb ). Compare the elevation values of points M and B, and at the same time compare the r-axis coordinates of N and V, and compare the r-axis coordinates of N1 and V1. Determine the passable area for the lifted object based on the results of the above comparisons.

[0192] See Figure 5 and Figure 15 , the broken line MNG is the first boundary line. The intersection point N of the horizontal line MN passing through the highest vertex L of the third bounding box and the projection line NG of the second bounding box is the intersection point of the first boundary line. If h s ≥h eb , r2 > r oq , that is, the elevation h s of the third bounding box is greater than or equal to the projected height h eb of the first bounding box on the minimum boundary line, and the polar radius r oq of the intersection point N of the first boundary line is less than the maximum value r2 of the polar radius, then the area above the broken line segment formed by connecting points M, N, and G in sequence is the passable safety area inside the interval EF. Among them, the straight line where the line segment NG is located is the projection line of the second bounding box, and the straight line where MN is located is the horizontal line of the highest vertex of the third bounding box.

[0193] See Figure 5 and Figure 16 , if h s ≥h eb , r2 ≤ r oq , that is, the elevation h s of the third bounding box is greater than or equal to the projected height h eb of the first bounding box on the minimum boundary line, and the polar radius r oq of the intersection point N of the first boundary line is greater than or equal to the maximum value r2 of the polar radius, then the area above the line segment formed by connecting points M and V in sequence is determined as the passable safety area inside the interval EF. Among them, the connection line of points M and V is the horizontal line passing through the highest vertex of the third bounding box.

[0194] See Figure 5 and Figure 17 , the broken line BN1G is the second boundary line. The intersection point N1 of the horizontal line BN1 where the projection point B of the first bounding box on the minimum boundary line BE is located and the projection line N1G of the second bounding box is the intersection point of the second boundary line. If h s < heb , r7 < r2, that is, the elevation h of the third bounding box s is less than the projected height h of the first bounding box on the minimum boundary line eb , and if the polar radius r7 of the intersection point N1 of the second boundary line is less than the maximum value r2 of the polar radius, then the area above the broken line formed by connecting the three points B, N1, and G in sequence is the passable safety area inside the interval EF. Among them, the straight line where the line segment N1G is located is the projection line of the second bounding box, and the straight line where BN1 is located is the horizontal line where the projection point B of the first bounding box on the minimum boundary line is located.

[0195] See Figure 5 and Figure 18 , if h s < h eb , r7 ≥ r2, that is, the elevation h of the third bounding box s is less than the projected height h of the first bounding box on the minimum boundary line eb , and if the polar radius r7 of the intersection point N1 of the second boundary line is greater than or equal to the maximum value r2 of the polar radius, then the area above the line segment formed by connecting the two points B and V1 in sequence is determined as the passable safety area inside the interval EF. Among them, the connection line of the two points BV1 is the horizontal line where the projection point B of the first bounding box on the minimum boundary line is located.

[0196] In summary, in this case, a part of the second bounding box is located outside the construction machinery operation interval and satisfies the obstacle occlusion condition, then it is necessary to compare the elevation of the third bounding box with the projected height of the first bounding box on the minimum boundary line. For Figure 15 the situation of Figure 8 and Figure 11 is similar; for Figure 16 and Figure 18 the situation of Figure 12 and Figure 13 is similar; for Figure 17 the situation of Figure 10 is similar. The above situations are not elaborated here. Based on the position and elevation relationship of each bounding box in the hoisted object movement interval, the construction machinery operation interval, and the non-hoisted object movement interval, the range of the passable area is expanded as much as possible on the premise of ensuring safety, so that the construction machinery can accurately avoid obstacles and ensure the safety of the construction machinery.

[0197] By analyzing the position and elevation of each bounding box in the construction machinery operation interval in the embodiments of the present application, the influence relationship between the passable safety area and obstacle occlusion can be accurately and concisely described, so as to eliminate the misjudgment of the passable area caused by the occlusion between obstacles, provide reliable and complete passable area and map information for the trajectory planning and obstacle avoidance of construction machinery, and enable the construction machinery to accurately avoid obstacles and ensure the safety of the construction machinery.

[0198] In yet another embodiment, referring to Figure 19 , before performing step S120, based on the position information of the bounding box and the position information of the hoisted object movement range, the construction machinery operation range, and the non-hoisted object movement range, the bounding boxes of obstacles in each of the above ranges can be detected. The hoisted object movement range, the construction machinery operation range, and the non-hoisted object movement range can be used as specified ranges, and the process of detecting the bounding box can specifically include the following steps:

[0199] Step S210, perform coordinate transformation on the respective vertex coordinates of the bounding box of the obstacle within the working area of the construction machinery, transform the coordinates from the Cartesian coordinate system in space to the cylindrical coordinate system, and obtain the radial distance, polar angle, and height value of the vertex of the bounding box;

[0200] Step S220, respectively determine the coordinate ranges of the bounding box on the radial axis and the height axis according to the minimum and maximum values of the radial distance of the vertex of the bounding box and the minimum and maximum values of the height value;

[0201] Step S230, taking the polar angle of the center point of the bounding box as the reference azimuth, determine the coordinate range of the bounding box on the angular axis according to the polar angles of the respective vertices of the bounding box;

[0202] Step S240, compare the coordinate ranges of the bounding box on the radial axis, the height axis, and the angular axis with the specified range within the working area to obtain the bounding box detection result within the specified range.

[0203] Taking a tower crane as an example, during the unmanned operation process, a lidar installed on the tower crane can be used to identify obstacles, so as to accurately avoid obstacles on the operation trajectory. Specifically, during the operation of the tower crane, a point cloud map of the working area of the tower crane is established by using a lidar installed on the tower crane. Then, noise reduction processing is performed on the point cloud map, and the point cloud map is segmented by using a bounding box. The area where the bounding box is located is considered an obstacle. In summary, based on the point cloud map, the obstacles in the working area of the tower crane are reconstructed, and the voxel bounding box of the obstacles is extracted.

[0204] In one example, a bounding box can be a cuboid that completely encloses an object. When calculating the bounding box, first, image segmentation of the target object is required to separate it from the background. Then, by analyzing the contour of the target object, the minimum circumscribed cuboid of the object is calculated, thereby obtaining the bounding box. The position of the bounding box in the coordinate system can be represented by the position coordinates of the 8 vertices of the cuboid.

[0205] Considering the actual situation of the control and mechanical structure, the space rectangular coordinate system is not suitable for trajectory planning in the construction machinery scenario. In step S210, the obstacles within the working area of the construction machinery are traversed, and the coordinates of each vertex of the bounding box of the obstacle are coordinate-transformed from the coordinates in the space rectangular coordinate system to the coordinates in the cylindrical coordinate system, and the bounding box is described using the cylindrical coordinate system. Using the transformation formula, the abscissa x, ordinate y, and vertical coordinate z of the 8 vertices of the bounding box in the rectangular coordinate system are transformed to obtain the polar radius ρ, polar angle θ, and height value z in the cylindrical coordinate system. The coordinate transformation formula is as follows:

[0206]

[0207]

[0208] where (x, y, z) are the coordinates in the space rectangular coordinate system; (ρ, θ, z) are the coordinates in the cylindrical coordinate system, which represent the polar radius (radial distance), polar angle, and height in sequence, and θ is positive with the positive x-axis as the starting side and rotating counterclockwise around the z-axis.

[0209] In step S220, for the coordinates of the 8 vertices of the transformed bounding box, the minimum and maximum values on the ρ and z axes are respectively found, so as to determine the coordinate ranges of the bounding box on the ρ and z axes. Specifically, the interval range between the minimum and maximum values of the polar radii of the 8 vertices of the bounding box is determined as the coordinate range of the bounding box on the radial axis; and the interval range between the minimum and maximum values of the height values of the 8 vertices of the bounding box is determined as the coordinate range of the bounding box on the height axis.

[0210] In the rectangular coordinate system, the positions of the 8 vertices of the bounding box may all be in the same quadrant, or may be distributed in different quadrants. For example, the positions of the 8 vertices of the bounding box may all be in the first quadrant; for another example, the positions of the 8 vertices of the bounding box may be in the first quadrant and the fourth quadrant respectively; for yet another example, the positions of the 8 vertices of the bounding box may also be in all four quadrants respectively. In the above various different situations, the azimuth relationship between the polar angle of the center point of the bounding box and the polar angles of each vertex is correspondingly different. Therefore, in step S230, taking the polar angle of the center point of the bounding box as the reference azimuth, according to the azimuth relationship between the polar angles of each vertex of the bounding box and the polar angle of the center point, the coordinate range of the bounding box on the angle axis is determined in various different situations.

[0211] In step S240, the coordinate ranges of the bounding box on the radial axis, height axis, and angle axis determined in step S220 and step S230 are compared with the specified range to obtain the detection result of the bounding box within the specified range. If the coordinate ranges of the bounding box on the three axes all have intersections with the specified range, it can be determined that the bounding box is within the specified range.

[0212] As shown Figure 20 in the figure, the present application also provides an embodiment of a device for determining a passable area of a lifting object of a construction machinery. For the beneficial effects or technical problems solved by the device, reference can be made to the descriptions in the methods corresponding to the respective devices, or the descriptions in the summary of the invention, which will not be elaborated herein one by one.

[0213] In the embodiment of the device for determining the passable area of the lifting object of the construction machinery, the device includes:

[0214] A first determination unit 100, configured to: based on the expected movement trajectory of the lifting object of the construction machinery, determine a lifting object movement interval, a construction machinery operation interval, and a non-lifting object movement interval; wherein, the projection of the lifting object movement interval on the horizontal plane includes an annular area determined by a first polar radius range and a polar angle range, and the first polar radius range is between the maximum value and the minimum value of the polar radii of all the trajectory points in the expected movement trajectory; the projection of the construction machinery operation interval on the horizontal plane includes a sector area determined by a second polar radius range and a polar angle range, and the second polar radius range is between zero and the maximum value of the polar radius; the non-lifting object movement interval is the interval obtained by removing the lifting object movement interval from the construction machinery operation interval;

[0215] A first selection unit 200, configured to: select a first bounding box with the smallest pitch angle from the bounding boxes of the obstacles in the non-lifting object movement interval; and select a second bounding box with the smallest pitch angle from the bounding boxes of the obstacles in the construction machinery operation interval; wherein, the pitch angle of the bounding box is the minimum value of the pitch angles of all the points in the bounding box;

[0216] A second selection unit 300, configured to: select a third bounding box with the highest elevation from the bounding boxes of the obstacles in the lifting object movement interval;

[0217] A second determination unit 400, configured to: determine the passable area of the lifting object according to the positions and elevations of the first bounding box, the second bounding box, and the third bounding box.

[0218] As shown Figure 21 in the figure, in one embodiment, the device further includes a preprocessing unit 500, and the preprocessing unit 500 is configured to:

[0219] Before selecting the first bounding box with the smallest pitch angle and the second bounding box with the smallest pitch angle, respectively connect each vertex of the bounding box to the radar origin to form a ray pointing from the radar origin to each vertex of the bounding box;

[0220] Calculate the elevation angle formed by each of the rays and the horizontal plane passing through the origin of the radar to obtain the elevation angles of the respective vertices.

[0221] Select the minimum elevation angle among the elevation angles of the respective vertices as the elevation angle of the bounding box; wherein, the vertex corresponding to the minimum elevation angle is used as the highest vertex of the bounding box.

[0222] In one embodiment, the second determination unit 400 is configured to:

[0223] When the second bounding box is within the non-lifting object movement interval, determine the area above the projection line of the second bounding box as the passable area of the lifting object; wherein, the projection line of the bounding box is the ray from the radar origin to the highest vertex of the bounding box.

[0224] As Figure 22 shown, in one embodiment, the second determination unit 400 includes:

[0225] A judgment subunit 410, configured to: judge whether the obstacle occlusion condition is satisfied according to the projection distance and the minimum value of the polar radius; wherein, the projection distance is the maximum distance of the projection of the first bounding box on the horizontal ground based on the radar origin; satisfying the obstacle occlusion condition means that there is a possibility that an obstacle within the non-lifting object movement interval occludes an obstacle within the lifting object movement interval.

[0226] A determination subunit 420, configured to: determine the passable area of the lifting object according to the result of the judgment.

[0227] In one embodiment, the judgment subunit 410 is configured to:

[0228] When the projection distance is greater than the minimum value of the polar radius, determine that the obstacle occlusion condition is satisfied.

[0229] In one embodiment, the determination subunit 420 is configured to:

[0230] When the second bounding box is within the lifting object movement interval and the obstacle occlusion condition is not satisfied, determine the passable area of the lifting object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box; wherein, the projection line of the bounding box is the ray from the radar origin to the highest vertex of the bounding box.

[0231] In one embodiment, the determination subunit 420 is configured to:

[0232] When the second bounding box is within the moving range of the suspended object, satisfies the obstacle occlusion condition, and the elevation of the third bounding box is greater than or equal to the projected height of the first bounding box on the minimum boundary line, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0233] When the second bounding box is within the moving range of the suspended object, satisfies the obstacle occlusion condition, and the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line where the projected height is located;

[0234] Wherein, the projection line of the bounding box is a ray from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding segment with the minimum polar radius and parallel to the longitudinal axis.

[0235] In one implementation, the determining subunit 420 is configured to determine the passable area of the suspended object according to one of the following when a part of the second bounding box is outside the operating range of the construction machinery and does not satisfy the obstacle occlusion condition:

[0236] When the third bounding box is entirely within the operating range of the construction machinery and the elevation of the third bounding box is greater than the projected height of the projection line of the second bounding box on the maximum boundary line, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0237] When the third bounding box is entirely within the operating range of the construction machinery and the elevation of the third bounding box is less than or equal to the projected height of the projection line of the second bounding box on the maximum boundary line, determine the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended object;

[0238] When a part of the third bounding box is outside the operating range of the construction machinery, determine the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended object.

[0239] Wherein, the projection line of the bounding box is a ray from the radar origin to the highest vertex of the bounding box; the maximum boundary line is a straight line passing through the endpoints of the corresponding segment with the maximum polar radius and parallel to the longitudinal axis.

[0240] In one embodiment, the determining subunit 420 is configured to, when a part of the second bounding box is located outside the working range of the construction machinery and the obstacle occlusion condition is satisfied, determine the passable area of the suspended object according to one of the following:

[0241] When the elevation of the third bounding box is greater than or equal to the projection height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the first boundary lines is less than the maximum value of the polar radius, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box;

[0242] When the elevation of the third bounding box is greater than or equal to the projection height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the first boundary lines is greater than or equal to the maximum value of the polar radius, determine the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended object;

[0243] Wherein, the intersection point of the first boundary lines is the intersection point of the horizontal line passing through the highest vertex of the third bounding box and the projection line of the second bounding box;

[0244] When the elevation of the third bounding box is less than the projection height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the second boundary lines is less than the maximum value of the polar radius, determine the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line where the projection point of the first bounding box on the minimum boundary line is located;

[0245] When the elevation of the third bounding box is less than the projection height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the second boundary lines is greater than or equal to the maximum value of the polar radius, determine the area above the horizontal line where the projection point of the first bounding box on the minimum boundary line is located as the passable area of the suspended object;

[0246] Wherein, the intersection point of the second boundary lines is the intersection point of the horizontal line where the projection point of the first bounding box on the minimum boundary line is located and the projection line of the second bounding box;

[0247] Wherein, the projection line of the bounding box is a ray pointing from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding line segment of the minimum value of the polar radius and parallel to the longitudinal axis.

[0248] Figure 23 It is a structural schematic diagram of a computing device 900 provided by an embodiment of the present application. The computing device 900 includes: a processor 910, a memory 920, and a communication interface 930.

[0249] It should be understood,Figure 23 The communication interface 930 in the computing device 900 shown in FIG. can be used for communication with other devices.

[0250] Among them, the processor 910 can be connected to the memory 920. The memory 920 can be used to store the program code and data. Therefore, the memory 920 can be a storage unit inside the processor 910, an external storage unit independent of the processor 910, or a component including a storage unit inside the processor 910 and an external storage unit independent of the processor 910.

[0251] Optionally, the computing device 900 may further include a bus. Among them, the memory 920 and the communication interface 930 can be connected to the processor 910 through the bus. The bus can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0252] It should be understood that in the embodiments of the present application, the processor 910 can adopt a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. Or the processor 910 adopts one or more integrated circuits to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0253] The memory 920 can include a read-only memory and a random access memory, and provide instructions and data to the processor 910. A part of the processor 910 can also include a non-volatile random access memory. For example, the processor 910 can also store information about the device type.

[0254] When the computing device 900 is running, the processor 910 executes the computer-executable instructions in the memory 920 to perform the operation steps of the above method.

[0255] It should be understood that the computing device 900 according to the embodiments of the present application may correspond to the corresponding entity that executes the methods according to the embodiments of the present application, and the above and other operations and / or functions of each module in the computing device 900 respectively implement the corresponding processes of the methods of each embodiment. For the sake of brevity, they will not be elaborated herein.

[0256] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0257] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0258] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces. The indirect coupling or communication connection of the devices or units may be in an electrical, mechanical, or other form.

[0259] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0260] In addition, the functional units in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0261] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0262] The embodiments of this application also provide a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it is used to execute a method for determining a passable area of a hoisted object by a construction machinery, and this method includes at least one of the solutions described in the above various embodiments.

[0263] The computer storage medium of the embodiments of this application can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or combined with an instruction execution system, device, or component.

[0264] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or combined with an instruction execution system, device, or component.

[0265] The program code embodied on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical fiber cable, RF, etc., or any appropriate combination of the foregoing.

[0266] The computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0267] Note that the above is only the preferred embodiment of this application and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although this application has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, it can also include more other equivalent embodiments, all of which fall within the protection scope of the present invention.

Claims

1. A method for determining a passable area for a hoisted object of a construction machinery, characterized in that, Including: Based on the expected motion trajectory of the lifted object of the construction machinery, determining the motion interval of the lifted object, the operation interval of the construction machinery, and the non-lifted object motion interval; wherein, the projection of the motion interval of the lifted object on the horizontal plane includes an annular region determined by a first polar radius range and a polar angle range, and the first polar radius range is between the maximum value and the minimum value of the polar radii of all the trajectory points in the expected motion trajectory; the projection of the operation interval of the construction machinery on the horizontal plane includes a sector region determined by a second polar radius range and a polar angle range, and the second polar radius range is between zero and the maximum value of the polar radius; the non-lifted object motion interval is the interval obtained by removing the motion interval of the lifted object from the operation interval of the construction machinery; Among the bounding boxes of the obstacles in the non-lifted object motion interval, selecting the first bounding box with the minimum pitch angle; and among the bounding boxes of the obstacles in the operation interval of the construction machinery, selecting the second bounding box with the minimum pitch angle; wherein, the pitch angle of the bounding box is the minimum value of the pitch angles of all the points in the bounding box; Among the bounding boxes of the obstacles in the motion interval of the lifted object, selecting the third bounding box with the maximum elevation; Determining the passable area of the lifted object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box.

2. The method according to claim 1, characterized in that, Before selecting the first bounding box with the minimum pitch angle and the second bounding box with the minimum pitch angle, the method further includes: Connecting each vertex of the bounding box to the radar origin respectively to form rays pointing from the radar origin to each vertex of the bounding box; Calculating the pitch angle formed by each ray and the horizontal plane passing through the radar origin to obtain the pitch angles of the respective vertices; Selecting the minimum pitch angle among the pitch angles of the respective vertices as the pitch angle of the bounding box; wherein, the vertex corresponding to the minimum pitch angle is used as the highest vertex of the bounding box.

3. The method according to claim 2, characterized in that, The determining the passable area of the lifted object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box includes: In the case where the second bounding box is located in the non-lifted object motion interval, determining the area above the projection line of the second bounding box as the passable area of the lifted object; wherein, the projection line of the bounding box is the ray pointing from the radar origin to the highest vertex of the bounding box.

4. The method according to any one of claims 1 to 3, characterized in that, The determining the passable area of the lifted object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box includes: Judging whether the obstacle occlusion condition is satisfied according to the projection distance and the minimum value of the polar radius; wherein, the projection distance is the farthest distance of the projection of the first bounding box on the horizontal ground based on the radar origin; satisfying the obstacle occlusion condition means that there is a possibility that the obstacle in the non-lifted object motion interval occludes the obstacle in the motion interval of the lifted object; Determining the passable area of the lifted object according to the result of the judgment.

5. The method according to claim 4, characterized in that, Judging whether the obstacle occlusion condition is satisfied according to the projection distance and the minimum value of the polar radius includes: When the projection distance is greater than the minimum value of the polar radius, it is determined that the obstacle occlusion condition is satisfied.

6. The method according to claim 5, characterized in that, Determining the passable area of the suspended load according to the result of the judgment includes: When the second bounding box is within the movement range of the suspended load and the obstacle occlusion condition is not satisfied, the passable area of the suspended load is determined according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box; wherein, the projection line of the bounding box is a ray pointing from the radar origin to the highest vertex of the bounding box.

7. The method according to claim 5, characterized in that, Determining the passable area of the suspended load according to the result of the judgment includes: When the second bounding box is within the movement range of the suspended load, the obstacle occlusion condition is satisfied, and the elevation of the third bounding box is greater than or equal to the projected height of the first bounding box on the minimum boundary line, the passable area of the suspended load is determined according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box; When the second bounding box is within the movement range of the suspended load, the obstacle occlusion condition is satisfied, and the elevation of the third bounding box is less than the projected height of the first bounding box on the minimum boundary line, the passable area of the suspended load is determined according to the projection line of the second bounding box and the horizontal line where the projected height is located; Wherein, the projection line of the bounding box is a ray pointing from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding line segment of the minimum value of the polar radius and parallel to the longitudinal axis.

8. The method according to claim 5, characterized in that, Determining the passable area of the suspended load according to the result of the judgment includes, when a part of the second bounding box is outside the construction machinery operation range and the obstacle occlusion condition is not satisfied, determining the passable area of the suspended load according to one of the following: When the third bounding box is entirely within the construction machinery operation range and the elevation of the third bounding box is greater than the projected height of the projection line of the second bounding box on the maximum boundary line, the passable area of the suspended load is determined according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box; When the third bounding box is entirely within the construction machinery operation range and the elevation of the third bounding box is less than or equal to the projected height of the projection line of the second bounding box on the maximum boundary line, the area above the horizontal line of the highest vertex of the third bounding box is determined as the passable area of the suspended load; When a part of the third bounding box is outside the construction machinery operation range, the area above the horizontal line of the highest vertex of the third bounding box is determined as the passable area of the suspended load. Wherein, the projection line of the bounding box is a ray pointing from the radar origin to the highest vertex of the bounding box; the maximum boundary line is a straight line passing through the endpoints of the corresponding line segment of the maximum value of the polar radius and parallel to the longitudinal axis.

9. The method according to claim 5, characterized in that, Determining the passable area of the suspended object according to the result of the determination, including, when a part of the second bounding box is outside the operating range of the construction machinery and the obstacle occlusion condition is satisfied, determining the passable area of the suspended object according to one of the following: When the elevation of the third bounding box is greater than or equal to the projection height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the first boundary line is less than the maximum value of the polar radius, determining the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line passing through the highest vertex of the third bounding box; When the elevation of the third bounding box is greater than or equal to the projection height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the first boundary line is greater than or equal to the maximum value of the polar radius, determining the area above the horizontal line of the highest vertex of the third bounding box as the passable area of the suspended object; Wherein, the intersection point of the first boundary line is the intersection point of the horizontal line passing through the highest vertex of the third bounding box and the projection line of the second bounding box; When the elevation of the third bounding box is less than the projection height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the second boundary line is less than the maximum value of the polar radius, determining the passable area of the suspended object according to the projection line of the second bounding box and the horizontal line where the projection point of the first bounding box on the minimum boundary line is located; When the elevation of the third bounding box is less than the projection height of the first bounding box on the minimum boundary line and the polar radius of the intersection point of the second boundary line is greater than or equal to the maximum value of the polar radius, determining the area above the horizontal line where the projection point of the first bounding box on the minimum boundary line is located as the passable area of the suspended object; Wherein, the intersection point of the second boundary line is the intersection point of the horizontal line where the projection point of the first bounding box on the minimum boundary line is located and the projection line of the second bounding box; Wherein, the projection line of the bounding box is a ray pointing from the radar origin to the highest vertex of the bounding box; the minimum boundary line is a straight line passing through the endpoints of the corresponding line segment of the minimum value of the polar radius and parallel to the longitudinal axis.

10. An apparatus for determining a passable area for a lifted object of construction machinery, characterized in that, Including: A first determination unit, configured to: determine a suspended object movement range, a construction machinery operation range, and a non-suspended object movement range based on the expected movement trajectory of the construction machinery suspended object; wherein, the projection of the suspended object movement range on the horizontal plane includes an annular area determined by a first polar radius range and a polar angle range, and the first polar radius range is between the maximum value and the minimum value of the polar radii of all trajectory points in the expected movement trajectory; the projection of the construction machinery operation range on the horizontal plane includes a sector area determined by a second polar radius range and a polar angle range, and the second polar radius range is between zero and the maximum value of the polar radius; the non-suspended object movement range is the range obtained by removing the suspended object movement range from the construction machinery operation range; A first selection unit, configured to: select a first bounding box with the smallest pitch angle from the bounding boxes of the obstacles within the non-lifting object movement interval; and select a second bounding box with the smallest pitch angle from the bounding boxes of the obstacles within the construction machinery operation interval; wherein, the pitch angle of the bounding box is the minimum of the pitch angles of all the points in the bounding box; A second selection unit, configured to: select a third bounding box with the highest elevation from the bounding boxes of the obstacles within the lifting object movement interval; A second determination unit, configured to: determine the passable area of the lifting object according to the position and elevation of the first bounding box, the position and elevation of the second bounding box, and the position and elevation of the third bounding box.

11. A computing device, characterized in that, Comprising: A communication interface; At least one processor, which is connected to the communication interface; And At least one memory, which is connected to the processor and stores program instructions, and when the program instructions are executed by the at least one processor, the at least one processor is caused to execute the method according to any one of claims 1-9.

12. A computer-readable storage medium having program instructions stored thereon, characterized in that, When the program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1-9.

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