A multi-tower based three-dimensional space collision avoidance system

Abstract

The application provides a three-dimensional space collision avoidance system based on a multi-tower crane, and relates to the technical field of port hoisting operations.The three-dimensional voxel grid VoxelGrid space map is constructed, including a first horizontal coverage map, a second descending coverage map, a third fan-shaped area occupation map, a fourth track occupation area map and a fifth interference area map.The system can identify the spatial overlap area of the tower crane operation path at the voxel level, break through the limitations of traditional path planning methods in terms of spatial modeling dimensions and accuracy, and enhance the fine granularity and accuracy of collision detection.The dynamic acquisition module and the dynamic interference module are introduced, which can realize real-time sensing of the dynamic disturbance caused by factors such as wind and waves, tides and the like in the port operation environment, and predict the deviation trend of the end of the hoist, so as to make target correction and trajectory compensation before trajectory execution, thereby effectively reducing the hoist misencounter or landing deviation caused by trajectory drift.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of port hoisting operation, in particular to a three-dimensional space collision avoidance system based on multiple tower cranes. BACKGROUND

[0002] Tower crane generally refers to "shore bridge" or "port tower crane" on the shore, which is not on the ship but is installed on the wharf side for loading and unloading operations (such as containers, bulk cargo, heavy goods, etc.) on the ship parked on the shore; with the continuous improvement of port automation and intelligence level, the efficiency of container or bulk cargo loading and unloading operation based on tower crane (hereinafter referred to as "tower crane") is increasingly valued. In actual port loading and unloading operation, there are often multiple shore-based tower cranes for coordinated operation on multiple hatch areas of the same large ship. Since the tower crane body structure is fixed on the shore, it does not have the ability to automatically adjust the operation trajectory with the movement of the ship, however, the ship is affected by factors such as tidal changes, wind and wave disturbances, and its own sway, resulting in a small but continuous dynamic disturbance during berthing, which causes the spatial offset of the operation object position, resulting in deviation between the original hoisting trajectory of the tower crane and the actual position of the ship hatch, thereby there is a potential collision risk.

[0003] Especially in the multi-tower crane coordinated operation scene, the operation areas of different tower cranes may overlap in three-dimensional space, if the ship disturbance cannot be sensed in time and the hoisting trajectory is not corrected, it is easy to cause interference and collision between the spreaders and between the spreaders and the ship structure, not only affecting the operation efficiency, but also more likely to cause safety accidents. In the prior art, although some systems can realize tower crane path planning or simple anti-collision alarm, they generally lack the ability to perceive and intelligently respond to ship dynamic disturbance, cannot dynamically adjust the operation path based on disturbance information, and have low modeling dimension of space conflict under multi-tower crane coordinated operation, lack high-precision, voxel-level three-dimensional collision analysis capability.

[0004] The above information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, therefore it can include information which does not constitute the prior art known to those of ordinary skill in the art. SUMMARY

[0005] The purpose of the present application is to provide a three-dimensional space collision avoidance system based on multiple tower cranes to solve the problems raised in the above background.

[0006] To achieve the above purpose, the present application provides the following technical solutions:

[0007] A three-dimensional space collision avoidance system based on multiple tower cranes, comprising:

[0008] The trajectory acquisition module is configured to establish a three-dimensional space coordinate conversion model of a port operation area, convert operation coordinates of each tower crane into a floating space coordinate system with a center of a hatch of an i-th ship as a reference, acquire a first operation trajectory of a j-th tower crane corresponding to operation of the i-th ship in real time and model the first operation trajectory, construct a space atlas composed of a three-dimensional voxel grid, and obtain a first horizontal coverage atlas, a second descending coverage atlas, a third fan-shaped area occupancy atlas, a fourth track occupancy area atlas, and a fifth interference area atlas.

[0009] The trajectory recognition module is configured to perform space conflict detection between tower cranes based on the first horizontal coverage atlas, the second descending coverage atlas, the third fan-shaped area occupancy atlas, the fourth track occupancy area atlas, and the fifth interference area atlas, and identify an overlapping voxel set in which the j-th tower crane and an adjacent j+1-th tower crane have potential space interference at a t operation time. When It is indicated that there is a voxel level space overlap region at the t operation time, indicating that the j-th tower crane and the adjacent j+1-th tower crane have a potential space interference risk at the t operation time, a first warning instruction is generated, and an interference risk index of the j-th tower crane and the adjacent j+1-th tower crane at the t operation time is constructed. The classification is then performed, and a corresponding avoidance strategy is generated according to the classification.

[0010] The dynamic acquisition module is configured to acquire dynamic disturbance information of a ship in a port scene and generate a dynamic disturbance data set.

[0011] The dynamic interference module is configured to predict an offset of a j-th tower crane hoist end in a three-dimensional space relative to a predetermined positioning point of a corresponding i-th ship at a t operation time based on the dynamic disturbance data set. After target compensation is performed on the original planned positioning point, a first compensation instruction is obtained.

[0012] The expanded voxel correction module is configured to obtain a second operation trajectory of the j-th tower crane after correction, and acquire a deviation value of the second operation trajectory and the first operation trajectory, and obtain an expanded voxel size ΔVp. j The expanded voxel correction module is configured to obtain a second operation trajectory of the j-th tower crane in the floating space coordinate system. The j-th tower crane in the floating space coordinate system is repeatedly used by the trajectory recognition module. The overlapping voxel detection is performed, and the correction is performed.

[0013] Further, the trajectory acquisition module includes a ship body floating reference point acquisition unit.

[0014] The ship body floating reference point acquisition unit is configured to obtain three-dimensional space positions and attitude angle information of a kth hatch center of an ith ship, so as to construct a floating space coordinate system based on WebGL, Unity or UE.

[0015] Further, the trajectory acquisition module further comprises a three-dimensional voxel network construction unit and a space atlas extraction unit.

[0016] The three-dimensional voxel network construction unit is configured to, in a scenario in which multiple tower cranes are simultaneously operating on a port ship, acquire space trajectories of the hoists of the tower cranes in a unified floating coordinate system, perform time parameterization modeling, and map the trajectories of different operation processes into various space atlases, so as to perform space collision calculation based on three-dimensional voxel grids.

[0017] S11, modeling a first operation trajectory of a hoist of each tower crane in a floating space coordinate system to obtain a first operation trajectory of a hoist of a jth tower crane and an adjacent j+1th tower crane in the floating space coordinate system. and The expression is:

[0018]

[0019] wherein t represents an operation time, x j (t), y j (t), and z j (t) represent coordinates of a space position of the hoist of the jth tower crane in X, Y and Z directions at the operation time t.

[0020] x j+1 (t), y j+1 (t), and z j+1 (t) represent coordinates of a space position of the hoist of the adjacent j+1th tower crane in X, Y and Z directions at the operation time t.

[0021] S12, the space atlas extraction unit is configured to construct a space atlas, which is specifically composed of a three-dimensional voxel grid VoxelGrid, and specifically comprises:

[0022] S121, extracting a hoist horizontal displacement segment from the operation trajectory of the hoist of the jth tower crane in the floating space coordinate system, and obtaining a first operation trajectory of the hoist of the jth tower crane and the adjacent j+1th tower crane in the floating space coordinate system. and Mapping the corresponding trajectory segments to the three-dimensional voxel grid to obtain a first horizontal coverage atlas and generate a first horizontal occupancy label.

[0023] S122, extracting a path of the hoist of the jth tower crane from the trajectory, specifically a path of the hoist of the jth tower crane from the air to the ship cabin, which is specifically a path of the hoist of the jth tower crane from the air to the ship cabin.j (t) represents the vertical height of the jth tower crane's sling at the operation time t, and the sling is identified as a lowering operation state in the corresponding time period, and the identification rule is: and the sling speed is not equal to 0; represents that the jth tower crane's sling is moving downward at the operation time t; wherein, dz j (t) represents the vertical position change of the jth tower crane's sling at the operation time t, that is: z j (t+Δt)-z j (t), dt represents the time interval between the two time points t and t+Δt;

[0024] After identifying the sling as a lowering operation state, the lowering trajectory segment is obtained The expression is:

[0025]

[0026] wherein, is the time when the lowering operation starts, is the time when the lowering operation ends;

[0027] The lowering trajectory segment is offline equidistantly sampled to obtain a trajectory segment set:

[0028]

[0029] wherein, t1, t2,...t n represent n sampling time points, and the lowering trajectory segment time interval is discrete time points;

[0030] and generate a continuous segment set:

[0031]

[0032] wherein, and Each two consecutive sampling points form a lowering line segment, which represents the spatial motion of the sling in the time period; (t k ) and (t k+1 ) represent two consecutive time points, with a fixed time interval difference, (t k ) represents the kth second, and (t k+1 ) represents the k+1th second;

[0033] Segment describes the mathematical object of straight line motion between two points, which represents the path of the sling between two points;

[0034] For each lowering line segment L k, using 3D Bresenham line segment projection algorithm, the line segment is mapped to the three-dimensional voxel grid, the second descending coverage map is obtained, and the second descending occupation label is generated;

[0035] S123, the horizontal direction rotation motion component is extracted from the operation track of the jth tower crane in the floating space coordinate system, each segment of rotation motion is set as each sector area, each sector area is mapped to the three-dimensional voxel grid, the third sector area occupation map is formed, and the third rotation occupation label is generated;

[0036] S124, the common track or track intersection area of the operation space is extracted from the operation track of the jth tower crane and the adjacent j+1th tower crane in the floating space coordinate system, the track width is expanded, the fourth track occupation area map is formed;

[0037] S125, the three-dimensional overlapping volume is extracted from the operation track of the jth tower crane and the adjacent j+1th tower crane in the floating space coordinate system, and the fifth interference area map is formed.

[0038] Further, the trajectory recognition module comprises a conflict detection unit and a first avoidance unit;

[0039] The conflict detection unit is used for counting the first horizontal coverage map, the second descending coverage map, the third sector area occupation map, the fourth track occupation area map and the fifth interference area map in S121-125, and performing the following operations to realize the space conflict detection between tower cranes:

[0040] S131, the first horizontal coverage map, the second descending coverage map, the third sector area occupation map, the fourth track occupation area map and the fifth interference area map corresponding to S121-S125 are extracted, and the overlapping voxel set with potential space interference between the jth tower crane and the adjacent j+1th tower crane at t operation time is identified The expression is:

[0041]

[0042] In the formula, The jth tower crane at t operation time is indicated as the voxel set of the rth occupation map, r=1 is the first horizontal coverage map; r=2 is the second descending coverage map; r=3 is the third sector area occupation map; r=4 is the fourth track occupation area map; r=5 is the fifth interference area map; The voxel set of the rth occupation map of the adjacent j+1th tower crane at t operation time is indicated as the voxel set of the rth occupation map of the adjacent j+1th tower crane at t operation time;

[0043] When represents the empty set, indicating that there is a spatially coincident region of the voxel level at the t operation time, representing that the jth tower crane and the adjacent j+1th tower crane have a potential spatial interference risk at the t operation time, and a first warning instruction is generated; when represents that the jth tower crane and the adjacent j+1th tower crane do not have a potential spatial interference risk, and the current operation trajectory at the t operation time has no spatial coincidence;

[0044] S132, after receiving the first warning instruction, extracting the number of overlapping region voxels of the overlapping voxel set of the jth tower crane and the adjacent j+1th tower crane having a potential spatial interference at the t operation time , constructing the interference risk index of the jth tower crane and the adjacent j+1th tower crane at the t operation time through the following formula

[0045]

[0046] In the formula, |V safe | represents the set maximum spatial redundancy safety region voxel number, and GI j,j+1 The result of the formula is a normalized value in the interval [0, 1], which is convenient for classification.

[0047] Further, the first avoidance unit is configured to classify the value of the interference risk index of the jth tower crane and the adjacent j+1th tower crane at the t operation time , including:

[0048] When , it indicates that there is no intersection between the spatial operation voxels of the two tower cranes at the t operation time, a first safety level is generated, and the jth tower crane and the adjacent j+1th tower crane continue to operate normally.

[0049] When , it indicates that there is an edge region overlap between the two tower cranes at the t operation time, a second low-risk level strategy is generated, including: recording the state and continuing to operate, and reducing the 3%-5% arm extension amplitude of the jth tower crane, the trolley position hook speed by 3%-5%, adjusting the lifting height by 3%-5% in the opposite direction of the overlap, and the overall smooth speed reduction by 10%-20%;

[0050] When , the interference region enters the actual operation path of the tower arm / hoist, which has physical interference potential, and is marked as a conflict region, a third medium-risk level strategy is generated, including: generating a second warning instruction, and offsetting the position by 6%-10% in the opposite direction of the overlap, reducing the 10%-20% arm extension amplitude of the jth tower crane, the trolley position hook speed by 6%-10%, adjusting the lifting height by 6%-10% in the opposite direction of the overlap, and the overall smooth speed reduction by 21%-30%;

[0051] When , it indicates that there is a collision risk at the t operation moment, and is marked as a conflict area, and a fourth high-risk level strategy is generated, including: generating a third warning instruction, and adjusting the tower crane near the edge of the conflict area to give priority to avoiding, adjusting the arm of the tower crane to retract ≥25% of the arm extension range, immediately withdrawing from the conflict area, adjusting the lifting height by 30% in the opposite direction of the overlap, and leaving the dangerous intersection point, and overall smooth speed reduction by 40%-50%; and the tower crane near the central axis side synchronously suspends the hoisting operation; and the interference risk index is judged again until the interference is removed, and the jth tower crane is restored to operation through the main control intervention.

[0052] Further, the dynamic disturbance data set includes the roll angle pitch angle θ i,t , tidal change height Δh tide,t , and wave disturbance amplitude A wave,t of the jth tower crane at the t operation moment corresponding to the i th ship of the operation.

[0053] Further, 7. The dynamic disturbance module includes an identification disturbance influence factor unit and a second avoidance unit.

[0054] The identification disturbance influence factor unit is configured to extract the roll angle pitch angle θ i,t , tidal change height Δh tide,t , and wave disturbance amplitude A wave,t of the jth tower crane at the t operation moment corresponding to the i th ship of the operation from the dynamic disturbance data set. j Because different tower crane structures are different, the arm length is different, the stiffness is different, and the disturbance influence is different, the tower crane itself as a shore-based fixed device will not "move itself" due to the shaking of the ship, the tide, or the wave, but because the object of the tower crane to perform hoisting operation, i.e. the ship is in dynamic motion, it is necessary to "perceive these disturbances" and make intelligent response operations, and it is necessary to establish a corresponding disturbance response coefficient matrix R 11 for the jth tower crane, and the expression is:

[0055]

[0056] wherein r 12 , r 13 , r 14 are the response sensitive offset values of the roll angle change to the X direction offset, the response sensitive offset values of the pitch angle to the X direction offset, the response sensitive offset values of the tidal change height to the X direction offset, and the response sensitive offset values of the wave disturbance amplitude to the X direction offset.

[0057] wherein r21 22 23 24 respectively are the response sensitive offset value of the change of the roll angle to the Y direction offset, the response sensitive offset value of the pitch angle to the Y direction offset, the response sensitive offset value of the tidal change height to the Y direction offset and the response sensitive offset value of the wave interference amplitude to the Y direction offset;

[0058] wherein, r 31 32 33 34 respectively are the response sensitive offset value of the change of the roll angle to the Z direction offset, the response sensitive offset value of the pitch angle to the Z direction offset, the response sensitive offset value of the tidal change height to the Z direction offset and the response sensitive offset value of the wave interference amplitude to the Z direction offset;

[0059] and according to the jth tower crane, a corresponding disturbance response coefficient matrix R j is converted into a vector form, and the offset of the jth tower crane at the t operation moment is predicted to obtain the offset of the end of the crane in the three-dimensional space relative to the predetermined positioning point of the ith ship The expression is:

[0060]

[0061] wherein, δx j,t , δy j,t and δz j,t are the response disturbance offsets of the end of the jth tower crane in the three-dimensional space in the X, Y and Z directions after being affected by the ith ship shaking at the t operation moment.

[0062] Further, the second avoidance unit is configured to compensate the original planned positioning point according to the offset of the end of the jth tower crane in the three-dimensional space relative to the predetermined positioning point of the ith ship at the t operation moment. The specific compensation is:

[0063] The original planned positioning point is set as:

[0064] wherein, and respectively represent the X, Y and Z direction coordinate axis positions of the jth tower relative to the predetermined positioning point of the ith ship.

[0065] The offset of the end of the jth tower crane in the three-dimensional space relative to the predetermined positioning point of the ith ship at the t operation moment is compensated according to the offset of the end of the jth tower crane in the three-dimensional space relative to the predetermined positioning point of the ith ship at the t operation moment. The target correction position is obtained by compensating the original planned positioning point. ​​​​​​

[0066]

[0067] Wherein, the target correction position This is the actual target position to which the tower crane should move after considering the ship disturbance; it is a new position based on the original planned position, with the addition of ship disturbance compensation;

[0068] And using the controller to control the target correction position Convert into the first compensation instruction, including: arm length adjustment amount, trolley displacement adjustment, lifting height adjustment and speed adjustment.

[0069] Further, the inflation voxel correction module is used to obtain the jth tower crane corrected second operation trajectory after obtaining the first compensation instruction, and collect the deviation value of the second operation trajectory and the first operation trajectory, and obtain the inflation voxel size △Vp j , used for inflating the jth tower crane corrected second operation trajectory to obtain the second operation trajectory of the jth tower crane in the floating space coordinate system The inflated second operation trajectory will become a larger area, and the expression is:

[0070]

[0071] After obtaining the second operation trajectory of the jth tower crane in the floating space coordinate system , the inflated second operation trajectory is used for overlap voxel detection, and the interference risk index of the jth tower crane and the adjacent j+1th tower crane at the t operation moment is reconstructed repeatedly from S131 to S132 And the corresponding strategy is obtained and executed.

[0072] Compared with the prior art, the beneficial effects of the present application are: by introducing the floating space coordinate system with the ship hatch center as the reference, the unified modeling of different shore-based tower crane operation trajectories under the same coordinate reference is realized, the problem of space reference drift caused by ship sway is effectively eliminated, and the precision and consistency of three-dimensional space perception during multi-tower crane collaborative operation are improved. By constructing a three-dimensional voxel grid (VoxelGrid) space atlas and multiple types of space occupation maps (such as a first horizontal coverage atlas, a second descending coverage atlas, a third fan-shaped area occupation atlas, a fourth track occupation area atlas and a fifth interference area atlas), the system can identify the spatial overlapping area of the tower crane operation path at the voxel level, break through the limitations of traditional path planning methods in spatial modeling dimension and precision, and enhance the fine granularity and accuracy of collision detection.

[0073] The application introduces a dynamic acquisition module and a dynamic interference module, which can realize real-time sensing of dynamic disturbance of a ship caused by wind, waves, tides and other factors in a port operation environment, and predict the deviation trend of the end of the spreader, so as to make target correction and trajectory compensation before trajectory execution, thereby effectively reducing the misencounter of the spreader or the deviation of the landing position caused by trajectory drift.

[0074] The first avoidance unit avoids the interference risk between the tower crane and the tower crane, and the second avoidance unit, that is, the compensation of the position deviation between the tower crane and the ship, is used for the end of the spreader of the jth tower crane in the three-dimensional space at the t operation moment, that is, the dynamic compensation mechanism of the position deviation between the tower crane and the ship; the second avoidance unit calculates the deviation of the end of the spreader of the jth tower crane to obtain a new target correction position. Through this dynamic correction, the end of the spreader of the tower crane can be timely adjusted to the ideal position consistent with the predetermined operation target, so that the position deviation caused by the dynamic interference of the ship is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0075] Figure 1 A three-dimensional space collision avoidance system based on multiple tower cranes is provided. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical scheme and advantages of the application clearer, the application is further described in detail below with specific examples.

[0077] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the application should be understood as the usual meaning understood by those skilled in the art to which the application belongs. The terms "first", "second" and similar terms used in the application do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connect" and similar terms are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect. The terms "up", "down", "left", "right" and the like only represent relative positional relationships, which may change accordingly when the absolute position of the described object changes.

[0078] Example 1

[0079] Please refer to Figure 1 The application provides a technical scheme:

[0080] A three-dimensional space collision avoidance system based on multiple tower cranes, comprising:

[0081] The trajectory acquisition module is configured to establish a three-dimensional space coordinate conversion model of a port operation area, convert operation coordinates of each tower crane into a floating space coordinate system with a center of a hatch of an i-th ship as a reference, acquire a first operation trajectory of a j-th tower crane corresponding to operation of the i-th ship in real time and model the first operation trajectory, construct a space atlas composed of a three-dimensional voxel grid, and obtain a first horizontal coverage atlas, a second descending coverage atlas, a third fan-shaped area occupation atlas, a fourth track occupation area atlas, and a fifth interference area atlas.

[0082] The trajectory recognition module is configured to perform spatial conflict detection between tower cranes based on the first horizontal coverage atlas, the second descending coverage atlas, the third fan-shaped area occupation atlas, the fourth track occupation area atlas, and the fifth interference area atlas, and identify an overlapping voxel set in which the j-th tower crane and an adjacent j+1-th tower crane have potential spatial interference at a t operation time. When It is indicated that there is a voxel level spatial overlap region at the t operation time, indicating that the j-th tower crane and the adjacent j+1-th tower crane have a potential spatial interference risk at the t operation time, a first warning instruction is generated, and an interference risk index of the j-th tower crane and the adjacent j+1-th tower crane at the t operation time is constructed. The classification is then performed, and a corresponding avoidance strategy is generated according to the classification.

[0083] The dynamic acquisition module is configured to acquire dynamic disturbance information of a ship in a port scene and generate a dynamic disturbance data set.

[0084] The dynamic interference module is configured to predict an offset of a j-th tower crane hoist end in a three-dimensional space relative to a predetermined positioning point of a corresponding i-th ship at a t operation time based on the dynamic disturbance data set. After target correction and compensation are performed on the original planned positioning point, a first compensation instruction is obtained.

[0085] The expanded voxel correction module is configured to obtain a second operation trajectory of the j-th tower crane after correction, and acquire a deviation value of the second operation trajectory and the first operation trajectory, and obtain an expanded voxel size ΔVp. j The expanded voxel correction module is configured to obtain a second operation trajectory of the j-th tower crane after correction, and acquire a deviation value of the second operation trajectory and the first operation trajectory, and obtain an expanded voxel size ΔVp. The j-th tower crane in the floating space coordinate system after correction is repeatedly used by the trajectory recognition module. The overlapping voxel detection is performed, and the correction is performed.

[0086] In this embodiment, by introducing a floating space coordinate system with the center of the ship hatch as the reference, the unified modeling of different shore-based tower crane operation trajectories under the same coordinate reference is realized, effectively eliminating the problem of space reference drift caused by ship sway, and improving the accuracy and consistency of three-dimensional space perception when multiple tower cranes operate cooperatively. By constructing a three-dimensional voxel grid (VoxelGrid) spatial map and multiple types of space occupation maps (such as a first horizontal coverage map, a second descending coverage map, a third fan-shaped area occupation map, a fourth track occupation area map, and a fifth interference area map), the system can identify the spatial overlapping area of the tower crane operation path at the voxel level, breaking through the limitations of traditional path planning methods in spatial modeling dimensions and accuracy, and enhancing the granularity and accuracy of collision detection.

[0087] The system introduces a dynamic acquisition module and a dynamic interference module, which can real-time perceive the dynamic disturbance of the ship caused by factors such as wind, waves, and tides in the port operation environment, and predict the deviation trend of the hoist end, making target correction and trajectory compensation before trajectory execution, effectively avoiding hoist misencounters or position deviation caused by trajectory drift.

[0088] By expanding the corrected second operation trajectory, i.e., the hoisting trajectory, the concept of "safety redundancy area" is introduced, so that potential risk areas can be perceived in advance during the collision detection process and a warning is issued, further improving the anti-collision ability and robustness of the system. The system not only can identify overlapping areas, but also can construct an interference risk index of tower cranes at a specific operation moment and accordingly divide the risk level, so as to generate more targeted avoidance strategies, with good intelligent scheduling and collaborative optimization ability.

[0089] Embodiment 2

[0090] This embodiment is an explanation and description in Embodiment 1, please refer to Figure 1 , specifically, the trajectory acquisition module includes a ship floating reference point acquisition unit;

[0091] The ship floating reference point acquisition unit is used to acquire the three-dimensional space position and attitude angle information of the kth hatch center of the ith ship, so as to construct a floating space coordinate system based on WebGL, Unity or UE.

[0092] Suppose there are 3 tower cranes to jointly unload the cargo of a ship, the ship body will change height and attitude due to tide + loading and unloading sway.

[0093] A coordinate system with the center of the kth hatch of the ith ship as the origin is established in the system, and the positions of all tower cranes and the trajectories of the hangers are converted into the coordinate system in real time. The floating three-dimensional coordinate system is actually a dynamic reference system model that is constructed and used. It can also be integrated into a Web visualization system, a VR model, or an edge computing terminal.

[0094] In this embodiment, by collecting the spatial position and attitude angle information of the local hatch of the ship body, the drift, deflection and swing of the ship itself can be synchronized in real time during the operation path planning process of the port shore-based tower crane, so that the coordinate system constructed is more in line with the actual motion state of the ship body, and the problem of disconnection between path planning and target operation point is effectively avoided.

[0095] Embodiment 3

[0096] This embodiment is an explanation and description in embodiment 1. Please refer to Figure 1 , specifically, the trajectory acquisition module further includes a three-dimensional voxel network construction unit and a spatial atlas extraction unit;

[0097] The three-dimensional voxel network construction unit is used to collect the spatial trajectories of the hangers of each tower crane under the unified floating coordinate system in the scenario that multiple tower cranes are operating on the ship in the port, to perform time parameterization modeling, and to map the trajectories of different operation processes into various spatial atlases, to perform spatial collision calculation based on three-dimensional voxel grids as basic units. The specific steps are as follows:

[0098] S11, modeling the first operation trajectory of the hanger of each tower crane in the floating space coordinate system to obtain the first operation trajectory of the hanger of the jth tower crane and the adjacent j+1th tower crane in the floating space coordinate system and The expression is:

[0099]

[0100] Where, t represents the operation time, x j (t), y j (t), z j (t) represents the coordinates of the spatial position of the hanger of the jth tower crane in the X, Y and Z directions at the t operation time; a horizontal voxel trajectory set formed by a horizontal direction projection line segment.

[0101] x j+1 (t), y j+1 (t), z j+1 (t) represents the coordinates of the spatial position of the hanger of the adjacent j+1th tower crane in the X, Y and Z directions at the t operation time.

[0102] S12, the space map extraction unit, for constructing a space map, specifically adopting a three-dimensional voxel grid VoxelGrid, specifically comprising:

[0103] S121, extracting a sling horizontal displacement segment from the work trajectory of the sling of the jth tower crane in the floating space coordinate system, mapping the first work trajectory of the sling of the jth tower crane and the j+1th adjacent tower crane in the floating space coordinate system to the three-dimensional voxel grid, obtaining a first horizontal coverage map, and generating a first horizontal occupation label; and

[0104] S122, extracting the path of the sling of the jth tower crane from the air to the cabin from the trajectory, specifically z j (t) represents the vertical height of the sling of the jth tower crane at work time t, and the sling is identified as a lowering operation state in the corresponding time period, and the identification rule is: and the sling speed is not equal to 0; z j (t) represents the vertical position change of the sling of the jth tower crane at work time t, that is: z j (t+Δt)-z j (t), dt represents the time interval between two time points t and t+Δt;

[0105] After identifying the sling as a lowering operation state, the lowering trajectory segment is obtained The expression is:

[0106]

[0107] wherein, is the time when the lowering operation starts, is the time when the lowering operation ends;

[0108] The lowering trajectory segment is offline equidistantly sampled to obtain a trajectory line segment set:

[0109]

[0110] wherein, t1, t2,...t n represent n sampling time points, and the lowering trajectory segment time interval is discrete time points;

[0111] and generate a continuous line segment set:

[0112]

[0113] wherein, and ​Each two consecutive sampling points constitute a lowering line segment, representing the spatial movement of the sling in this period; k ) and (t k+1 ) represent two consecutive time points, with a fixed time interval, (t k ) represents the kth second, and (t k+1 ) represents the k+1th second;

[0114] Segment describes the mathematical object of straight line motion between two points, representing the path of the sling between two points;

[0115] For each lowering line segment L k , the 3D Bresenham line segment projection algorithm is used to map the line segment to the three-dimensional voxel grid, obtain the second lowering coverage map, and generate the second lowering occupancy label. A cylindrical voxel track set formed by the vertical direction projection line segment;

[0116] S123, extract the horizontal direction rotation motion component from the work trajectory of the sling of the jth tower crane in the floating space coordinate system, set each segment of the rotation motion as each sector area, map each sector area to the three-dimensional voxel grid, form the third sector area occupancy map, and generate the third rotation occupancy label;

[0117] S124, extract the common track or track intersection area of the work space from the work trajectory of the sling of the jth tower crane and the adjacent j+1th tower crane in the floating space coordinate system, expand the track width, form the fourth track occupancy area map;

[0118] S125, extract the three-dimensional overlapping volume from the work trajectory of the sling of the jth tower crane and the adjacent j+1th tower crane in the floating space coordinate system, form the fifth interference area map.

[0119] In this embodiment, the three-dimensional voxel grid (VoxelGrid) is used as the basic unit for spatial analysis, combined with the dynamic trajectory modeling of the tower crane's hoist in the floating space coordinate system, to realize the spatial conflict detection and collision avoidance in the multi-tower crane operation scene. Time parameterization modeling is used to accurately capture the spatial position changes of the tower crane's hoist at each operation time, enhancing the real-time and accuracy of spatial conflict analysis. The three-dimensional voxel network construction unit extracts various trajectory segments (such as horizontal displacement segment, descending path segment, and rotational motion component) by accurately modeling the tower crane's hoist operation trajectory, and maps them to the three-dimensional voxel grid, providing detailed spatial information for subsequent collision detection and path optimization. Especially in the multi-tower crane cooperative operation scene, accurate spatial overlap area analysis can be realized, effectively avoiding the interference between the tower crane's hoist or the hoist and the ship structure. Through the spatial atlas extraction unit, the system can generate multiple types of spatial atlas, including the first horizontal coverage atlas, the second descending coverage atlas, the third fan-shaped area occupation atlas, the fourth track occupation area atlas, and the fifth interference area atlas. These atlases can finely depict the working area of the tower crane according to different operation processes (such as hoist horizontal displacement, descending operation, rotation, etc.), providing multi-dimensional information support for spatial conflict detection in multi-tower crane operation, significantly improving the overall operation efficiency and safety.

[0120] For the hoist lowering operation, the system monitors the vertical displacement and speed change of the hoist, identifies and extracts the lowering trajectory of the hoist, and maps it to the three-dimensional voxel grid through the 3DBresenham algorithm. This step ensures that the spatial conflict during the hoist lowering process can be monitored in real time, avoiding the collision risk caused by ship disturbance or tower crane adjustment operation.

[0121] By extracting the rotational motion component in the horizontal direction of the tower crane's operation trajectory, the system can form a fan-shaped area occupation atlas and generate a track occupation atlas by extending the common track area. These strategies can effectively identify and avoid potential interference areas between towers, especially when multiple towers are operating on the same ship, ensuring effective allocation of the operation area and rational use of space.

[0122] By monitoring the operation trajectory of the tower crane's hoist in the floating space coordinate system in real time and generating accurate interference area atlas in time, the system can accurately predict and detect potential collision risks. This makes the tower crane operation more intelligent and automated, effectively reducing the probability of accidents caused by human factors or ship disturbance, and improving the safety of port operations.

[0123] Embodiment 4

[0124] This embodiment is an explanation and description in Embodiment 3, please refer to Figure 1Specifically, the track identification module comprises a conflict detection unit and a first avoidance unit.

[0125] The conflict detection unit is configured to count the first horizontal coverage map, the second descending coverage map, the third fan-shaped area occupation map, the fourth track occupation area map and the fifth interference area map in S121-125, and perform the following operations to realize the spatial conflict detection between the tower cranes:

[0126] S131, extract the first horizontal coverage map, the second descending coverage map, the third fan-shaped area occupation map, the fourth track occupation area map and the fifth interference area map corresponding to S121-S125, and identify the overlapping voxel set of the jth tower crane and the adjacent j+1th tower crane at the t operation moment The expression is:

[0127]

[0128] In the formula, represents the voxel set of the rth occupation map of the jth tower crane at the t operation moment, r=1 is the first horizontal coverage map; r=2 is the second descending coverage map; r=3 is the third fan-shaped area occupation map; r=4 is the fourth track occupation area map; r=5 is the fifth interference area map; represents the voxel set of the rth occupation map of the adjacent j+1th tower crane at the t operation moment;

[0129] When represents an empty set, indicating that there is a spatial coincidence area at the voxel level at the t operation moment, indicating that the jth tower crane and the adjacent j+1th tower crane have a potential spatial interference risk at the t operation moment, and a first warning instruction is generated; when represents that the jth tower crane and the adjacent j+1th tower crane have no potential spatial interference risk, and the current operation track at the t operation moment has no spatial coincidence;

[0130] S132, after receiving the first warning instruction, extract the overlapping voxel set of the jth tower crane and the adjacent j+1th tower crane at the t operation moment The number of overlapping region voxels in the overlapping voxel set of the jth tower crane and the adjacent j+1th tower crane at the t operation moment is counted, and the interference risk index of the jth tower crane and the adjacent j+1th tower crane at the t operation moment is constructed by the following formula

[0131]

[0132] In the formula, |V safe | represents the set maximum spatial redundancy safety area voxel number, and GI j,j+1 The result of is a normalized value in the interval [0, 1], which is convenient for grading.

[0133] Embodiment 5

[0134] This embodiment is an explanation and illustration in embodiment 4, please refer to Figure 1 , specifically, the first avoidance unit is used for classifying the value of the interference risk index of the jth tower crane and the adjacent j+1th tower crane at the t operation moment , including:

[0135] When , it means that there is no intersection between the two tower cranes at the t operation moment, a first safety level is generated, indicating that the jth tower crane and the adjacent j+1th tower crane continue to operate normally;

[0136] When , it means that there is an edge area overlap between the two tower cranes at the t operation moment, a second low risk level strategy is generated, including: recording the state and continuing the operation, and reducing the 3%-5% arm span of the jth tower crane, the trolley position hook speed by 3%-5%, the lifting height adjustment by 3%-5% according to the opposite direction of the overlap, and the overall smooth speed reduction by 10%-20%;

[0137] When , the interference area enters the actual operation path of the tower arm / hoist, there is a potential physical interference, and it is marked as a conflict area, a third medium risk level strategy is generated, including: generating a second warning instruction, and offsetting the position by 6%-10% according to the opposite direction of the overlap, reducing the 10%-20% arm span of the jth tower crane, the trolley position hook speed by 6%-10%, the lifting height adjustment by 6%-10% according to the opposite direction of the overlap, and the overall smooth speed reduction by 21%-30%;

[0138] When , it means that there is a collision risk between the two tower cranes at the t operation moment, and it is marked as a conflict area, a fourth high risk level strategy is generated, including: generating a third warning instruction, and adjusting the tower crane near the edge of the conflict area to give priority to avoiding, adjusting the arm of the tower crane to contract≥25% of the arm span, immediately withdrawing from the conflict area, adjusting the lifting height by 30% according to the opposite direction of the overlap, and avoiding the dangerous intersection point, and the overall smooth speed reduction by 40%-50%; and the tower crane near the central axis side synchronously suspends the hoisting operation; again judge the interference risk index until After the interference is removed, the jth tower crane is restored by the master control intervention.

[0139] In this embodiment, the multi-dimensional graph model of the tower crane operation track is constructed, including a first horizontal coverage graph, a second descending coverage graph, a third fan-shaped area occupation graph, a fourth track occupation area graph and a fifth interference area graph, which can comprehensively reflect the occupation behavior of the tower crane in different operation stages and spatial regions. Through the conflict detection unit in the track recognition module, the graph voxel set of multiple tower cranes at the same operation time is calculated, the potential spatial conflict points are quickly identified, the limitations of traditional single model or two-dimensional projection judgment are avoided, and the accuracy and real-time performance of spatial interference identification are improved.

[0140] Further, the "interference risk index " proposed in the embodiment is calculated by normalizing the number of overlapping voxels and the number of voxel of the maximum spatial redundancy safety area, so that the interference risk degree between the tower cranes is quantifiable and comparable, which facilitates the system hierarchical processing and supports the fine-grained safety control strategy execution.

[0141] On this basis, the first avoidance unit automatically generates differentiated avoidance strategies in combination with the classification of the risk index value, including parameter regulation operations such as boom extension adjustment, trolley running speed reduction, hook lifting height correction and overall running speed smoothness reduction, so that the tower crane can complete dynamic obstacle avoidance and spatial coordination without interrupting the operation, thereby significantly reducing the physical interference risk and collision probability in the multi-tower cooperation scene.

[0142] In addition, the embodiment supports active early warning and operation intervention for serious conflict situations (such as when the interference area has entered the tower arm / crane operation path), and realizes the priority avoidance of the tower crane close to the conflict edge and the synchronous pause of the remote tower crane through the master control system, realizes the intelligent coordination and global scheduling of the tower crane operation process, and ensures the achievement of the dual goals of operation continuity and site safety.

[0143] Embodiment 6

[0144] This embodiment is an explanation and description in embodiment 54. Please refer to Figure 1 , specifically, the dynamic disturbance data set includes the roll angle , the pitch angle i,t , the tidal change height tide,t and the wave interference amplitude A wave,t of the jth tower crane hoist corresponding to the ith ship at the t operation time.

[0145] 7. The dynamic interference module includes an identification disturbance influence factor unit and a second avoidance unit.

[0146] The identification disturbance influence factor unit is configured to extract the roll angle , the pitch angle i,t , the tidal change height tide,t and the wave interference amplitude A wave,t of the jth tower crane hoist corresponding to the ith ship at the t operation time in the dynamic disturbance data set. Roll angle Tidal variation height Δh tide,t And wave disturbance amplitude A wave,t Because different tower crane structures are different, the arm length is different, the stiffness is different, the disturbance influence is also different, the tower crane itself as a shore-based fixed equipment, the structure of the tower crane will not "move itself" because of the ship's sway, tide or wave, but because the object of the tower crane to perform hoisting operation, that is, the ship is in dynamic motion, so it is necessary to "perceive these disturbances" and make intelligent response operations, and the disturbance response coefficient matrix R corresponding to the jth tower crane needs to be established j , The expression is:

[0147]

[0148] The following is the roll angle of the i-th ship corresponding to the operation Roll angle Tidal variation height Δh tide,t , Wave disturbance amplitude A wave,t The original factor chart of influence:

[0149]

[0150] Among them, r 11 , r 12 , r 13 , r 14 are the response sensitive offset values of the roll angle change to the X direction offset, the response sensitive offset values of the pitch angle to the X direction offset, the response sensitive offset values of the tidal variation height to the X direction offset and the response sensitive offset values of the wave disturbance amplitude to the X direction offset;

[0151] Among them, r 21 , r 22 , r 23 , r 24 are the response sensitive offset values of the roll angle change to the Y direction offset, the response sensitive offset values of the pitch angle to the Y direction offset, the response sensitive offset values of the tidal variation height to the Y direction offset and the response sensitive offset values of the wave disturbance amplitude to the Y direction offset;

[0152] Among them, r 31 , r 32 , r 33 , r 34 are the response sensitive offset values of the roll angle change to the Z direction offset, the response sensitive offset values of the pitch angle to the Z direction offset, the response sensitive offset values of the tidal variation height to the Z direction offset and the response sensitive offset values of the wave disturbance amplitude to the Z direction offset;

[0153] And according to the jth tower crane, the corresponding disturbance response coefficient matrix R is establishedj Turning to vector form, the predicted acquisition of the offset of the end of the hoist of the jth tower crane in the three-dimensional space relative to the predetermined alignment point of the ith ship at the t operation time is The expression is:

[0154]

[0155] where δx j,t , δy j,t , and δz j,t are the response disturbance offset amounts of the end of the hoist of the jth tower crane in the X, Y, and Z directions in the three-dimensional space after being affected by the ith ship at the t operation time.

[0156] The following is a specific example:

[0157] Suppose the jth tower crane establishes a corresponding disturbance response coefficient matrix R j The expression is as follows:

[0158]

[0159] Then

[0160]

[0161] Finally, the offset of the end of the hoist of the jth tower crane in the three-dimensional space relative to the predetermined alignment point of the ith ship at the t operation time is

[0162] In this embodiment, the embodiment introduces a dynamic disturbance data set to obtain the roll angle, pitch angle, tidal change height and wave disturbance amplitude of the jth tower crane corresponding to the work ship at the t operation time, so that the shore-based tower crane has the dynamic state perception ability of the operation target, thereby making up for the technical short board of the traditional fixed lifting system without response and compensation for external dynamic disturbance. Through the identification of the disturbance influence factor unit, the above disturbance factors are mapped to the sensitive response of the end of the sling to the X, Y and Z three-axis direction offset, the structural parameters are distinguished to distinguish the differential response mechanism of different towers (such as arm length, stiffness) to external disturbance, and a personalized disturbance response coefficient matrix is established to realize the modeling personalization, response differentiation and intelligent processing of the tower structure to dynamic target disturbance. With the linear mapping relationship between the coefficient matrix and the disturbance data set, the system can accurately predict the real-time offset trend of the end of the sling during the operation process, form a three-dimensional disturbance prediction offset vector, and realize the predictive dynamic correction of the lifting path. Compared with the traditional adjustment method relying on static sling posture control or artificial experience judgment, the embodiment greatly improves the adaptability and precision control ability of the shore-based tower crane to the operation target in complex sea conditions without relying on high-precision ship positioning device. Further, the prediction result can be used as input for the second avoidance unit and the path dynamic planning module to realize the pre-adjustment of the tower operation trajectory, the posture fine-tuning and the adaptive control of the lifting speed, avoid lifting failure, sling swinging too large or collision with the ship body caused by irregular ship swinging or tidal level change, and effectively enhance the stability and safety of the shore-based tower crane lifting operation process.

[0163] Embodiment 7

[0164] This embodiment is an explanation and description in embodiment 6, please refer to Figure 1 , specifically, the second avoidance unit is used for the offset of the end of the sling of the jth tower crane in the three-dimensional space at the t operation time, relative to the planned positioning point of the i th ship Target correction and compensation are performed on the original planned positioning point, specifically:

[0165] The original planned positioning point is set as:

[0166] Wherein, and represent the X, Y and Z direction coordinate axis positions of the jth tower relative to the planned positioning point of the i th ship;

[0167] The offset of the end of the sling of the jth tower crane in the three-dimensional space at the t operation time, relative to the planned positioning point of the i th ship The target correction position is obtained by compensating for the original planned positioning point

[0168]

[0169] The target correction position is obtained by the second avoidance unit This is the actual target position to which the tower crane should move after considering the ship disturbance; it is the new position after adding the ship disturbance compensation on the basis of the original planned positioning point;

[0170] And the controller is used to convert the target correction position Into the first compensation instruction, including: arm length adjustment amount, trolley displacement adjustment, lifting height adjustment and speed adjustment. Through arm length adjustment, trolley displacement adjustment and lifting height adjustment, the end position of the hoist is accurately adjusted to avoid lifting errors caused by ship sway; considering the dynamic disturbance of the ship changing constantly, the compensation operation has high real-time and adaptive ability, which can make corresponding adjustment according to the real-time operation situation, and effectively cope with the complex and changeable sea conditions.

[0171] The first avoidance unit avoids the interference risk between the tower crane and the tower crane, and the second avoidance unit, that is: for the end of the hoist of the jth tower crane in three-dimensional space, at t operation moment, the compensation of the corresponding operation i ship position offset vector, that is: the dynamic compensation mechanism of the positioning error between the tower crane and the ship.

[0172] In this embodiment, the second avoidance unit in this embodiment can effectively adjust the original planned positioning point and optimize the actual positioning target of the end of the tower crane hoist by real-time sensing and dynamic compensation of the offset caused by ship disturbance. In traditional tower crane operation, the dynamic disturbance of the ship often causes deviation of the lifting task, resulting in low operation efficiency and even conflict risk. However, by accurately calculating the offset influence of the ship on the end of the tower crane hoist at a specific operation moment, the second avoidance unit can real-time correct the original planned positioning point, and ensure that the tower crane can continuously perform the lifting task at the optimal position. First, based on the roll angle, pitch angle, tidal height change and wave disturbance amplitude in the dynamic disturbance data set and other sea condition factors, the second avoidance unit calculates the offset of the end of the hoist of the jth tower crane to obtain a new target correction position. Through this dynamic correction, the end of the tower crane hoist can be timely adjusted to the ideal position consistent with the predetermined operation target, thereby avoiding the positioning error caused by the dynamic disturbance of the ship.

[0173] Embodiment 8

[0174] This embodiment is an explanation and description in embodiment 7, please refer to Figure 1 Specifically, the expanded voxel correction module is used to obtain the second operation trajectory of the jth tower crane after correction after obtaining the first compensation instruction, and collect the deviation value of the second operation trajectory and the first operation trajectory to obtain the size of the expanded voxel ΔVp j, the second operation track of the jth tower crane is inflated to obtain the second operation track of the jth tower crane in the floating space coordinate system The inflated second operation track becomes a larger area, and the expression is:

[0175]

[0176] After obtaining the second operation track of the jth tower crane in the floating space coordinate system , the inflated second operation track is used for overlap voxel detection, and S131-S132 are repeated to reconstruct the interference risk index of the jth tower crane and the adjacent j+1th tower crane at the t operation moment and obtain the corresponding strategy and execute.

[0177] In this embodiment, the inflation voxel correction module in this embodiment can effectively expand the operation space of the tower crane by inflating the corrected operation track, thereby improving the operation safety and accuracy. Specifically, the module obtains the second operation track after the first compensation instruction, calculates the deviation with the original first operation track, determines the inflation voxel size, and then inflates the corrected operation track to obtain a new and safer operation track area. The inflated track has a larger coverage in the floating space coordinate system, ensuring that the tower crane can still operate safely in a dynamic environment. By inflating the corrected operation track, the spatial deviation caused by ship dynamic disturbance and tower crane structure error can be effectively compensated, thereby ensuring that the tower crane can perform the lifting task in a wider space range. The inflated track takes into account potential ship motion, climate change and other disturbance factors, so that the tower crane operation is not limited by narrow space, improving the adaptability of the operation environment. The coverage of the inflated operation track is increased, avoiding interference and collision risks caused by ship dynamic changes or other external factors. By re-performing overlap voxel detection, potential interference areas between the tower crane and the adjacent tower crane can be found in time, and the latest interference risk index is classified to ensure safety during operation and reduce the possibility of accidents.

[0178] It should be noted that all the calculation formulas in this application file use regression analysis in machine learning algorithms, including but not limited to, to deeply analyze the collected relevant parameters and identify their natural trends and mutual relationships. Professional software such as Python's Scikit-learn library or R language is used to automatically generate mathematical models that match the data. Then, the model performance is objectively evaluated through cross-validation and other methods, and combined with continuous feedback and optimization to ensure that the created formula truly reflects the internal laws of the data, thereby ensuring its effectiveness and accuracy, and ensuring that the calculation process conforms to the constraints of natural laws, rather than based on human-set rules.

[0179] The technical solutions of the present application can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a FLASH memory, a hard disk, or an optical disc, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of various embodiments of the present application.

[0180] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a list of instructions for implementing logic functions, and can be specifically embodied in any computer readable medium for use by an instruction execution system, apparatus, or device, such as a computer-based system, a processor-based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or in conjunction with which the instructions can be executed. For the purposes of this specification, a "computer readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

[0181] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and all of them should be covered in the scope of the claims of the present application.

[0182] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and all of them should be covered in the scope of the claims of the present application.

Claims

1. A multi-tower based three-dimensional space collision avoidance system, characterized in that, The method comprises the following steps: The trajectory acquisition module is used to establish a three-dimensional space coordinate conversion model of a port operation area, convert various tower crane operation coordinates into a floating space coordinate system with the center of the i th ship hatch as a reference, acquire a first operation trajectory of the j th tower crane corresponding to the i th ship operation in real time and model the same, construct a space atlas composed of a three-dimensional voxel grid, and obtain a first horizontal coverage atlas, a second descending coverage atlas, a third fan-shaped area occupation atlas, a fourth track occupation area atlas, and a fifth interference area atlas. The trajectory acquisition module comprises a three-dimensional voxel network construction unit and a space atlas extraction unit. The three-dimensional voxel network construction unit is used to acquire the space trajectory of each tower crane hoist under the unified floating coordinate system in the scenario where multiple tower cranes are operating on a port ship at the same time, perform time parameterization modeling, and map the trajectories of different operation processes into various space atlases. S11, modeling the first operation track of the spreader of each tower crane in the floating space coordinate system, obtaining the first operation track of the spreader of the jth tower crane and the j+1th adjacent tower crane in the floating space coordinate system and , the expression is: ; ； wherein t represents a work time, represents the coordinates of the spatial position of the jth tower crane's hoist in the X, Y, and Z directions at the t work time. Xj+1, Yj+1, Zj+1) represents the coordinates of the spatial position of the adjacent j+1 tower crane's hoist in the X, Y and Z directions at the t operation moment; The space atlas extraction unit is used to construct a space atlas, which is composed of a three-dimensional voxel grid and comprises the following steps: S121, extract the sling horizontal displacement segment from the work trajectory of the sling of the jth tower crane in the floating space coordinate system, and the first work trajectory of the sling of the jth tower crane and the adjacent j+1th tower crane in the floating space coordinate system and The corresponding trajectory segment is mapped to the three-dimensional voxel grid, the first horizontal coverage map is obtained, and the first horizontal occupation mark is generated. S122, extract the path of the jth tower crane's sling from the trajectory to the ship cabin by air, specifically , and the jth tower crane's sling is in a lowering operation state in the corresponding time period, and the identification rule is: , and the sling speed is not equal to 0; indicates that at the operation time t, the jth tower crane's sling is in a lowering movement; wherein, , indicates the change of the jth tower crane's sling in the vertical direction at the operation time t, that is: , , indicates the time interval between the two time points and ; After identifying the sling as a lowering operation state, a lowering trajectory segment is obtained The expression is: wherein, a time at which the current drop-off operation starts, a time at which the current drop-off operation ends, The lowered trajectory segment is offline sampled at equal intervals to obtain a trajectory line segment set: wherein, , , denotes n sampling instants, the time interval of the downlink trajectory segment is discrete time points. A continuous line segment set is generated: wherein, and each two consecutive sampling points form a lowering line segment, representing the spatial movement of the hoist in the time interval; the time interval; and represent two consecutive time points, differing by a fixed time interval, represents the kth second, represents the k+1th second; Mathematical object describing the straight line motion between two points, representing the path of the spreader between two points; For each piece of the downline segment , using 3D Bresenham line segment projection algorithm, the line segment is mapped to the three-dimensional voxel grid, the second descending coverage map is obtained, and the second descending occupancy label is generated; The trajectory recognition module is configured to perform space conflict detection between tower cranes based on the first horizontal coverage map, the second descending coverage map, the third fan-shaped area occupation map, the fourth track occupation area map and the fifth interference area map, and to identify an overlapping voxel set of the jth tower crane and the adjacent j+1th tower crane at the t operation moment, which has potential space interference When , it is indicated that there is a space overlap region at the voxel level at the t operation moment, indicating that the jth tower crane and the adjacent j+1th tower crane have a potential space interference risk at the t operation moment, a first warning instruction is generated, and an interference risk index of the jth tower crane and the adjacent j+1th tower crane at the t operation moment is constructed After grading, a corresponding avoidance strategy is generated according to the grading; The dynamic acquisition module acquires dynamic disturbance information of a ship in a port scene and generates a dynamic disturbance data set. A dynamic interference module is configured to predict, based on a dynamic disturbance data set, an offset of a jth tower crane's sling end from a predetermined alignment point of an ith ship at a tth operation time in a three-dimensional space And a first compensation instruction is obtained after target correction and compensation of the originally planned alignment point. The inflation voxel correction module is configured to obtain the second corrected operation track of the jth tower crane, collect a deviation value between the second operation track and the first operation track, and obtain an inflation voxel size after the first compensation instruction is obtained The inflation voxel correction module is configured to obtain the second corrected operation track of the jth tower crane, collect a deviation value between the second operation track and the first operation track, and obtain an inflation voxel size after the first compensation instruction is obtained The inflation voxel correction module is configured to obtain the second corrected operation track of the jth tower crane, collect a deviation value between the second operation track and the first operation track, and obtain an inflation voxel size after the first compensation instruction is obtained The inflation voxel correction module is configured to obtain the second corrected operation track of the jth tower crane, collect a deviation value between the second operation track and the first operation track, and obtain an inflation voxel size after the first compensation instruction is obtained 2. A multi-tower based three-dimensional space collision avoidance system according to claim 1, wherein: The trajectory acquisition module comprises a ship floating reference point acquisition unit. The ship floating reference point acquisition unit is used to acquire the three-dimensional space position and attitude angle information of the k th hatch center of the i th ship to construct a floating space coordinate system based on WebGL, Unity, or UE.

3. A multi-tower based three-dimensional space collision avoidance system according to claim 1, wherein: S12 further comprises the following steps: S123 extracts the horizontal direction rotation motion component from the operation trajectory of the hoist of the j th tower crane in the floating space coordinate system, sets each rotation motion as each fan-shaped area according to the time frame, maps each fan-shaped area to a three-dimensional voxel grid to form a third fan-shaped area occupation atlas, and generates a third rotation occupation marker; S124 extracts the common track or track intersection area of the operation space from the operation trajectory of the hoist of the j th tower crane and the adjacent j + 1 th tower crane in the floating space coordinate system, expands the track width, and forms a fourth track occupation area atlas; S125 extracts a three-dimensional overlapping volume from the operation trajectory of the hoist of the j th tower crane and the adjacent j + 1 th tower crane in the floating space coordinate system to form a fifth interference area atlas.

4. A multi-tower based three-dimensional space collision avoidance system according to claim 3, wherein: The trajectory recognition module comprises a conflict detection unit and a first avoidance unit. The conflict detection unit is used to count the first horizontal coverage atlas, the second descending coverage atlas, the third fan-shaped area occupation atlas, the fourth track occupation area atlas, and the fifth interference area atlas in S121-125, and perform the following operations to realize the space conflict detection between tower cranes: S131, extract the first horizontal coverage map, the second descending coverage map, the third fan-shaped area occupation map, the fourth track occupation area map and the fifth interference area map corresponding to S121-S125, and identify the overlapping voxel set of the jth tower crane and the adjacent j+1th tower crane at the t operation moment to obtain the existence of potential spatial interference The expression is: In the formula, represents the voxel set of the kth type of occupation graph of the jth tower crane at the t operation moment, k=1 is the first horizontal coverage graph; k=2 is the second downward coverage graph; k=3 is the third fan-shaped area occupation graph; k=4 is the fourth track occupation area graph; k=5 is the fifth interference area graph; represents the voxel set of the kth type of occupation graph of the jth tower crane at the t operation moment, k=1 is the first horizontal coverage graph; k=2 is the second downward coverage graph; k=3 is the third fan-shaped area occupation graph; k=4 is the fourth track occupation area graph; k=5 is the fifth interference area graph; When , represents an empty set, indicating that there is a spatial coincidence area of the voxel level at the t operation moment, indicating that the jth tower crane and the adjacent j+1th tower crane have potential spatial interference risk at the t operation moment, and a first warning instruction is generated; when , indicating that the jth tower crane and the adjacent j+1th tower crane have no potential spatial interference risk, and the current operation trajectory at the t operation moment has no spatial coincidence; S132, after receiving the first early warning instruction, extract the number of overlapping region voxels of the jth tower crane and the adjacent j+1th tower crane in the t operation moment , construct the interference risk index of the jth tower crane and the adjacent j+1th tower crane at the t operation moment by the following formula : In the formula, represents the set maximum spatially redundant safety region voxel number, The result of the above formula is a normalized value in the interval [0, 1], which is convenient for grading.

5. A multi-tower based three-dimensional space collision avoidance system according to claim 4, wherein: The first avoidance unit is used to determine the interference risk index between the j-th tower crane and the adjacent (j+1)-th tower crane at operation time t. The values ​​are categorized into levels, including: When , it means that there is no intersection between the two tower space operation voxels at the t operation moment, the first safety level is generated, which means that the jth tower and the adjacent j+1th tower continue to operate normally; When When the two tower cranes exist edge area overlap at the t operation moment, a second low risk level strategy is generated, including: recording the state and continuing the operation, and reducing the 3%-5% of the jth tower crane's boom amplitude, the trolley position, the hook speed, the lifting height adjustment in the opposite direction of the overlap by 3%-5%, and the overall smooth speed reduction by 10%-20%. When the interference region enters the actual operation path of the tower crane / jib, there is a potential for physical interference, and is marked as a conflict region, a third medium-risk level strategy is generated, including: generating a second warning instruction, and offsetting the position by 6%-10% in the opposite direction of the overlap, reducing the outreach amplitude of the jth tower crane by 10%-20%, reducing the trolley position hook speed by 6%-10%, adjusting the lifting height by 6%-10% in the opposite direction of the overlap, and overall smooth speed reduction by 21%-30%; When , it indicates that there is a collision risk between the two tower cranes at the t operation moment, and is marked as a conflict area, generating a fourth high-risk level strategy, including: generating a third warning instruction, and adjusting the tower crane near the edge of the conflict area to give priority to avoiding, adjusting the arm contraction of the tower crane near the edge of the conflict area by ≥25% of the arm extension amplitude, immediately withdrawing from the conflict area, adjusting the lifting height by 30% in the opposite direction of the overlap, and leaving the dangerous intersection point, and overall smooth speed reduction by 40%-50%; and the tower crane near the central axis side synchronously suspends the hoisting operation; again judges the interference risk index , until after the interference is released, the jth tower crane is recovered by the main control intervention.

6. A multi-tower based three-dimensional space collision avoidance system according to claim 1, wherein: The dynamic disturbance data set comprises: a roll angle of a jth tower crane's lifting tool corresponding to an ith ship of the work at a t work time , a pitch angle , a tidal change height , and a wave disturbance amplitude .

7. A multi-tower based three-dimensional space collision avoidance system according to claim 6, wherein: The dynamic interference module comprises an identification disturbance influence factor unit and a second avoidance unit. The disturbance influence factor identification unit is used to extract the roll angle of the j-th tower crane's spreader relative to the i-th vessel operating at time t in the dynamic disturbance data set. Pitch angle Tidal variation height and wave interference amplitude Because different tower cranes have different structures, boom lengths, and stiffnesses, the impact of disturbances also varies. As a fixed shore-based device, the tower crane's structure will not move on its own due to the ship's swaying, tides, or waves. However, since the object of the tower crane's lifting operation, i.e., the ship, is in dynamic motion, it is necessary to sense these disturbances and make intelligent response operations. Therefore, a corresponding disturbance response coefficient matrix needs to be established for the j-th tower crane. The expression is: wherein, , , , are the response sensitive offset values of the change in roll angle, the change in pitch angle, the height of the tide change, and the amplitude of the wave disturbance, respectively, on the X-direction offset. wherein, , , , are a roll angle change to Y-direction offset response sensitivity offset value, a pitch angle to Y-direction offset response sensitivity offset value, a tide change height to Y-direction offset response sensitivity offset value, and a wave disturbance amplitude to Y-direction offset response sensitivity offset value, respectively. wherein, , , , are the response sensitive offset values of the roll angle change, the pitch angle, the tide change height and the wave disturbance amplitude to the Z-direction offset, respectively. And according to the jth tower crane to establish the corresponding disturbance response coefficient matrix Turn to vector form, the predicted acquisition at t operation time, the jth tower crane hoist end in three-dimensional space, relative to the corresponding operation of the ith ship predetermined alignment point offset , the expression is: wherein, , and are the response disturbance offsets in the X, Y and Z directions in three-dimensional space of the jth tower crane at the tth work time instant after the end of the hoist is affected by the i th ship sway.

8. A multi-tower based three-dimensional space collision avoidance system according to claim 7, wherein: The second avoiding unit is configured to determine the offset of the end of the jth tower crane's sling relative to the predetermined alignment point of the ith ship at the t operation moment in the three-dimensional space The original planned alignment point is compensated by target correction, specifically: The site was set up for planned alignment: ; wherein, , and Xi, Yj, Zj represent the X, Y, Z direction coordinate axis position of the jth tower crane at the corresponding work i th ship scheduled positioning point; The offset of the end of the sling of the jth tower crane in the three-dimensional space at the t operation moment relative to the scheduled alignment point of the ith ship , the target correction position is obtained by compensating for the originally planned alignment point : Wherein, the target correction position This is the actual target position to which the tower crane should move after considering the ship disturbance; the actual target position to which the tower crane should move is a new position after adding the ship disturbance compensation on the basis of the original planned position. And the controller is used to correct the target position The first compensation instruction is converted, including: arm length adjustment, trolley displacement adjustment, lifting height adjustment and speed adjustment.

9. The multi-tower based three-dimensional space collision avoidance system of claim 1, wherein: The inflation voxel correction module is configured to obtain the jth tower crane corrected second operation track after obtaining the first compensation instruction, collect a deviation value of the second operation track and the first operation track, and obtain an inflation voxel size The inflation voxel correction module is configured to obtain the jth tower crane corrected second operation track after obtaining the first compensation instruction, collect a deviation value of the second operation track and the first operation track, and obtain an inflation voxel size The inflation voxel correction module is configured to obtain the jth tower crane corrected second operation track after obtaining the first compensation instruction, collect a deviation value of the second operation track and the first operation track, and obtain an inflation voxel size In acquiring the second work trajectory of the jth tower crane in the floating space coordinate system After that, using the expanded second work trajectory, the overlapping voxel detection is performed, and S131 to S132 are repeated to reconstruct the interference risk index of the jth tower crane and the adjacent j+1th tower crane at the t work time And hierarchical and obtain the corresponding strategy and execute.

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