Personnel evasion method, device and equipment for garbage warehouse crane and storage medium
By obtaining the current position and movement route of the crane, combining the position monitoring system to obtain the position of the target object, adjusting the movement trajectory of the crane to avoid personnel, the risk of collision between cranes and personnel in the garbage warehouse is solved and safety is improved.
Patent Information
- Application Number
- CN202510392588.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-31
- Publication Date
- 2025-07-08
AI Technical Summary
The collision risks between cranes and personnel in the garbage warehouse are difficult to effectively avoid, and existing safety measures cannot accurately and in real time monitor mobile personnel, resulting in safety hazards.
By obtaining the crane's current position and movement route, combining the position monitoring system to obtain the position of the target object, determine whether there are personnel in the future movement trajectory of the crane, and adjust or maintain the movement trajectory to avoid collisions, and use voice and vibration prompts to remind people.
It improves the safety of crane operation in the garbage warehouse, avoids collision accidents, and ensures the safety of staff.
Smart Images
Figure CN120278178A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of garbage disposal equipment, and more specifically, to a method, device, equipment and storage medium for personnel avoidance of a garbage storage crane. Background Art
[0002] Modern garbage storage is a key place for garbage disposal, with a complex internal environment. A large number of garbage disposal equipment, such as compressors and conveyor belts, are densely distributed with auxiliary facilities such as lighting and ventilation, and pipelines and lines crisscross. To maintain the normal operation of the equipment, staff need to enter regularly for maintenance.
[0003] At the same time, the crane frequently hoists garbage, the operation space is limited, and its running track and the personnel activity area overlap in many places. Maintenance personnel move continuously among the equipment, and their positions change dynamically. The crane has a high speed and large inertia. If the operator is slightly negligent, it is very easy to cause a collision. This not only endangers the safety of personnel, but also easily damages the equipment, resulting in garbage leakage and environmental pollution, and forcing the garbage disposal process to be interrupted.
[0004] At present, the safety guarantee of the garbage storage mainly relies on manual lookout and simple warning signs. The crane operator pays attention to the surroundings based on experience. Although there are warning signs in the area, the environment of the garbage storage is noisy and dim, there are visual dead angles in manual lookout, and the signs are also easy to be ignored. The current safety measures cannot accurately and real-time monitor moving personnel, it is difficult to effectively avoid risks, and potential safety hazards always exist.
[0005] Based on this, how to make the crane in the garbage storage intelligently avoid personnel and improve the running safety of the crane in the garbage storage is a problem that needs attention. Summary of the Invention
[0006] In view of the above problems, the present application provides a method, device, equipment and storage medium for personnel avoidance of a garbage storage crane to improve the running safety of the crane in the garbage storage.
[0007] To achieve the above object, the following specific solutions are proposed:
[0008] A method for personnel avoidance of a garbage storage crane, which is applied to a crane control system. The method includes:
[0009] Obtain the current position coordinates and moving route of each crane;
[0010] Determine the future moving track of the crane according to the current position coordinates and moving route of each crane;
[0011] Obtain the positions of each target object in the garbage storage through a position monitoring system, wherein each target object wears a positioning tag, each positioning tag is communicatively connected to the position monitoring system, and the position monitoring system is connected to the crane control system;
[0012] For each crane, based on the positions of the respective target objects, determine whether there are target objects on the future movement trajectory of the crane. If so, adjust the future movement trajectory of the crane; otherwise, maintain the future movement trajectory of the crane.
[0013] Optionally, determining whether there are target objects on the future movement trajectory of the crane based on the positions of the respective target objects includes:
[0014] Map the positions of the respective target objects onto the absolute coordinate system of the waste storage;
[0015] Determine the trajectory function of the future movement trajectory of the crane on the absolute coordinate system;
[0016] Judge whether there are coordinate points corresponding to the target objects in the trajectory function to determine whether there are target objects on the future movement trajectory of the crane.
[0017] Optionally, adjusting the future movement trajectory of the crane includes:
[0018] Generate a movement trajectory data set according to the starting point and the ending point of the future movement trajectory of the crane and the track distribution of the waste storage. The movement trajectory data set includes multiple movement trajectories without target objects;
[0019] Calculate the length of each movement trajectory in the movement trajectory data set, and select the movement trajectory with the shortest length as the adjusted future movement trajectory of the crane.
[0020] Optionally, each crane has a voice prompt function, and the method further includes:
[0021] For each crane, if there is a target object on the future movement trajectory of the crane and the target object is before the first fork of the future movement trajectory, drive the crane to stop moving and send a prompt voice for the target object to avoid the crane to the target object.
[0022] Optionally, each positioning tag has a vibration function, and the method further includes:
[0023] For each crane, if there is a target object on the future movement trajectory of the crane, send the target position of the target object to the position monitoring system for the position monitoring system to determine the target object according to the target position and send a vibration instruction for reminding the target object to avoid the crane to the positioning tag worn by the target object.
[0024] A personnel avoidance device for a waste storage crane, applied to a crane control system. The device includes:
[0025] A moving route acquisition unit for acquiring the current position coordinates and moving route of each crane;
[0026] A future moving trajectory determination unit for determining the future moving trajectory of each crane according to the current position coordinates and moving route of each crane;
[0027] A target object positioning unit for acquiring the positions of various target objects in the waste storage library through a position monitoring system, wherein each target object wears a positioning tag, each positioning tag is communicatively connected to the position monitoring system, and the position monitoring system is connected to the crane control system;
[0028] An avoidance judgment unit for, for each crane, judging whether there are target objects on the future moving trajectory of the crane according to the positions of the various target objects;
[0029] A moving trajectory adjustment unit for, for each crane, if there are target objects on the future moving trajectory of the crane, adjusting the future moving trajectory of the crane, otherwise maintaining the future moving trajectory of the crane.
[0030] Optionally, the avoidance judgment unit includes:
[0031] A coordinate mapping unit for mapping the positions of the various target objects on the absolute value coordinate system of the waste storage library;
[0032] A trajectory function determination unit for determining the trajectory function of the future moving trajectory of the crane on the absolute value coordinate system;
[0033] A function point matching judgment unit for judging whether there are coordinate points corresponding to the target objects in the trajectory function to judge whether there are target objects on the future moving trajectory of the crane.
[0034] Optionally, the moving trajectory adjustment unit includes:
[0035] A moving trajectory dataset generation unit for generating a moving trajectory dataset according to the start point and end point of the future moving trajectory of the crane and the track distribution of the waste storage library, the moving trajectory dataset including multiple moving trajectories without target objects;
[0036] A moving trajectory selection unit for calculating the length of each moving trajectory in the moving trajectory dataset and selecting the moving trajectory with the shortest length as the adjusted future moving trajectory of the crane.
[0037] Optionally, each crane has a voice prompt function, and the device further includes:
[0038] The voice prompt unit is used to, for each crane, if there is a target object on the future movement trajectory of the crane and the target object is before the first fork of the future movement trajectory, drive the crane to stop moving and send a prompt voice for the target object to avoid the crane.
[0039] Optionally, each positioning tag has a vibration function, and the device further includes:
[0040] The position sending unit is used to, for each crane, if there is a target object on the future movement trajectory of the crane, send the target position of the target object to the position monitoring system for the position monitoring system to determine the target object according to the target position and send a vibration instruction for reminding the target object to avoid the crane to the positioning tag worn by the target object.
[0041] A personnel avoidance device for a garbage storage crane, including a memory and a processor;
[0042] The memory is used to store programs;
[0043] The processor is used to execute the program to implement each step of the personnel avoidance method for the garbage storage crane as described above.
[0044] A storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each step of the personnel avoidance method for the garbage storage crane as described above is implemented.
[0045] By means of the above technical solution, the present application determines the future movement trajectory of each crane by obtaining the current position coordinates and movement route of each crane, obtains the positions of various target objects in the garbage storage by the position monitoring system, wherein each target object wears a positioning tag, each positioning tag is communicatively connected to the position monitoring system, and the position monitoring system is connected to the crane control system. For each crane, according to the positions of the various target objects, it is judged whether there is a target object on the future movement trajectory of the crane. If so, the future movement trajectory of the crane is adjusted; otherwise, the future movement trajectory of the crane is maintained. Thus, it can be seen that when the crane is operating, it can identify whether there are personnel in front according to its operation trajectory, avoid personnel by adjusting the movement trajectory / route, and avoid collisions, thereby improving the operation safety of the crane in the garbage storage. Description of the Drawings
[0046] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:
[0047] Figure 1 It is a connection diagram of a crane control system and related equipment provided by an embodiment of the present application;
[0048] Figure 2 It is a schematic flowchart of realizing the avoidance of personnel in the garbage storage yard crane provided by an embodiment of the present application;
[0049] Figure 3 It is a schematic structural diagram of a device for realizing the avoidance of crane operation provided by an embodiment of the present application;
[0050] Figure 4 It is a schematic structural diagram of a device for realizing the avoidance of crane operation provided by an embodiment of the present application. Detailed implementation manners
[0051] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all 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.
[0052] The solution of the present application can be implemented based on a terminal with data processing capabilities, and the terminal can be a crane control system. As Figure 1 described, the crane control system can be connected to a position monitoring system, and the position monitoring system is communicatively connected to a plurality of positioning tags, and each positioning tag is provided for each person entering the garbage storage yard to wear. The position monitoring system can real-time monitor the positions of each positioning tag in the garbage storage yard, convert them into coordinates on the absolute coordinate system of the garbage storage yard, and transmit the coordinate data to the crane control system in real time.
[0053] Next, in combination with Figure 2 described, the method for avoiding personnel in the garbage storage yard crane of the present application can include the following steps:
[0054] Step S110: Obtain the current position coordinates and the moving route of each crane.
[0055] Specifically, the crane control system can real-time obtain the current position of each crane. Each crane has its own task to be executed, so each crane is pre-set with a moving route, and the moving route of each crane can be pre-stored in the crane control system.
[0056] Step S120: Determine the future movement trajectory of each crane according to the current position coordinates of each crane and its movement route.
[0057] It can be understood that the future movement trajectory of the crane can represent the route for the crane to move from the current position to the task execution position.
[0058] Step S130: Obtain the positions of each target object in the garbage storage by means of a position monitoring system.
[0059] Specifically, the target object can be a person who has entered the garbage storage. Since each person wears a positioning tag, the position monitoring system can locate the real-time position of each person, and thus send the positioning information of all persons to the crane control system.
[0060] Step S140: For each crane, judge whether there is a target object on the future movement trajectory of the crane according to the positions of each target object. If so, adjust the future movement trajectory of the crane; otherwise, maintain the future movement trajectory of the crane.
[0061] It can be understood that in order to avoid collisions between the crane and personnel, it is necessary to judge whether there are personnel on the future movement trajectory of the crane before the crane moves. If there are personnel, then the crane needs to avoid them. Specifically, the movement route of the crane can be adjusted so that there are no personnel on the entire route. If there are no personnel, the original movement route can be maintained. In this way, the crane can effectively avoid the personnel working in the garbage storage during operation, prevent collision accidents from occurring, and improve the operating safety of the crane in the garbage storage.
[0062] For the crane operation avoidance method provided in this embodiment, by obtaining the current position coordinates of each crane and its movement route, determining the future movement trajectory of each crane according to the current position coordinates of each crane and its movement route, obtaining the positions of each target object in the garbage storage by means of a position monitoring system, where each target object wears a positioning tag, each positioning tag is communicatively connected to the position monitoring system, and the position monitoring system is connected to the crane control system, for each crane, judging whether there is a target object on the future movement trajectory of the crane according to the positions of each target object. If so, adjust the future movement trajectory of the crane; otherwise, maintain the future movement trajectory of the crane. It can be seen that when the crane is operating, it can identify whether there are personnel in front according to its movement trajectory, avoid personnel by adjusting the movement trajectory / route, and prevent collisions, thereby improving the operating safety of the crane in the garbage storage.
[0063] In some embodiments of the present application, the process of judging whether there is a target object on the future movement trajectory of the crane according to the positions of each target object mentioned in the above embodiment is introduced. This process may include:
[0064] S1. Map the positions of each target object onto the absolute coordinate system of the waste storage.
[0065] It can be understood that the coordinate system of the position monitoring system is different from the absolute coordinate system of the waste storage. Therefore, it is necessary to map the positions of each target object onto the absolute coordinate system of the waste storage so that the coordinates of each crane in the waste storage and the coordinates of each target object belong to the same coordinate system.
[0066] S2. Determine the trajectory function of the future movement trajectory of the crane on the absolute coordinate system.
[0067] Specifically, the future movement trajectory of the crane can be analyzed as a point set composed of multiple points, and then the point set is fitted to obtain the trajectory function.
[0068] S3. Determine whether there are coordinate points corresponding to the target object in the trajectory function to determine whether there is a target object on the future movement trajectory of the crane.
[0069] Specifically, if there are coordinate points corresponding to the target object in the trajectory function, it is determined that there is a target object on the future movement trajectory of the crane. If there are no coordinate points corresponding to the target object in the trajectory function, it is determined that there is no target object on the future movement trajectory of the crane.
[0070] In addition, it can also be determined based on the point set of the future movement trajectory. If the point set of the future movement trajectory contains the coordinate points corresponding to the target object, it is determined that there is a target object on the future movement trajectory of the crane, otherwise there is no target object.
[0071] In some embodiments of the present application, the process of adjusting the future movement trajectory of the crane mentioned in the above embodiments is introduced. This process may include:
[0072] S1. Generate a movement trajectory data set according to the starting point and the ending point of the future movement trajectory of the crane and the track distribution of the waste storage.
[0073] Specifically, the movement trajectory data set may include multiple movement trajectories without target objects.
[0074] It can be understood that the unadjusted future movement trajectory of the crane is one of the routes from the starting point to the ending point. Since there are multiple forks between the starting point and the ending point of the crane, there are multiple alternative routes. Then, these routes can be generated based on the starting point and the ending point of the future movement trajectory of the crane, and these routes form the movement trajectory data set.
[0075] S2. Calculate the length of each movement trajectory in the movement trajectory dataset, and select the movement trajectory with the shortest length as the adjusted future movement trajectory of the crane.
[0076] It can be understood that the movement trajectory dataset contains multiple movement trajectories with different lengths. To improve the task execution efficiency of the crane, the movement trajectory with the shortest length can be selected as the adjusted future movement trajectory of the crane.
[0077] In some embodiments of the present application, the crane mentioned in the above embodiments is further introduced. The crane can have a voice prompt function. Based on this, the method for avoiding personnel of the garbage storage crane provided by the present application can further include:
[0078] For each crane, if there is a target object on the future movement trajectory of the crane and the target object is located before the first fork of the future movement trajectory, drive the crane to stop moving and send a prompt voice to the target object to avoid the crane.
[0079] It can be understood that if a person appears on the future movement trajectory of the crane and in front of the first fork of the future movement trajectory, then the person hinders the further movement of the crane, and the crane needs to stop moving to avoid the person. At this time, the crane can emit a voice to remind the person to avoid the crane and improve the working efficiency of the crane.
[0080] In some embodiments of the present application, the positioning tag mentioned in the above embodiments is introduced. The positioning tag worn by each person can have a vibration function, and the vibration function can play a reminder role for the person. Based on this, the method for avoiding personnel of the garbage storage crane provided by the present application can further include:
[0081] For each crane, if there is a target object on the future movement trajectory of the crane, send the target position of the target object to the position monitoring system for the position monitoring system to determine the target object according to the target position and send a vibration instruction for reminding the target object to avoid the crane to the positioning tag worn by the target object.
[0082] It is understandable that the crane control system does not communicate directly with the positioning tag. Therefore, the crane control system can send signal instructions to the positioning tag only through the position monitoring system. Then, the crane control system can feedback the position information of the target object to the position monitoring system. The position monitoring system can identify the position information of the person who hinders the crane's progress from the position information received from the crane control system. The position monitoring system can match the person's position information with the positioning tags monitored in real time, determine the positioning tag worn by the person who hinders the crane's progress, and send a vibration instruction to the positioning tag. After receiving the vibration instruction, the positioning tag triggers the vibration function. The person can realize that they are hindering the crane's progress according to the vibrating positioning tag and make an avoidance in time.
[0083] Furthermore, the positioning tag can have a direction indication function and a display function. When a person hinders the crane's progress, the crane control system can send the specific crane information and the person's position information to the position monitoring system. In addition to sending a vibration instruction to the person's positioning tag, the position monitoring system also sends the crane model and the current position of the crane to the positioning tag. The person can view the positioning tag to see the specific position of the crane they are hindering and the indication of the direction where the crane is located, enabling the person to make an avoidance more flexibly and directionally.
[0084] Next, the device for realizing the avoidance of personnel by the waste storage crane provided in the embodiments of the present application will be described. The device for realizing the avoidance of personnel by the waste storage crane described below can be correspondingly referred to the method for realizing the avoidance of personnel by the waste storage crane described above.
[0085] See Figure 3 , Figure 3 which is a schematic structural diagram of a device for realizing the avoidance of personnel by the waste storage crane disclosed in the embodiments of the present application.
[0086] As Figure 3 shown, the device may include:
[0087] A moving route acquisition unit 11, configured to acquire the current position coordinates and moving route of each crane;
[0088] A future moving trajectory determination unit 12, configured to determine the future moving trajectory of each crane according to the current position coordinates and moving route of each crane;
[0089] A target object positioning unit 13, configured to acquire the positions of various target objects in the waste storage through a position monitoring system, wherein each target object wears a positioning tag, each positioning tag is communicatively connected to the position monitoring system, and the position monitoring system is connected to the crane control system;
[0090] The avoidance judgment unit 14 is configured to, for each crane, determine whether there is a target object on the future movement trajectory of the crane according to the positions of the respective target objects;
[0091] The movement trajectory adjustment unit 15 is configured to, for each crane, if there is a target object on the future movement trajectory of the crane, adjust the future movement trajectory of the crane; otherwise, maintain the future movement trajectory of the crane.
[0092] Optionally, the avoidance judgment unit includes:
[0093] The coordinate mapping unit is configured to map the positions of the respective target objects onto the absolute coordinate system of the waste storage;
[0094] The trajectory function determination unit is configured to determine the trajectory function of the future movement trajectory of the crane on the absolute coordinate system;
[0095] The function point matching judgment unit is configured to judge whether there are coordinate points corresponding to the target objects in the trajectory function, so as to judge whether there are target objects on the future movement trajectory of the crane.
[0096] Optionally, the movement trajectory adjustment unit includes:
[0097] The movement trajectory data set generation unit is configured to generate a movement trajectory data set according to the start point and end point of the future movement trajectory of the crane and the track distribution of the waste storage, where the movement trajectory data set includes multiple movement trajectories without target objects;
[0098] The movement trajectory selection unit is configured to calculate the length of each movement trajectory in the movement trajectory data set and select the movement trajectory with the shortest length as the adjusted future movement trajectory of the crane.
[0099] Optionally, each crane has a voice prompt function, and the device further includes:
[0100] The voice prompt unit is configured to, for each crane, if there is a target object on the future movement trajectory of the crane and the target object is before the first fork of the future movement trajectory, drive the crane to stop moving and send a prompt voice for the target object to avoid the crane.
[0101] Optionally, each positioning tag has a vibration function, and the device further includes:
[0102] A position sending unit, for each crane, if there is a target object on the future moving trajectory of the crane, sends the target position of the target object to the position monitoring system, so that the position monitoring system determines the target object according to the target position, and sends a vibration instruction for reminding the target object to avoid the crane to the positioning tag worn by the target object.
[0103] The personnel avoidance device of the garbage storage crane provided by the embodiments of the present application can be applied to the personnel avoidance equipment of the garbage storage crane, such as the crane control system. Optionally, Figure 4 The hardware structure block diagram of the personnel avoidance equipment of the garbage storage crane is shown. Refer to Figure 4 , the hardware structure of the personnel avoidance equipment of the garbage storage crane may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
[0104] In the embodiments of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 complete mutual communication through the communication bus 4;
[0105] The processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;
[0106] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory;
[0107] Wherein, the memory stores a program, and the processor can call the program stored in the memory, and the program is used for:
[0108] Obtain the current position coordinates and moving route of each crane;
[0109] Determine the future moving trajectory of the crane according to the current position coordinates and moving route of each crane;
[0110] Obtain the positions of each target object in the garbage storage through the position monitoring system. Among them, each target object wears a positioning tag, each positioning tag is communicatively connected to the position monitoring system, and the position monitoring system is connected to the crane control system;
[0111] For each crane, judge whether there is a target object on the future moving trajectory of the crane according to the positions of the target objects. If so, adjust the future moving trajectory of the crane, otherwise maintain the future moving trajectory of the crane.
[0112] Optionally, the refinement function and expansion function of the program may refer to the above description.
[0113] The embodiment of the present application further provides a storage medium, which can store a program suitable for execution by a processor, and the program is used for:
[0114] Obtain the current position coordinates and moving routes of each crane;
[0115] Determine the future movement trajectory of the crane according to the current position coordinates and moving routes of each crane;
[0116] Obtain the positions of each target object in the waste storage library through a position monitoring system, where each target object wears a positioning tag, each positioning tag is communicatively connected to the position monitoring system, and the position monitoring system is connected to the crane control system;
[0117] For each crane, judge whether there is a target object on the future movement trajectory of the crane according to the positions of the target objects. If so, adjust the future movement trajectory of the crane, otherwise maintain the future movement trajectory of the crane.
[0118] Optionally, the refinement function and expansion function of the program may refer to the above description.
[0119] Finally, it should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.
[0120] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.
[0121] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method for personnel avoidance of a garbage storage crane, characterized in that, Applied to a crane control system, the method includes: Obtaining the current position coordinates and moving routes of each crane; Determining the future moving trajectory of each crane according to the current position coordinates and moving routes of each crane; Obtaining the positions of each target object in the garbage storage by means of a position monitoring system, where each target object wears a positioning tag, each positioning tag is communicatively connected to the position monitoring system, and the position monitoring system is connected to the crane control system; For each crane, judging whether there is a target object on the future moving trajectory of the crane according to the positions of each target object. If so, adjusting the future moving trajectory of the crane; otherwise, maintaining the future moving trajectory of the crane.
2. The method according to claim 1, wherein Judging whether there is a target object on the future moving trajectory of the crane according to the positions of each target object includes: Mapping the positions of each target object on the absolute value coordinate system of the garbage storage; Determining the trajectory function of the future moving trajectory of the crane on the absolute value coordinate system; Judging whether there is a coordinate point corresponding to the target object in the trajectory function to judge whether there is a target object on the future moving trajectory of the crane.
3. The method according to claim 1, wherein Adjusting the future moving trajectory of the crane includes: Generating a moving trajectory data set according to the starting point and ending point of the future moving trajectory of the crane and the track distribution of the garbage storage, where the moving trajectory data set includes multiple moving trajectories without target objects; Calculating the length of each moving trajectory in the moving trajectory data set and selecting the moving trajectory with the shortest length as the adjusted future moving trajectory of the crane.
4. The method according to claim 1, wherein Each crane has a voice prompt function, and the method further includes: For each crane, if there is a target object on the future moving trajectory of the crane and the target object is before the first fork of the future moving trajectory, driving the crane to stop moving and sending a prompt voice for the target object to avoid the crane to the target object.
5. The method according to claim 1, characterized in that Each positioning tag has a vibration function, and the method further includes: For each crane, if there is a target object on the future moving trajectory of the crane, sending the target position of the target object to the position monitoring system for the position monitoring system to determine the target object according to the target position and sending a vibration command for reminding the target object to avoid the crane to the positioning tag worn by the target object.
6. A personnel avoidance device for a garbage storage crane, characterized in that, Applied to a crane control system, the device includes: A moving route acquisition unit for obtaining the current position coordinates and moving routes of each crane; A future moving trajectory determination unit for determining the future moving trajectory of each crane according to the current position coordinates and moving routes of each crane; A target object positioning unit for obtaining the positions of each target object in the garbage storage by means of a position monitoring system, where each target object wears a positioning tag, each positioning tag is communicatively connected to the position monitoring system, and the position monitoring system is connected to the crane control system; An avoidance judgment unit for judging whether there is a target object on the future moving trajectory of the crane for each crane according to the positions of each target object; A moving trajectory adjustment unit is configured to, for each crane, if there is a target object on the future moving trajectory of the crane, adjust the future moving trajectory of the crane; otherwise, maintain the future moving trajectory of the crane.
7. The device according to claim 6, characterized in that, The avoidance judgment unit includes: A coordinate mapping unit is configured to map the positions of the respective target objects onto the absolute coordinate system of the waste storage; A trajectory function determination unit is configured to determine the trajectory function of the future moving trajectory of the crane on the absolute coordinate system; A function point matching judgment unit is configured to judge whether there are coordinate points corresponding to the target objects in the trajectory function, so as to judge whether there are target objects on the future moving trajectory of the crane.
8. The device according to claim 6, characterized in that The moving trajectory adjustment unit includes: A moving trajectory data set generation unit is configured to generate a moving trajectory data set according to the start point and end point of the future moving trajectory of the crane and the track distribution of the waste storage, and the moving trajectory data set includes multiple moving trajectories without target objects; A moving trajectory selection unit is configured to calculate the length of each moving trajectory in the moving trajectory data set and select the moving trajectory with the shortest length as the adjusted future moving trajectory of the crane.
9. A personnel avoidance device for a garbage storage crane, characterized in that, It includes a memory and a processor; The memory is configured to store programs; The processor is configured to execute the programs to implement each step of the personnel avoidance method for the waste storage crane according to any one of claims 1-5.
10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, each step of the personnel avoidance method for the waste storage crane according to any one of claims 1-5 is implemented.