Special equipment planning method and system

Abstract

The invention provides a special equipment planning method and system, and the method comprises the steps: building an overall target three-dimensional model of an industrial factory building, and enabling the target three-dimensional model to comprise a three-dimensional model of a bridge crane, three-dimensional models of other equipment except the bridge crane, and a three-dimensional model of goods; carrying information of the to-be-carried goods is obtained, the carrying information at least comprises the goods size, the goods weight, the starting point position and the final point position, a plurality of candidate tracks are simulated according to the carrying information and the target three-dimensional model, and the candidate tracks are tracks where the to-be-carried goods do not interfere with any object in the carrying process; calculating a comprehensive score of each candidate trajectory according to the safety degree, the target point approaching degree of the trajectory and the rationality of the trajectory speed; and determining the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory, and outputting the target trajectory to complete path planning, so that the collision risk caused by manual operation is avoided, and the burden of an operator is relieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of special equipment planning, and in particular relates to a special equipment planning method and system. Background Art

[0002] Special equipment refers to eight categories of equipment that involve life safety and are relatively dangerous, including boilers, pressure vessels (including gas cylinders), pressure pipelines, elevators, lifting machinery, passenger ropeways, large amusement facilities and special motor vehicles within the site (factory).

[0003] As a type of special equipment, bridge cranes used for material handling in industrial plants have attracted much attention for their path planning. It should be noted that the bridge crane is driven by the trolley motor to move longitudinally forward and backward along the tracks on both sides of the factory workshop. The trolley and lifting mechanism on the trolley main beam are driven by the trolley motor to move horizontally left and right along the bridge main beam track. The lifting motor (main hook, auxiliary hook) drives the heavy object to perform vertical lifting and lowering movements.

[0004] Currently, crane path planning relies on manual experience, which is inefficient and poses a collision risk. This is mainly due to differences in operator skills and inconsistent operating speeds caused by fatigue. At the same time, manual planning is difficult to quantify and lacks data support, resulting in strong subjectivity and prone to errors. In addition, the collision risk is caused by the fact that in the case of static obstacles, manual operation may cause collisions due to limited vision or untimely map updates; in the case of dynamic obstacles, manual reaction speed is insufficient and the path cannot be adjusted in real time. Especially in scenarios where multiple devices are coordinated, there is a lack of global coordination and conflicts are prone to occur. Summary of the Invention

[0005] Based on this, an embodiment of the present invention provides a special equipment planning method and device, which aims to automatically plan the crane path according to the layout within the industrial plant to avoid collisions.

[0006] A first aspect of an embodiment of the present invention provides a special equipment planning method, which is applied to an industrial plant with a bridge crane. The method includes:

[0007] Establishing a target three-dimensional model of the entire industrial plant, wherein the target three-dimensional model includes a three-dimensional model of the bridge crane, three-dimensional models of other equipment except the bridge crane, and a three-dimensional model of the cargo;

[0008] Acquiring handling information of the cargo to be transported, the handling information including at least cargo size, cargo weight, starting point location, and end point location; simulating a plurality of candidate trajectories based on the handling information and the target three-dimensional model, wherein the candidate trajectories are trajectories in which the cargo to be transported does not interfere with any objects during the handling process;

[0009] Calculate the comprehensive score of each candidate trajectory based on the safety level, the degree of proximity of the trajectory to the target point, and the rationality of the trajectory speed;

[0010] The candidate trajectory corresponding to the maximum value of the comprehensive score is determined as the target trajectory and output to complete the path planning.

[0011] Furthermore, in the step of calculating the comprehensive score of each candidate trajectory based on the safety level, the degree of proximity of the trajectory to the target point, and the rationality of the trajectory speed, the calculation formula is:

[0012] S total =αS safe +βS progress +γS velocity

[0013] Among them, S total is the comprehensive score, S safe is the safety level value, S progress is the degree to which the trajectory approaches the target point, S velocity is the rationality value of the trajectory speed, α, β and γ are the corresponding weight coefficients, and their sum is equal to 1. Specifically, the degree to which the trajectory approaches the target point is the inverse of the remaining distance, and the rationality value of the trajectory speed is the maximum allowable speed.

[0014] Furthermore, the calculation formula of the safety level value is:

[0015]

[0016] Among them, S safe is the safety level, d i is the distance between the i-th point on the trajectory and the nearest obstacle, W s is the safety weight, according to d i Dynamic adjustment;

[0017]

[0018] Among them, d min is the minimum distance between all points on the current trajectory and obstacles, and k is the adjustment coefficient.

[0019] Furthermore, when calculating the comprehensive score, according to d min Compared with the safety threshold, the weight coefficients corresponding to the safety degree value, the degree of trajectory approaching the target point value and the rationality value of the trajectory speed are dynamically adjusted. Specifically, when d min When it is less than the safety threshold, the weight coefficient corresponding to the safety degree value is increased, and the weight coefficient corresponding to the degree of trajectory approaching the target point and the rationality value of trajectory speed is reduced; when d min When it is not less than the safety threshold, the default weight is restored.

[0020] Furthermore, the step of determining the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory and outputting the result includes:

[0021] Recalculate the comprehensive score of the candidate trajectory corresponding to the maximum comprehensive score. Specifically, in the process of recalculating the comprehensive score, add the trajectory curvature penalty term;

[0022] Determine the length of the overhead crane rope based on the candidate trajectory corresponding to the maximum comprehensive score;

[0023] Determine the trajectory curvature based on the candidate trajectory corresponding to the maximum comprehensive score, the rope length, the maximum allowable speed, and the cargo weight;

[0024] Based on the trajectory curvature, a three-dimensional model of the cargo with the trajectory curvature is regenerated, and it is determined whether the cargo interferes with the object;

[0025] If it is determined that the cargo interferes with the object, the candidate trajectory corresponding to the maximum value of the current comprehensive score is cancelled as the target trajectory;

[0026] If it is determined that the cargo does not interfere with the object, the number of trajectory curvatures that fall within the preset curvature range and the trajectory curvature are obtained, and the trajectory curvature penalty term is calculated based on the number of trajectory curvatures that fall within the preset curvature range and the trajectory curvature;

[0027] The trajectory curvature penalty term is combined with the calculation formula of the comprehensive score to obtain the calculation formula of the target comprehensive score, and the comprehensive score is recalculated according to the calculation formula of the target comprehensive score.

[0028] Furthermore, after the step of recalculating the comprehensive score of the candidate trajectory corresponding to the maximum comprehensive score, the following steps are performed:

[0029] Compare the recalculated comprehensive score with the previous second comprehensive score that is second only to the maximum comprehensive score to determine whether the recalculated comprehensive score is greater than the second comprehensive score;

[0030] If it is determined that the recalculated comprehensive score is greater than the secondary comprehensive score, the recalculated comprehensive score is determined as the target comprehensive score, and the candidate trajectory corresponding to the target comprehensive score is determined as the target trajectory;

[0031] If it is judged that the recalculated comprehensive score is not greater than the secondary comprehensive score, the secondary comprehensive score is recalculated according to the trajectory curvature penalty term;

[0032] Compare the recalculated comprehensive score with the recalculated secondary comprehensive score to determine whether the recalculated comprehensive score is greater than the recalculated secondary comprehensive score;

[0033] If it is determined that the recalculated comprehensive score is greater than the recalculated secondary comprehensive score, the recalculated comprehensive score is determined as the target comprehensive score, and the candidate trajectory corresponding to the target comprehensive score is determined as the target trajectory;

[0034] If it is determined that the recalculated comprehensive score is not greater than the recalculated secondary comprehensive score, the recalculated secondary comprehensive score is determined as the target comprehensive score, and the candidate trajectory corresponding to the target comprehensive score is determined as the target trajectory.

[0035] Furthermore, in the step of determining the recalculated secondary comprehensive score as the target comprehensive score if it is determined that the recalculated comprehensive score is not greater than the recalculated secondary comprehensive score, and determining the candidate trajectory corresponding to the target comprehensive score as the target trajectory, when the recalculated comprehensive score is the same as the recalculated secondary comprehensive score, the vertical movement distance of the goods in the corresponding candidate trajectories is obtained respectively, and the candidate trajectory with the shortest total movement distance in the vertical direction is determined as the target trajectory.

[0036] A second aspect of an embodiment of the present invention provides a special equipment planning system for implementing the special equipment planning method provided in the first aspect of the embodiment of the present invention, the system comprising:

[0037] A model building module is used to build a target three-dimensional model of the entire industrial plant, wherein the target three-dimensional model includes a three-dimensional model of the bridge crane, three-dimensional models of other equipment except the bridge crane, and a three-dimensional model of the cargo;

[0038] an acquisition module, configured to acquire handling information of the cargo to be transported, the handling information including at least cargo size, cargo weight, starting point location, and end point location, and simulate a plurality of candidate trajectories based on the handling information and the target three-dimensional model, wherein the candidate trajectories are trajectories in which the cargo to be transported does not interfere with any object during the handling process;

[0039] The first calculation module is used to calculate the comprehensive score of each candidate trajectory based on the safety level, the degree of proximity of the trajectory to the target point, and the rationality of the trajectory speed;

[0040] The first determination module is configured to determine the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory and output it to complete the path planning.

[0041] A third aspect of an embodiment of the present invention provides a computer-readable storage medium, including:

[0042] The readable storage medium stores one or more programs, which, when executed by the processor, implement the special equipment planning method as described in the first aspect.

[0043] A fourth aspect of an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein:

[0044] The memory is used to store computer programs;

[0045] When the processor is used to execute the computer program stored in the memory, it implements the special equipment planning method as described in the first aspect.

[0046] A special equipment planning method and system provided in an embodiment of the present invention establishes a target three-dimensional model of the entire industrial plant, wherein the target three-dimensional model includes a three-dimensional model of a bridge crane, three-dimensional models of other equipment except the bridge crane, and a three-dimensional model of cargo; obtains handling information of the cargo to be handled, wherein the handling information includes at least cargo size, cargo weight, starting point position, and end point position; simulates several candidate trajectories based on the handling information and the target three-dimensional model, wherein the candidate trajectory is a trajectory in which the cargo to be handled does not interfere with any object during the handling process; calculates a comprehensive score for each candidate trajectory based on the degree of safety, the degree to which the trajectory approaches the target point, and the rationality of the trajectory speed; determines the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory, and outputs it to complete path planning, thereby avoiding the collision risk caused by manual operation and reducing the burden on the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flowchart of a special equipment planning method according to the first embodiment of the present invention;

[0048] Figure 2 This is a structural block diagram of a special equipment planning method system provided in Example 2 of the present invention;

[0049] Figure 3 This is a structural block diagram of an electronic device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0050] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The drawings illustrate several embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0051] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0053] Example 1

[0054] The first embodiment of the present invention provides a special equipment planning method, which is applied to an industrial plant with a bridge crane. Figure 1 , which is a flow chart for implementing a special equipment planning method, specifically including steps S01 to S04.

[0055] Step S01: Create a target three-dimensional model of the entire industrial plant.

[0056] Among them, the target three-dimensional model includes the three-dimensional model of the bridge crane, the three-dimensional models of other equipment except the bridge crane, and the three-dimensional model of the cargo. Other equipment includes stackers, cantilever shelves, transformers, ventilation and air-conditioning equipment, etc. The target three-dimensional model can be manually constructed. After the current version of the three-dimensional model is completed, it can be iterated on this basis.

[0057] Another approach is to automatically update the 3D model, for example, through image processing. This involves using cameras or drones installed within industrial plants to capture images of the interior and exterior of the plant periodically or when triggered by specific events. Cameras should be located to cover key areas, ensuring that captured images contain sufficient information for model updates. For example, fixed cameras can be installed in various corners of the plant, near production equipment, and in aisles. For larger plants or areas with special requirements, drones can be used for periodic aerial photography to obtain comprehensive spatial information.

[0058] Computer vision techniques are then used to extract features from the preprocessed image. Feature point extraction algorithms, such as SIFT (Scale-Invariant Feature Transform) and SURF (Speeded Up Robust Features), can be used to extract key points and feature descriptors from the image. These feature points represent significant features in the image, such as object corners and edges. Object detection algorithms are then used to identify different objects and structures in the image, such as equipment, pipes, beams, and columns in a factory building. Identified objects can be further analyzed for changes in their position, shape, size, and other information.

[0059] Step S02: Acquire the transport information of the goods to be transported, and simulate several candidate trajectories based on the transport information and the target three-dimensional model.

[0060] The transport information includes at least cargo size, cargo weight, starting point location, and end point location. The candidate trajectory is a trajectory in which the cargo to be transported does not interfere with any object during the transport process.

[0061] It can be understood that, given the starting point location, the end point location, the size of the goods to be transported, and the overall target three-dimensional model of the industrial plant, several candidate trajectories that can be safely transported can be generated.

[0062] Step S03 : Calculate the comprehensive score of each candidate trajectory based on the safety level, the degree of proximity of the trajectory to the target point, and the rationality of the trajectory speed.

[0063] In this embodiment, the calculation formula for calculating the comprehensive score of each candidate trajectory is:

[0064] S total =αS safe +βS progress +γS velocity

[0065] Among them, S total is the comprehensive score, S safe is the safety level value, S progress is the degree to which the trajectory approaches the target point, S velocity is the rationality value of the trajectory speed, α, β, and γ are the corresponding weight coefficients, and their sum is equal to 1. Specifically, the degree of proximity of the trajectory to the target point is the inverse of the remaining distance, and the rationality value of the trajectory speed is the maximum allowable speed. The calculation formula of the safety degree value is:

[0066]

[0067] Among them, S safe is the safety level, d i is the distance between the i-th point on the trajectory and the nearest obstacle, W s is the safety weight, according to di Dynamic adjustment;

[0068]

[0069] Among them, d min is the minimum distance between all points on the current trajectory and obstacles, k is the adjustment coefficient, it can be understood that when d min When decreasing (the obstacle approaches), W s Increases significantly, the safety score ratio increases, and the system is more inclined to choose a trajectory away from obstacles; when d min When it is larger (the obstacle is farther away), W s Reduced, the system can prioritize path length or efficiency.

[0070] It should be noted that when calculating the comprehensive score, according to d min Compared with the safety threshold, the weight coefficients corresponding to the safety degree value, the degree of trajectory proximity to the target point value and the rationality value of the trajectory speed are dynamically adjusted. For example, the safety threshold can be set to 1 meter. Specifically, when d min When it is less than the safety threshold, the weight coefficient corresponding to the safety degree value is increased, and the weight coefficient corresponding to the degree of trajectory approaching the target point and the rationality value of trajectory speed is reduced; when d min When it is not less than the safety threshold, the default weight is restored.

[0071] Step S04 : determining the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory and outputting it to complete the path planning.

[0072] Specifically, the comprehensive scores of the candidate trajectories can be sorted according to their numerical values, and the candidate trajectory with the largest numerical value, that is, the candidate trajectory ranked first, can be determined as the target trajectory. The control program corresponding to the target trajectory can then be input into the controller of the bridge crane to control the bridge crane while it is moving. Alternatively, the target trajectory can be derived, and the operator can control the bridge crane strictly according to the target trajectory, eliminating operations under subjective consciousness, avoiding collisions, and also reducing dependence on the operator's operating experience.

[0073] In addition, a lidar or visual sensor can be installed at the end of the bridge crane close to the cargo to be transported to obtain the position of obstacles around the crane in real time and map them into the three-dimensional model. The advantage of this is that on the one hand, some obstacles can be avoided in an emergency, and on the other hand, the three-dimensional model can be continuously corrected to make the description of the three-dimensional model more accurate.

[0074] In some other embodiments of the present invention, after determining the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory and outputting the result, the following steps are included:

[0075] Recalculate the comprehensive score of the candidate trajectory corresponding to the maximum comprehensive score. Specifically, in the process of recalculating the comprehensive score, add the trajectory curvature penalty term, that is, subtract the trajectory curvature penalty term from the previous comprehensive score formula. It should be noted that when using a bridge crane to transport goods, the speed is not necessarily uniform. In some open areas, in order to improve the transportation efficiency, the moving speed will be appropriately increased. If a large angle turn is made at this time, it will cause the load to swing and cause a collision.

[0076] The rope length of the bridge crane is determined based on the candidate trajectory corresponding to the maximum value of the comprehensive score. It can be understood that the rope length is the rope length of the bridge crane at each stage of the movement process;

[0077] The trajectory curvature is determined based on the candidate trajectory corresponding to the maximum value of the comprehensive score, the rope length, the maximum allowable speed, and the cargo weight. As can be understood, when the moving trajectory is known, the rope tension is calculated through mechanical analysis based on the rope length, the maximum allowable speed, and the cargo weight. The inverse of the curvature radius is then substituted into the formula to obtain the trajectory curvature.

[0078] Based on the trajectory curvature, a 3D model of the cargo with the trajectory curvature is regenerated, and then combined with the movement trajectory to determine whether the cargo interferes with the object;

[0079] If it is determined that the cargo interferes with the object, the candidate trajectory corresponding to the maximum value of the current comprehensive score is cancelled as the target trajectory;

[0080] If it is determined that the cargo does not interfere with the object, the number of trajectory curvatures within the preset curvature range and the trajectory curvature are obtained. Based on the number of trajectory curvatures within the preset curvature range and the trajectory curvature, a trajectory curvature penalty term is calculated. The trajectory curvature penalty term comprises a weight coefficient, a coefficient for the number of trajectory curvatures within the preset curvature range, and a trajectory curvature coefficient. Specifically, after the weight coefficient in the trajectory curvature penalty term is added, the sum of α, β, and γ is equal to 1. The weight coefficient in the trajectory curvature penalty term can be the same as the weight coefficient of the safety level value. In addition, a first mapping relationship and a second mapping relationship are established between the coefficient for the number of trajectory curvatures within the preset curvature range and the trajectory curvature coefficient. The first parameter value is determined based on the counted number of trajectory curvatures within the preset curvature range. Similarly, the second parameter value is determined based on the clustering of the trajectory curvatures. The final trajectory curvature penalty term is the product of the weight coefficient, the first parameter value, and the second parameter value.

[0081] The trajectory curvature penalty term is combined with the calculation formula of the comprehensive score to obtain the calculation formula of the target comprehensive score, and the comprehensive score is recalculated according to the calculation formula of the target comprehensive score. It can be understood that the calculation formula of the target comprehensive score is:

[0082] S total =αS safe +βS progress +γS velocity -δS curvature

[0083] δ is the weight coefficient of trajectory curvature, S curvature is the trajectory curvature penalty term.

[0084] Furthermore, after introducing the trajectory curvature penalty term, it is necessary to determine whether the current comprehensive score value is the maximum, that is, the step of recalculating the comprehensive score of the candidate trajectory corresponding to the maximum comprehensive score includes:

[0085] Compare the recalculated comprehensive score with the previous second comprehensive score that is second only to the maximum comprehensive score to determine whether the recalculated comprehensive score is greater than the second comprehensive score;

[0086] If it is determined that the recalculated comprehensive score is greater than the secondary comprehensive score, the recalculated comprehensive score is determined as the target comprehensive score, and the candidate trajectory corresponding to the target comprehensive score is determined as the target trajectory;

[0087] If it is judged that the recalculated comprehensive score is not greater than the secondary comprehensive score, the secondary comprehensive score is recalculated according to the trajectory curvature penalty term;

[0088] Compare the recalculated comprehensive score with the recalculated secondary comprehensive score to determine whether the recalculated comprehensive score is greater than the recalculated secondary comprehensive score;

[0089] If it is determined that the recalculated comprehensive score is greater than the recalculated secondary comprehensive score, the recalculated comprehensive score is determined as the target comprehensive score, and the candidate trajectory corresponding to the target comprehensive score is determined as the target trajectory;

[0090] If it is determined that the recalculated comprehensive score is not greater than the recalculated sub-comprehensive score, the recalculated sub-comprehensive score will be determined as the target comprehensive score, and the candidate trajectory corresponding to the target comprehensive score will be determined as the target trajectory. It should be noted that when the recalculated comprehensive score is the same as the recalculated sub-comprehensive score, the vertical movement distance of the goods in the corresponding candidate trajectories is obtained respectively, and the candidate trajectory with the shortest total movement distance in the vertical direction is determined as the target trajectory. The purpose is to reduce control in the vertical direction and optimize the handling process.

[0091] In summary, an embodiment of the present invention proposes a special equipment planning method, which establishes a target three-dimensional model of the entire industrial plant, wherein the target three-dimensional model includes a three-dimensional model of a bridge crane, three-dimensional models of other equipment except the bridge crane, and a three-dimensional model of the cargo; obtains transportation information of the cargo to be transported, wherein the transportation information includes at least cargo size, cargo weight, starting point position, and end point position; simulates several candidate trajectories based on the transportation information and the target three-dimensional model, wherein the candidate trajectory is a trajectory in which the cargo to be transported does not interfere with any object during the transportation process; calculates a comprehensive score for each candidate trajectory based on the degree of safety, the degree to which the trajectory approaches the target point, and the rationality of the trajectory speed; determines the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory, and outputs it to complete path planning, thereby avoiding the collision risk caused by manual operation and reducing the burden on the operator.

[0092] Example 2

[0093] The second embodiment of the present invention provides a special equipment planning system 200, see Figure 2 , is a structural block diagram of a special equipment planning method system, the special equipment planning system 200 includes:

[0094] A model building module 21 is used to build a target three-dimensional model of the entire industrial plant, wherein the target three-dimensional model includes a three-dimensional model of the bridge crane, three-dimensional models of other equipment except the bridge crane, and a three-dimensional model of the cargo;

[0095] an acquisition module 22 for acquiring handling information of the cargo to be transported, the handling information including at least cargo size, cargo weight, starting point location, and ending point location; and simulating a plurality of candidate trajectories based on the handling information and the target three-dimensional model, wherein the candidate trajectories are trajectories in which the cargo to be transported does not interfere with any objects during the handling process;

[0096] The first calculation module 23 is used to calculate the comprehensive score of each candidate trajectory based on the safety level, the degree of proximity of the trajectory to the target point, and the rationality of the trajectory speed. The calculation formula is:

[0097] S total =αS safe +βS progress +γS velocity

[0098] Among them, S total is the comprehensive score, S safe is the safety level value, S progress is the degree to which the trajectory approaches the target point, S velocityis the rationality value of the trajectory speed, α, β, and γ are the corresponding weight coefficients, and their sum is equal to 1. Specifically, the degree of proximity of the trajectory to the target point is the inverse of the remaining distance, and the rationality value of the trajectory speed is the maximum allowable speed. The calculation formula of the safety degree value is:

[0099]

[0100] Among them, S safe is the safety level, d i is the distance between the i-th point on the trajectory and the nearest obstacle, W s is the safety weight, according to d i Dynamic adjustment;

[0101]

[0102] Among them, d min is the minimum distance between all points on the current trajectory and obstacles, k is the adjustment coefficient, and when calculating the comprehensive score, according to d min Compared with the safety threshold, the weight coefficients corresponding to the safety degree value, the degree of trajectory approaching the target point value and the rationality value of the trajectory speed are dynamically adjusted. Specifically, when d min When it is less than the safety threshold, the weight coefficient corresponding to the safety degree value is increased, and the weight coefficient corresponding to the degree of trajectory approaching the target point and the rationality value of trajectory speed is reduced; when d min When it is not less than the safety threshold, the default weight is restored;

[0103] The first determination module 24 is configured to determine the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory and output it to complete the path planning.

[0104] Furthermore, in some other embodiments of the present invention, the special equipment planning system 200 further includes:

[0105] The second calculation module is used to recalculate the comprehensive score of the candidate trajectory corresponding to the maximum comprehensive score. Specifically, in the process of recalculating the comprehensive score, a trajectory curvature penalty term is added;

[0106] Determine the length of the overhead crane rope based on the candidate trajectory corresponding to the maximum comprehensive score;

[0107] Determine the trajectory curvature based on the candidate trajectory corresponding to the maximum comprehensive score, the rope length, the maximum allowable speed, and the cargo weight;

[0108] Based on the trajectory curvature, a three-dimensional model of the cargo with the trajectory curvature is regenerated, and it is determined whether the cargo interferes with the object;

[0109] If it is determined that the cargo interferes with the object, the candidate trajectory corresponding to the maximum value of the current comprehensive score is cancelled as the target trajectory;

[0110] If it is determined that the cargo does not interfere with the object, the number of trajectory curvatures that fall within the preset curvature range and the trajectory curvature are obtained, and the trajectory curvature penalty term is calculated based on the number of trajectory curvatures that fall within the preset curvature range and the trajectory curvature;

[0111] The trajectory curvature penalty term is combined with the calculation formula of the comprehensive score to obtain the calculation formula of the target comprehensive score, and the comprehensive score is recalculated according to the calculation formula of the target comprehensive score.

[0112] Furthermore, in some other embodiments of the present invention, the special equipment planning system 200 further includes:

[0113] A first judgment module is used to compare the recalculated comprehensive score with the previous secondary comprehensive score that is second only to the maximum comprehensive score, and determine whether the recalculated comprehensive score is greater than the secondary comprehensive score;

[0114] a second determination module configured to, if it is determined that the recalculated comprehensive score is greater than the secondary comprehensive score, determine the recalculated comprehensive score as the target comprehensive score, and determine the candidate trajectory corresponding to the target comprehensive score as the target trajectory;

[0115] A third calculation module is configured to recalculate the secondary comprehensive score based on the trajectory curvature penalty term if it is determined that the recalculated comprehensive score is not greater than the secondary comprehensive score;

[0116] A second judgment module is used to compare the recalculated comprehensive score with the recalculated secondary comprehensive score to determine whether the recalculated comprehensive score is greater than the recalculated secondary comprehensive score;

[0117] a third determination module, configured to, if it is determined that the recalculated comprehensive score is greater than the recalculated secondary comprehensive score, determine the recalculated comprehensive score as the target comprehensive score, and determine the candidate trajectory corresponding to the target comprehensive score as the target trajectory;

[0118] The fourth determination module is configured to, if it is determined that the recalculated comprehensive score is not greater than the recalculated secondary comprehensive score, determine the recalculated secondary comprehensive score as the target comprehensive score, and determine the candidate trajectory corresponding to the target comprehensive score as the target trajectory. When the recalculated comprehensive score is the same as the recalculated secondary comprehensive score, obtain the vertical movement distances of the cargo in the corresponding candidate trajectories, and determine the candidate trajectory with the shortest total vertical movement distance as the target trajectory.

[0119] Example 3

[0120] The third embodiment of the present invention provides an electronic device, see Figure 3 , is a structural block diagram of an electronic device, including a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor. When the processor 10 executes the computer program 30, the special equipment planning method described above is implemented.

[0121] In some embodiments, the processor 10 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, used to run the program code stored in the memory 20 or process data, such as executing access restriction programs.

[0122] Among them, the memory 20 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 20 can be an internal storage unit of an electronic device, such as a hard disk of the electronic device. In other embodiments, the memory 20 can also be an external storage device of an electronic device, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Furthermore, the memory 20 can also include both an internal storage unit of the electronic device and an external storage device. The memory 20 can be used not only to store application software and various types of data of the electronic device, but also to temporarily store data that has been output or is to be output.

[0123] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the special equipment planning method as described above when the program is executed by a processor.

[0124] Those skilled in the art will appreciate that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0125] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0126] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement the hardware: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0127] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0128] The above embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A special equipment planning method, characterized in that: Applied to an industrial plant with a bridge crane, the method comprises: Establishing a target three-dimensional model of the entire industrial plant, wherein the target three-dimensional model includes a three-dimensional model of the bridge crane, three-dimensional models of other equipment except the bridge crane, and a three-dimensional model of the cargo; Acquiring handling information of the cargo to be transported, the handling information including at least cargo size, cargo weight, starting point location, and end point location; simulating a plurality of candidate trajectories based on the handling information and the target three-dimensional model, wherein the candidate trajectories are trajectories in which the cargo to be transported does not interfere with any objects during the handling process; Calculate the comprehensive score of each candidate trajectory based on the safety level, the degree of proximity of the trajectory to the target point, and the rationality of the trajectory speed; The candidate trajectory corresponding to the maximum value of the comprehensive score is determined as the target trajectory and output to complete the path planning.

2. The special equipment planning method according to claim 1, characterized in that: In the step of calculating the comprehensive score of each candidate trajectory based on the safety level, the degree of proximity of the trajectory to the target point, and the rationality of the trajectory speed, the calculation formula is: S total =αS safe +βS progress +γS velocity Among them, S total is the comprehensive score, S safe is the safety level value, S progress is the degree to which the trajectory approaches the target point, S velocity is the rationality value of the trajectory speed, α, β and γ are the corresponding weight coefficients, and their sum is equal to 1. Specifically, the degree to which the trajectory approaches the target point is the inverse of the remaining distance, and the rationality value of the trajectory speed is the maximum allowable speed.

3. The special equipment planning method according to claim 2, characterized in that: The calculation formula of the safety level value is: Among them, S safe is the safety level, d i is the distance between the i-th point on the trajectory and the nearest obstacle, W s is the safety weight, according to d i Dynamic adjustment; Among them, d min is the minimum distance between all points on the current trajectory and obstacles, and k is the adjustment coefficient.

4. The special equipment planning method according to claim 3, characterized in that: When calculating the comprehensive score, according to d min Compared with the safety threshold, the weight coefficients corresponding to the safety degree value, the degree of trajectory approaching the target point value and the rationality value of the trajectory speed are dynamically adjusted. Specifically, when d min When it is less than the safety threshold, the weight coefficient corresponding to the safety degree value is increased, and the weight coefficient corresponding to the degree of trajectory approaching the target point and the rationality value of trajectory speed is reduced; when d min When it is not less than the safety threshold, the default weight is restored.

5. The special equipment planning method according to claim 4, characterized in that: The step of determining the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory and outputting the target trajectory includes: Recalculate the comprehensive score of the candidate trajectory corresponding to the maximum comprehensive score. Specifically, in the process of recalculating the comprehensive score, add the trajectory curvature penalty term; Determine the length of the overhead crane rope based on the candidate trajectory corresponding to the maximum comprehensive score; Determine the trajectory curvature based on the candidate trajectory corresponding to the maximum comprehensive score, the rope length, the maximum allowable speed, and the cargo weight; Based on the trajectory curvature, a three-dimensional model of the cargo with the trajectory curvature is regenerated, and it is determined whether the cargo interferes with the object; If it is determined that the cargo interferes with the object, the candidate trajectory corresponding to the maximum value of the current comprehensive score is cancelled as the target trajectory; If it is determined that the cargo does not interfere with the object, the number of trajectory curvatures that fall within the preset curvature range and the trajectory curvature are obtained, and the trajectory curvature penalty term is calculated based on the number of trajectory curvatures that fall within the preset curvature range and the trajectory curvature; The trajectory curvature penalty term is combined with the calculation formula of the comprehensive score to obtain the calculation formula of the target comprehensive score, and the comprehensive score is recalculated according to the calculation formula of the target comprehensive score.

6. The special equipment planning method according to claim 5, characterized in that: The step of recalculating the comprehensive score of the candidate trajectory corresponding to the maximum comprehensive score includes: Compare the recalculated comprehensive score with the previous second comprehensive score that is second only to the maximum comprehensive score to determine whether the recalculated comprehensive score is greater than the second comprehensive score; If it is determined that the recalculated comprehensive score is greater than the secondary comprehensive score, the recalculated comprehensive score is determined as the target comprehensive score, and the candidate trajectory corresponding to the target comprehensive score is determined as the target trajectory; If it is judged that the recalculated comprehensive score is not greater than the secondary comprehensive score, the secondary comprehensive score is recalculated according to the trajectory curvature penalty term; Compare the recalculated comprehensive score with the recalculated secondary comprehensive score to determine whether the recalculated comprehensive score is greater than the recalculated secondary comprehensive score; If it is determined that the recalculated comprehensive score is greater than the recalculated secondary comprehensive score, the recalculated comprehensive score is determined as the target comprehensive score, and the candidate trajectory corresponding to the target comprehensive score is determined as the target trajectory; If it is determined that the recalculated comprehensive score is not greater than the recalculated secondary comprehensive score, the recalculated secondary comprehensive score is determined as the target comprehensive score, and the candidate trajectory corresponding to the target comprehensive score is determined as the target trajectory.

7. The special equipment planning method according to claim 6, characterized in that: In the step of determining the recalculated secondary comprehensive score as the target comprehensive score if it is determined that the recalculated comprehensive score is not greater than the recalculated secondary comprehensive score, and determining the candidate trajectory corresponding to the target comprehensive score as the target trajectory, when the recalculated comprehensive score is the same as the recalculated secondary comprehensive score, the vertical movement distances of the goods in the corresponding candidate trajectories are respectively obtained, and the candidate trajectory with the shortest total movement distance in the vertical direction is determined as the target trajectory.

8. A special equipment planning system, characterized in that: For implementing the special equipment planning method according to any one of claims 1 to 7, the system comprises: A model building module is used to build a target three-dimensional model of the entire industrial plant, wherein the target three-dimensional model includes a three-dimensional model of the bridge crane, three-dimensional models of other equipment except the bridge crane, and a three-dimensional model of the cargo; an acquisition module, configured to acquire handling information of the cargo to be transported, the handling information including at least cargo size, cargo weight, starting point location, and end point location, and simulate a plurality of candidate trajectories based on the handling information and the target three-dimensional model, wherein the candidate trajectories are trajectories in which the cargo to be transported does not interfere with any object during the handling process; The first calculation module is used to calculate the comprehensive score of each candidate trajectory based on the safety level, the degree of proximity of the trajectory to the target point, and the rationality of the trajectory speed; The first determination module is configured to determine the candidate trajectory corresponding to the maximum value of the comprehensive score as the target trajectory and output it to complete the path planning.

9. A computer-readable storage medium, characterized in that include: The readable storage medium stores one or more programs, which, when executed by a processor, implement the special equipment planning method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein: The memory is used to store computer programs; When the processor is used to execute the computer program stored in the memory, it implements the special equipment planning method described in any one of claims 1-7.

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