Station determination method and device for double-crane lifting, computer equipment and storage medium

Abstract

The embodiment of the invention discloses a double-crane lifting station determination method and device, computer equipment and a storage medium. The double-crane lifting method comprises a first crane and a second crane, and comprises the following steps: determining a first edge crane path and a first crane edge position curve of the first crane, and determining a second edge crane path and a second crane edge position curve of the second crane; acquiring a first distance value and a second distance value of each first candidate station point for each first candidate station point in the first operation area; acquiring a third distance value and a fourth distance value of each second candidate station point for each second candidate station point in the second operation area; determining a first safety coefficient of each first candidate site according to each distance value, and determining a second safety coefficient of each second candidate site; and determining the first candidate position point with the highest first safety coefficient as the target position point of the first crane, and determining the second candidate position point with the highest second safety coefficient as the target position point of the second crane.

Description

Technical Field

[0001] This application relates to the technical field of data processing, and particularly to a method, device, computer device, and storage medium for determining the standing positions in double-crane lifting. Background Art

[0002] Double-crane lifting is usually used for lifting large or heavy objects that cannot be independently completed by a single crane. In this case, the two cranes need to cooperate, each bearing a part of the weight, and at the same time moving the load to the designated position.

[0003] In some operation scenarios, there are obstacles (such as beams) between the placement position of the lifted object and the cranes. At this time, it is not only necessary to ensure that there is no collision between the lifted object and the crane boom, but also necessary to ensure that there is no collision between the lifted object and the crane boom and the obstacles. Therefore, in the scenario where there are obstacles between the placement position of the lifted object and the cranes, before the double-crane lifting operation, it is necessary to first determine the safest standing positions corresponding to the two cranes respectively to avoid the above-mentioned collision events. However, calculating the safest standing positions of the two cranes in double-crane lifting involves 10 degrees of freedom (including 6 degrees of freedom of the lifted object and 4 degrees of freedom of the cranes), and the dimensional explosion makes it impossible to directly solve. To ensure the safety of the double-crane lifting operation, there is an urgent need for a method to solve the problem of the safe standing positions in double-crane lifting. Summary of the Invention

[0004] The embodiments of this application provide a method, device, computer device, and storage medium for determining the standing positions in double-crane lifting, aiming to solve the problem of the safe standing positions in double-crane lifting.

[0005] In a first aspect, the embodiments of this application provide a method for determining the standing positions in double-crane lifting. The double-crane lifting includes a first crane and a second crane. The method includes:

[0006] Obtain the placement position of the lifted object and the position of the obstacle, where the position of the obstacle is located between the double-crane lifting and the lifted object;

[0007] According to the placement position of the lifted object and the position of the obstacle, determine the first edge crane path and the first crane edge standing position curve of the first crane, and determine the second edge crane path and the second crane edge standing position curve of the second crane;

[0008] For each first candidate standing position point in the first operation area, obtain the first distance value and the second distance value of the first candidate standing position point. The first distance value is the shortest distance between the first candidate standing position point and the first crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the first candidate standing position point and the first side edge of the obstacle. The first operation area is the operable area of the first crane, and the first operation area includes multiple first candidate standing position points;

[0009] For each second candidate standing point in the second operation area, obtain a third distance value and a fourth distance value of the second candidate standing point. The third distance value is the shortest distance between the second candidate standing point and the edge standing curve of the second crane. The second distance value is the shortest horizontal distance between the crane path corresponding to the second candidate standing point and the second side edge of the obstacle. The second operation area is the workable area of the second crane, and the second operation area includes a plurality of second candidate standing points;

[0010] According to the corresponding first distance value and the second distance value, respectively determine the first safety factor of each first candidate standing point, and according to the corresponding third distance value and the fourth distance value, respectively determine the second safety factor of each second candidate standing point;

[0011] Determine the target standing point of the first crane as the first candidate standing point with the highest first safety factor, and determine the target standing point of the second crane as the second candidate standing point with the highest second safety factor.

[0012] In a second aspect, an embodiment of the present application further provides a standing point determination device for double-crane lifting. The double-crane lifting includes a first crane and a second crane. The standing point determination device for double-crane lifting includes:

[0013] A transceiver unit, configured to obtain the in-place position of the hoisted object and the position of the obstacle, where the position of the obstacle is located between the double-crane lifting and the hoisted object;

[0014] A processing unit is applied to determine a first edge crane path and a first crane edge standing position curve of the first crane, and determine a second edge crane path and a second crane edge standing position curve of the second crane according to the in-place position of the hoisted object and the position of the obstacle; for each first candidate standing point in the first operation area, obtain a first distance value and a second distance value of the first candidate standing point, where the first distance value is the shortest distance between the first candidate standing point and the first crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the first candidate standing point and the first side edge of the obstacle. The first operation area is the workable area of the first crane, and the first operation area includes multiple first candidate standing points; for each second candidate standing point in the second operation area, obtain a third distance value and a fourth distance value of the second candidate standing point, where the third distance value is the shortest distance between the second candidate standing point and the second crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the second candidate standing point and the second side edge of the obstacle. The second operation area is the workable area of the second crane, and the second operation area includes multiple second candidate standing points; determine the first safety factor of each first candidate standing point according to the corresponding first distance value and the second distance value, and determine the second safety factor of each second candidate standing point according to the corresponding third distance value and the fourth distance value; determine the first candidate standing point with the highest first safety factor as the target standing point of the first crane, and determine the second candidate standing point with the highest second safety factor as the target standing point of the second crane.

[0015] In a third aspect, an embodiment of the present application further provides a computer device, which includes a memory and a processor. A computer program is stored on the memory, and when the processor executes the computer program, the above method is implemented.

[0016] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium. The storage medium stores a computer program, and the computer program includes program instructions. When the program instructions are executed by a processor, the above method can be implemented.

[0017] The embodiments of the present application provide a method, device, computer equipment and storage medium for determining the standing positions of double-crane lifting. Among them, the double-crane lifting includes a first crane and a second crane, and the method includes: obtaining the in-place position of the lifted object and the position of the obstacle, where the obstacle position is located between the double-crane lifting and the lifted object; determining the first edge crane path and the first crane edge standing position curve of the first crane, and determining the second edge crane path and the second crane edge standing position curve of the second crane according to the in-place position of the lifted object and the position of the obstacle; for each first candidate standing position point in the first operation area, obtaining the first distance value and the second distance value of the first candidate standing position point, where the first distance value is the closest distance between the first candidate standing position point and the first crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the first candidate standing position point and the first side edge of the obstacle, the first operation area is the operable area of the first crane, and the first operation area includes multiple first candidate standing position points; for each second candidate standing position point in the second operation area, obtaining the third distance value and the fourth distance value of the second candidate standing position point, where the third distance value is the closest distance between the second candidate standing position point and the second crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the second candidate standing position point and the second side edge of the obstacle, the second operation area is the operable area of the second crane, and the second operation area includes multiple second candidate standing position points; determining the first safety factor of each first candidate standing position point according to the corresponding first distance value and the second distance value, and determining the second safety factor of each second candidate standing position point according to the corresponding third distance value and the fourth distance value; determining the target standing position point of the first crane as the first candidate standing position point with the highest first safety factor, and determining the target standing position point of the second crane as the second candidate standing position point with the highest second safety factor. The embodiments of the present application can calculate the safety factors of the first crane and the second crane at each candidate standing position point respectively, and determine the target standing position point of the first crane as the candidate standing position point with the highest safety factor of the first crane, and determine the target standing position point of the second crane as the candidate standing position point with the highest safety factor of the second crane, so as to solve the problem of safe standing positions in double-crane lifting. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1Schematic flowchart of the method for determining the positions of two cranes for lifting in an embodiment of the present application;

[0020] Figure 2 Schematic diagram of a lifting scenario of the method for determining the positions of two cranes for lifting in an embodiment of the present application;

[0021] Figure 3 Schematic sub - flowchart of the method for determining the positions of two cranes for lifting in an embodiment of the present application;

[0022] Figure 4 Another schematic diagram of a lifting scenario of the method for determining the positions of two cranes for lifting in an embodiment of the present application;

[0023] Figure 5 Another schematic diagram of a lifting scenario of the method for determining the positions of two cranes for lifting in an embodiment of the present application;

[0024] Figure 6a Another schematic diagram of a lifting scenario of the method for determining the positions of two cranes for lifting in an embodiment of the present application;

[0025] Figure 6b In an embodiment of the present application Figure 6a Enlarged schematic diagram of area A;

[0026] Figure 7 Schematic block diagram of the device for determining the positions of two cranes for lifting in an embodiment of the present application;

[0027] Figure 8 Schematic block diagram of a computer device provided in an embodiment of the present application. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0029] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0030] It should also be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. As used in the specification of this application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0031] It should be further understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0032] The embodiments of this application provide a method, device, computer device and storage medium for determining the standing positions in double-crane lifting.

[0033] The execution subject of the method for determining the standing positions in double-crane lifting may be the device for determining the standing positions in double-crane lifting provided by the embodiments of this application, or a computer device integrated with the device for determining the standing positions in double-crane lifting. Among them, the device for determining the standing positions in double-crane lifting may be implemented in a hardware or software manner, and the computer device may be a terminal or a server.

[0034] It should be noted that the method for determining the standing positions in double-crane lifting provided in this application is applicable to the scenario of double-crane lifting, where the lifted object does not rotate in the air and an obstacle (in the embodiments of this application, the obstacle is taken as a beam as an example) is located between the lifted object and the cranes. Among them, the double-crane lifting in this embodiment includes a first crane and a second crane.

[0035] Figure 1 is a schematic flowchart of the method for determining the standing positions in double-crane lifting provided by the embodiments of this application. As Figure 1 shown, the method includes the following steps S110 - S160.

[0036] S110. Obtain the in-place position of the lifted object and the position of the obstacle, where the position of the obstacle is located between the double-crane lifting and the lifted object.

[0037] Among them, the in-place position of the lifted object is the position where the lifted object finally arrives.

[0038] Since the most unfavorable working condition of double-crane lifting of the lifted object is before the lifted object crosses the beam. As Figure 2 shown, before this working condition, the height of the lifted object is relatively low and it is easy to touch the crane; after this working condition, as the lifted object gets farther and farther away from the two cranes, the possibility of collision with the crane is smaller.

[0039] S120. Determine the first edge crane path and the first crane edge standing position curve of the first crane, and determine the second edge crane path and the second crane edge standing position curve of the second crane according to the in-place position of the lifted object and the position of the obstacle.

[0040] In some embodiments, as Figure 3 shown, specifically, step S120 includes:

[0041] S1201. Construct a virtual space model according to the in-place position of the hoisted object and the position of the obstacle.

[0042] S1202. Obtain the first crane model of the first crane and the second crane model of the second crane.

[0043] S1203. Place the first crane model on the left side in the virtual space model, and place the second crane model on the right side in the virtual space model.

[0044] S1204. Move the first crane model for hoisting simulation, determine the first edge crane path and the first crane edge standing position curve through collision detection, and move the second crane model for hoisting simulation, determine the second edge crane path and the second crane edge standing position curve through collision detection, wherein the first crane model is located on the left side of the first edge crane path, and the second crane model is located on the right side of the second edge crane path.

[0045] In this embodiment, first, the problem of the standing positions of the two-crane hoisting can be converted into the problem of finding the most unfavorable working condition. The two-crane hoisting is disassembled into two single-crane hoistings (the first crane and the second crane). Looking separately, the most unfavorable hoisting paths are as Figure 4 shown. The first edge crane path is the most unfavorable path of the first crane. When simulating the crane, the first edge crane path is determined by the boom length limit of the crane and the in-place position of the hoisted object, etc. The second edge crane path is the most unfavorable path of the second crane. When simulating the crane, the second edge crane path is determined by the boom length limit of the crane and the in-place position of the hoisted object, etc. Therefore, the most favorable path can be approximately considered as the neutralization of the two paths, as shown by the red line in Figure 5 .

[0046] Since during the lifting process of the hoisted object, the hoisted object gets closer and closer to the boom, there is a risk of the boom and the hoisted object. Therefore, the farther the two most unfavorable paths are, the more favorable and safer the hoisting is. At this time, the positioning problem can be converted to: when using single-crane hoisting, find the most unfavorable working condition for each crane standing position. The crane standing position with the most unfavorable working condition (crane path) farther out is safer (prerequisite: crane 1 (the first crane) should be located on the left side of its most unfavorable path, and crane 2 (the second crane) should be located on the right side of its most unfavorable path).

[0047] Among them, in this embodiment, the two cranes do not necessarily need to be allocated the same hoisting weight.

[0048] In addition, the first crane edge standing position curve is determined by detecting the collision between the crane boom and the obstacle. Among them, to ensure that the crane boom does not collide with the beam when the hoisted object is in place, as Figure 6a shown, the crane needs to be located below the first crane edge standing position curve. The closer it is to the line, the less safe it is, and the easier it is for the crane boom to collide with the beam. Therefore, it is better to find a standing position point farther away from the curve.

[0049] S130. For each first candidate standing position point in the first operation area, obtain the first distance value and the second distance value of the first candidate standing position point.

[0050] Among them, the first distance value is the closest distance between the first candidate standing position point and the first crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the first candidate standing position point and the first side edge of the obstacle. The first operation area is the operable area of the first crane, and the first operation area includes multiple first candidate standing position points.

[0051] In this embodiment, when the first crane is located in the corresponding first operable area, the hoisted object can be transported to the corresponding hoisted object in-place position, and the first operation area includes multiple first candidate standing position points. In this embodiment, the first distance value and the second distance value of each first candidate standing position point are determined by the exhaustive method.

[0052] In some embodiments, obtaining the first distance value and the second distance value of the first candidate standing position point includes: calculating the closest distance between the first candidate standing position point and the first crane edge standing position curve to obtain the first distance value; placing the first crane model at the first candidate standing position point, and determining the first crane path corresponding to the current position through hoisting simulation. The first crane path is located between the first edge crane path and the second edge crane path; calculating the shortest horizontal distance between the first crane path and the first side edge of the obstacle to obtain the second distance value, and the first side edge is the left side edge of the obstacle.

[0053] For example, as Figure 6a and Figure 6b shown ( Figure 6b is Figure 6a the enlarged schematic diagram of area A in

[0054] S140. For each second candidate standing position point in the second operation area, obtain the third distance value and the fourth distance value of the second candidate standing position point.

[0055] Wherein, the third distance value is the shortest distance from the second candidate standing point to the second crane edge standing curve, the second distance value is the shortest horizontal distance between the crane path corresponding to the second candidate standing point and the second side edge of the obstacle, the second working area is the workable area of the second crane, and the second working area includes a plurality of second candidate standing points.

[0056] In this embodiment, when the second crane is located in the corresponding second workable area, the lifted object can be transported to the corresponding in-position location of the lifted object, and the second working area includes a plurality of second candidate standing points. In this embodiment, the third distance value and the fourth distance value of each second candidate standing point are determined by the exhaustive method.

[0057] In some embodiments, obtaining the third distance value and the fourth distance value of the second candidate standing point includes: calculating the shortest distance from the second candidate standing point to the second crane edge standing curve to obtain the third distance value; placing the second crane model at the second candidate standing point, and determining the second crane path corresponding to the current position through hoisting simulation, where the second crane path is located between the first edge crane path and the second edge crane path; calculating the shortest horizontal distance between the second crane path and the second side edge of the obstacle to obtain the fourth distance value, and the second side edge is the right side edge of the obstacle.

[0058] S150. According to the corresponding first distance value and the second distance value, respectively determine the first safety factor of each first candidate standing point, and according to the corresponding third distance value and the fourth distance value, respectively determine the second safety factor of each second candidate standing point.

[0059] Specifically, for each first candidate standing point, subtract the corresponding second distance value from the corresponding first distance value to obtain the first safety factor corresponding to each first candidate standing point; for each second candidate standing point, subtract the corresponding fourth distance value from the corresponding third distance value to obtain the second safety factor corresponding to each second candidate standing point.

[0060] For example, for the first candidate standing point i, the first distance value is Mi, the second distance value is Li, and the corresponding safety factor is: Mi - Li. The same applies to other candidate points. Through the exhaustive method, find the point with the maximum safety factor.

[0061] S160. Determine the target standing point of the first crane as the first candidate standing point with the highest first safety factor, and determine the target standing point of the second crane as the second candidate standing point with the highest second safety factor.

[0062] Specifically, sort the multiple first candidate standing positions from high to low according to the first safety factor; determine the first candidate standing position ranked first as the target standing position of the first crane. Sort the multiple second candidate standing positions from high to low according to the second safety factor; determine the second candidate standing position ranked first as the target standing position of the second crane.

[0063] In summary, the embodiments of the present application can calculate the safety factors of the first crane and the second crane at each candidate standing position respectively, and determine the candidate standing position with the highest safety factor of the first crane as the target standing position of the first crane, and determine the candidate standing position with the highest safety factor of the second crane as the target standing position of the second crane, so as to solve the problem of the safe standing position of double-crane lifting.

[0064] Figure 7 It is a schematic block diagram of a standing position determination device for double-crane lifting provided by an embodiment of the present application. As Figure 7 shown, corresponding to the above-mentioned standing position determination method for double-crane lifting, the present application further provides a standing position determination device 700 for double-crane lifting. The double-crane lifting includes a first crane and a second crane. The standing position determination device 700 for double-crane lifting includes units for executing the above-mentioned standing position determination method for double-crane lifting. Specifically, please refer to Figure 7 , the standing position determination device 700 for double-crane lifting includes a transceiver unit 701 and a processing unit 702, wherein:

[0065] The transceiver unit 701 is used to obtain the in-place position of the hoisted object and the position of the obstacle, and the position of the obstacle is located between the double-crane lifting and the hoisted object;

[0066] The processing unit 702 is configured to determine the first edge crane path and the first crane edge standing position curve of the first crane, and determine the second edge crane path and the second crane edge standing position curve of the second crane according to the in-place position of the hoisted object and the position of the obstacle; for each first candidate standing point in the first operation area, obtain a first distance value and a second distance value of the first candidate standing point, where the first distance value is the closest distance between the first candidate standing point and the first crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the first candidate standing point and the first side edge of the obstacle, the first operation area is the operable area of the first crane, and the first operation area includes multiple first candidate standing points; for each second candidate standing point in the second operation area, obtain a third distance value and a fourth distance value of the second candidate standing point, where the third distance value is the closest distance between the second candidate standing point and the second crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the second candidate standing point and the second side edge of the obstacle, the second operation area is the operable area of the second crane, and the second operation area includes multiple second candidate standing points; determine the first safety factor of each first candidate standing point according to the corresponding first distance value and the second distance value, and determine the second safety factor of each second candidate standing point according to the corresponding third distance value and the fourth distance value; determine the first candidate standing point with the highest first safety factor as the target standing point of the first crane, and determine the second candidate standing point with the highest second safety factor as the target standing point of the second crane.

[0067] When the processing unit 702 executes the steps of determining the first edge crane path and the first crane edge standing position curve of the first crane, and determining the second edge crane path and the second crane edge standing position curve of the second crane according to the in-place position of the hoisted object and the position of the obstacle, it is specifically configured to:

[0068] Construct a virtual space model based on the in-place position of the hoisted object and the position of the obstacle; obtain the first crane model of the first crane and the second crane model of the second crane through the transceiver unit 701; place the first crane model on the left side in the virtual space model, and place the second crane model on the right side in the virtual space model; move the first crane model for hoisting simulation, determine the first edge crane path and the first crane edge standing position curve through collision detection, and move the second crane model for hoisting simulation, determine the second edge crane path and the second crane edge standing position curve through collision detection, wherein the first crane model is located on the left side of the first edge crane path, and the second crane model is located on the right side of the second edge crane path.

[0069] In some embodiments, when the processing unit 702 executes the step of obtaining the first distance value and the second distance value of the first candidate standing point, it is specifically configured to:

[0070] Calculate the closest distance between the first candidate standing point and the first crane edge standing position curve to obtain the first distance value;

[0071] Place the first crane model at the first candidate standing point, determine the first crane path corresponding to the current position through hoisting simulation, and the first crane path is located between the first edge crane path and the second edge crane path;

[0072] Calculate the shortest horizontal distance between the first crane path and the first side edge of the obstacle to obtain the second distance value, and the first side edge is the left side edge of the obstacle.

[0073] In some embodiments, when the processing unit 702 executes the step of obtaining the third distance value and the fourth distance value of the second candidate standing point, it is specifically configured to:

[0074] Calculate the closest distance between the second candidate standing point and the second crane edge standing position curve to obtain the third distance value;

[0075] Place the second crane model at the second candidate standing point, determine the second crane path corresponding to the current position through hoisting simulation, and the second crane path is located between the first edge crane path and the second edge crane path;

[0076] Calculate the shortest horizontal distance between the second crane path and the second side edge of the obstacle to obtain the fourth distance value, and the second side edge is the right side edge of the obstacle.

[0077] In some embodiments, when the processing unit 702 executes the step of respectively determining the first safety factor of each of the first candidate standing positions according to the corresponding first distance value and the second distance value, it is specifically configured to:

[0078] For each of the first candidate standing positions, subtract the corresponding second distance value from the corresponding first distance value to obtain the first safety factor corresponding to each of the first candidate standings;

[0079] At this time, the step of determining the first candidate standing position with the highest first safety factor as the target standing position of the first crane includes:

[0080] Sort the multiple first candidate standing positions from high to low according to the first safety factor;

[0081] Determine the first candidate standing position ranked first as the target standing position of the first crane.

[0082] In some embodiments, when the processing unit 702 executes the step of respectively determining the second safety factor of each of the second candidate standing positions according to the corresponding third distance value and the fourth distance value, it is specifically configured to:

[0083] For each of the second candidate standing positions, subtract the corresponding fourth distance value from the corresponding third distance value to obtain the second safety factor corresponding to each of the second candidate standings;

[0084] At this time, the step of determining the second candidate standing position with the highest second safety factor as the target standing position of the second crane includes:

[0085] Sort the multiple second candidate standing positions from high to low according to the second safety factor;

[0086] Determine the second candidate standing position ranked first as the target standing position of the second crane.

[0087] In summary, through the standing position determination device 700 for double-crane lifting in the embodiments of the present application, the safety factors of the first crane and the second crane at each candidate standing position can be calculated respectively, and the candidate standing position with the highest safety factor of the first crane is determined as the target standing position of the first crane, and the candidate standing position with the highest safety factor of the second crane is determined as the target standing position of the second crane, thereby solving the problem of safe standing positions for double-crane lifting.

[0088] It should be noted that those skilled in the art can clearly understand that the specific implementation processes of the above-mentioned standing position determination device for double-crane lifting and each unit can refer to the corresponding descriptions in the foregoing method embodiments. For the sake of convenience and brevity of description, they will not be elaborated here.

[0089] The above-mentioned device for determining the positions of two cranes for lifting can be implemented in the form of a computer program, which can run on a computer device as shown in Figure 8 the following.

[0090] Please refer to Figure 8 , Figure 8 , which is a schematic block diagram of a computer device provided by an embodiment of the present application. The computer device 800 can be a terminal or a server. Among them, the terminal can be an electronic device with communication functions such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, and a wearable device. The server can be an independent server or a server cluster composed of multiple servers.

[0091] Referring to Figure 8 , the computer device 800 includes a processor 802, a memory, and a network interface 805 connected through a system bus 801. Among them, the memory can include a non-volatile storage medium 803 and an internal memory 804.

[0092] The non-volatile storage medium 803 can store an operating system 8031 and a computer program 8032. The computer program 8032 includes program instructions, and when the program instructions are executed, the processor 802 can be caused to execute a method for determining the positions of two cranes for lifting.

[0093] The processor 802 is used to provide computing and control capabilities to support the operation of the entire computer device 800.

[0094] The internal memory 804 provides an environment for the operation of the computer program 8032 in the non-volatile storage medium 803. When the computer program 8032 is executed by the processor 802, the processor 802 can be caused to execute a method for determining the positions of two cranes for lifting.

[0095] The network interface 805 is used for network communication with other devices. Those skilled in the art can understand that Figure 8 the structure shown in

[0096] is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device 800 to which the solution of the present application is applied. The specific computer device 800 may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0097] Obtain the in-place position of the hoisted object and the position of the obstacle, where the position of the obstacle is between the two cranes for lifting and the hoisted object;

[0098] Determine a first edge crane path and a first crane edge standing position curve of the first crane, and determine a second edge crane path and a second crane edge standing position curve of the second crane according to the in-place position of the hoisted object and the position of the obstacle;

[0099] For each first candidate standing position point in the first operation area, obtain a first distance value and a second distance value of the first candidate standing position point. The first distance value is the shortest distance between the first candidate standing position point and the first crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the first candidate standing position point and the first side edge of the obstacle. The first operation area is the operable area of the first crane, and the first operation area includes a plurality of first candidate standing position points;

[0100] For each second candidate standing position point in the second operation area, obtain a third distance value and a fourth distance value of the second candidate standing position point. The third distance value is the shortest distance between the second candidate standing position point and the second crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the second candidate standing position point and the second side edge of the obstacle. The second operation area is the operable area of the second crane, and the second operation area includes a plurality of second candidate standing position points;

[0101] Determine a first safety factor of each first candidate standing position point according to the corresponding first distance value and the second distance value, and determine a second safety factor of each second candidate standing position point according to the corresponding third distance value and the fourth distance value;

[0102] Determine the first candidate standing position point with the highest first safety factor as the target standing position point of the first crane, and determine the second candidate standing position point with the highest second safety factor as the target standing position point of the second crane.

[0103] It should be understood that in the embodiment of the present application, the processor 802 may be a central processing unit (CPU), and the processor 802 may 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. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0104] Those of ordinary skill in the art can understand that all or part of the processes in the methods of implementing the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0105] Therefore, the present application also provides a storage medium. The storage medium can be a computer-readable storage medium. The storage medium stores a computer program, where the computer program includes program instructions. When the program instructions are executed by a processor, the processor performs the following steps:

[0106] Obtain the in-place position of the hoisted object and the position of the obstacle, where the position of the obstacle is located between the double-crane hoisting and the hoisted object;

[0107] According to the in-place position of the hoisted object and the position of the obstacle, determine the first edge crane path and the first crane edge standing position curve of the first crane, and determine the second edge crane path and the second crane edge standing position curve of the second crane;

[0108] For each first candidate standing point in the first working area, obtain the first distance value and the second distance value of the first candidate standing point. The first distance value is the shortest distance between the first candidate standing point and the first crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the first candidate standing point and the first side edge of the obstacle. The first working area is the workable area of the first crane, and the first working area includes multiple first candidate standing points;

[0109] For each second candidate standing point in the second working area, obtain the third distance value and the fourth distance value of the second candidate standing point. The third distance value is the shortest distance between the second candidate standing point and the second crane edge standing position curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the second candidate standing point and the second side edge of the obstacle. The second working area is the workable area of the second crane, and the second working area includes multiple second candidate standing points;

[0110] According to the corresponding first distance value and the second distance value, respectively determine the first safety factor of each first candidate standing point, and according to the corresponding third distance value and the fourth distance value, respectively determine the second safety factor of each second candidate standing point;

[0111] Determine the first candidate standing point with the highest first safety factor as the target standing point of the first crane, and determine the second candidate standing point with the highest second safety factor as the target standing point of the second crane.

[0112] The storage medium may be various computer-readable storage media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disc that can store program codes.

[0113] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. 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 this application.

[0114] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0115] The steps in the method embodiments of this application can be adjusted, combined, and deleted according to actual needs. The units in the device embodiments of this application can be combined, divided, and deleted according to actual needs. In addition, the functional units in each embodiment of this 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.

[0116] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The 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 terminal, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of this application.

[0117] As described above, it is only the specific implementation manner of the present application. However, the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for determining the position of a double-machine lifting, characterized in that: The double crane lifting device includes a first crane and a second crane, and the method includes: Obtaining the position of the hoisted object and the position of the obstacle, wherein the obstacle is located between the twin cranes and the hoisted object; Determine a first edge crane path and a first crane edge position curve of the first crane according to the position of the hoisted object and the position of the obstacle, and determine a second edge crane path and a second crane edge position curve of the second crane; For each first candidate station point in the first operation area, a first distance value and a second distance value of the first candidate station point are obtained, wherein the first distance value is the shortest distance between the first candidate station point and the first crane edge station curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the first candidate station point and the first side edge of the obstacle, the first operation area is an operable area of ​​the first crane, and the first operation area includes a plurality of first candidate station points; For each second candidate station point in the second operation area, a third distance value and a fourth distance value of the second candidate station point are obtained, wherein the third distance value is the shortest distance between the second candidate station point and the second crane edge station curve, and the second distance value is the shortest horizontal distance between the crane path corresponding to the second candidate station point and the second side edge of the obstacle, the second operation area is an operable area of ​​the second crane, and the second operation area includes a plurality of second candidate station points; Determine a first safety factor for each of the first candidate station locations according to the corresponding first distance value and the second distance value, and determine a second safety factor for each of the second candidate station locations according to the corresponding third distance value and the fourth distance value; The first candidate station point with the highest first safety factor is determined as the target station point of the first crane, and the second candidate station point with the highest second safety factor is determined as the target station point of the second crane.

2. The method according to claim 1, characterized in that: The step of determining a first edge crane path and a first crane edge position curve of the first crane according to the hoisted object position and the obstacle position, and determining a second edge crane path and a second crane edge position curve of the second crane comprises: Constructing a virtual space model according to the position of the hoisted object and the position of the obstacle; Acquire a first crane model of the first crane and a second crane model of the second crane; placing the first crane model on the left side of the virtual space model, and placing the second crane model on the right side of the virtual space model; Move the first crane model to perform lifting simulation, determine the first edge crane path and the first crane edge position curve through collision detection, and move the second crane model to perform lifting simulation, determine the second edge crane path and the second crane edge position curve through collision detection, wherein the first crane model is located on the left side of the first edge crane path and the second crane model is located on the right side of the second edge crane path.

3. The method according to claim 2, characterized in that The obtaining of the first distance value and the second distance value of the first candidate station location includes: Calculating the shortest distance between the first candidate station point and the first crane edge station curve to obtain the first distance value; Placing the first crane model in the first candidate station location, and determining a first crane path corresponding to the current location through a hoisting simulation, wherein the first crane path is located between the first edge crane path and the second edge crane path; The second distance value is obtained by calculating the shortest horizontal distance between the first crane path and a first side edge of the obstacle, where the first side edge is a left side edge of the obstacle.

4. The method according to claim 2, characterized in that: The obtaining of the third distance value and the fourth distance value of the second candidate station location includes: Calculating the shortest distance between the second candidate station point and the second crane edge station curve to obtain the third distance value; placing the second crane model in the second candidate station location, and determining a second crane path corresponding to the current location through a hoisting simulation, wherein the second crane path is located between the first edge crane path and the second edge crane path; The shortest horizontal distance between the second crane path and the second side edge of the obstacle is calculated to obtain the fourth distance value, where the second side edge is the right side edge of the obstacle.

5. The method according to claim 1, characterized in that The determining, according to the corresponding first distance value and the second distance value, respectively, a first safety factor of each first candidate station location includes: For each of the first candidate station positions, subtract the corresponding second distance value from the corresponding first distance value to obtain a first safety factor corresponding to each of the first candidate station positions; The step of determining the first candidate station location having the highest first safety factor as the target station location of the first crane comprises: Sorting the first candidate station locations from high to low according to the first safety factor; The first candidate station location ranked first is determined as the target station location of the first crane.

6. The method according to claim 1, characterized in that The determining, according to the corresponding third distance value and the fourth distance value, respectively, a second safety factor of each second candidate station location includes: For each of the second candidate station positions, subtract the corresponding fourth distance value from the corresponding third distance value to obtain a second safety factor corresponding to each of the second candidate station positions; The step of determining the second candidate station location with the highest second safety factor as the target station location of the second crane comprises: sorting the plurality of second candidate station locations from high to low according to the second safety factor; The second candidate station location ranked first is determined as the target station location of the second crane.

7. A device for determining the position of a double-machine lifting device, characterized in that: The double crane lifting device includes a first crane and a second crane, and the position determination device of the double crane lifting device includes: A transceiver unit, used to obtain the position of the hoisted object and the position of the obstacle, wherein the obstacle is located between the twin cranes and the hoisted object; a processing unit, configured to determine, according to the position of the hoisted object in place and the position of the obstacle, a first edge crane path and a first crane edge position curve of the first crane, and determine a second edge crane path and a second crane edge position curve of the second crane; for each first candidate station point in the first operation area, obtain a first distance value and a second distance value of the first candidate station point, the first distance value being the shortest distance between the first candidate station point and the first crane edge position curve, and the second distance value being the shortest horizontal distance between the crane path corresponding to the first candidate station point and the first side edge of the obstacle, the first operation area being an operable area of ​​the first crane, and the first operation area including a plurality of first candidate station points; for each second candidate station point in the second operation area, obtain a third distance value and a a fourth distance value, the third distance value is the shortest distance between the second candidate station point and the second crane edge station curve, the second distance value is the shortest horizontal distance between the crane path corresponding to the second candidate station point and the second side edge of the obstacle, the second operating area is the operable area of ​​the second crane, and the second operating area includes multiple second candidate station points; according to the corresponding first distance value and the second distance value, the first safety factor of each first candidate station point is determined respectively, and according to the corresponding third distance value and the fourth distance value, the second safety factor of each second candidate station point is determined respectively; the first candidate station point with the highest first safety factor is determined as the target station point of the first crane, and the second candidate station point with the highest second safety factor is determined as the target station point of the second crane.

8. The device for determining the position of a double crane according to claim 7, characterized in that: When the processing unit executes the steps of determining the first edge crane path and the first crane edge position curve of the first crane according to the hoisted object in place position and the obstacle position, and determining the second edge crane path and the second crane edge position curve of the second crane, the processing unit is specifically used to: Constructing a virtual space model according to the position of the hoisted object and the position of the obstacle; obtaining a first crane model of the first crane and a second crane model of the second crane through the transceiver unit; placing the first crane model on the left side of the virtual space model, and placing the second crane model on the right side of the virtual space model; Move the first crane model to perform lifting simulation, determine the first edge crane path and the first crane edge position curve through collision detection, and move the second crane model to perform lifting simulation, determine the second edge crane path and the second crane edge position curve through collision detection, wherein the first crane model is located on the left side of the first edge crane path and the second crane model is located on the right side of the second edge crane path.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the method for determining the position of a dual-machine lift as described in any one of claims 1-6.

10. A storage medium, characterized in that: The storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the processor executes the method for determining the position of a dual-machine crane as described in any one of claims 1-6.

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