Intelligent crane load hoisting method and system based on automatic path planning

Abstract

The application discloses a tower crane intelligent object hoisting method and system based on automatic path planning. The method comprises the following steps: obtaining the information of the current position and the target position of the hook to obtain the starting position and the target position; determining the angle difference by adopting polar coordinate conversion according to the starting position and the target position, determining the rotation direction based on the angle difference and the obstacle condition, and determining the luffing path; wherein the obstacle condition is obtained by traversing the large arm rotation sector in the manner of stepping by several degrees each time and detecting the obstacles along the radius axis by using a sliding window; determining the highest height of the path operation and the lifting height of the hook; identifying and positioning the object position and the specific coordinates of the object relative to the tower crane; moving the hook to the object position based on the automatic planning path to transport the object to the designated place, wherein the automatic planning path comprises the rotation direction, the luffing path and the lifting height of the hook. By implementing the method of the application, the path planning can be automatically performed and the object hoisting task can be completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of construction equipment, more particularly to a tower crane intelligent lifting object method and system based on automatic path planning. BACKGROUND

[0002] As a key equipment in construction, tower crane, also known as tower crane, traditionally relies on the experience and skills of operators to ensure the safe and accurate transportation of lifting objects.

[0003] However, with the increasing complexity of construction projects and higher requirements for efficiency and safety, this manual approach exposes a series of problems. First, manual operation is inefficient, especially in complex construction site environments, operators need to spend a lot of time planning and adjusting paths, which not only slows down project progress, but also may lead to project cost overruns. Second, due to the fatigue of human operators after long hours of work, especially in adverse weather conditions, the risk of judgment errors or slow movements increases, which makes operational errors more frequent. In addition, although modern tower cranes are equipped with a series of safety systems, improper human operation can still cause serious safety accidents, and traditional manual monitoring systems often cannot provide comprehensive real-time feedback information, making it difficult to cover all potential risk points.

[0004] Therefore, it is necessary to design a new method to realize automatic path planning and complete the lifting object task. SUMMARY

[0005] The present application aims to overcome the defects of the prior art and provide a tower crane intelligent lifting object method and system based on automatic path planning.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a tower crane intelligent lifting object method based on automatic path planning, comprising:

[0007] Obtaining information of the current position and target position of the lifting hook to obtain the starting position and target position;

[0008] Determining the angle difference using polar coordinate conversion according to the starting position and the target position, determining the rotation direction based on the angle difference and the obstacle situation, and determining the luffing path based on the starting position and the target position according to the rotation direction; wherein the obstacle situation is obtained by traversing the large arm rotation sector by several degrees each time and detecting obstacles along the radius axis using a sliding window;

[0009] Determining the highest height of path operation according to the rotation direction and the luffing path, and determining the lifting hook lifting height;

[0010] Identifying and positioning the lifting object position and the specific coordinates of the lifting object relative to the tower crane;

[0011] Moving the hook to the position of the hoisted object based on the automatically planned path, so as to transport the hoisted object to the designated place, wherein the automatically planned path comprises a slewing direction, a luffing path and a lifting height of the hook.

[0012] Further, the technical solutions are as follows: the angle difference is determined by polar coordinate conversion based on the starting position and the target position, the slewing direction is determined based on the angle difference and the obstacle condition, and the luffing path is determined based on the starting position and the target position according to the slewing direction, and the technical solutions further comprise:

[0013] The luffing path and the slewing direction of the segmented luffing tower are combined, the speed ratio is adjusted, and the hook height is dynamically adjusted during horizontal movement, so that the hook passes over the obstacle.

[0014] Further, the technical solutions are as follows: the angle difference is determined by polar coordinate conversion based on the starting position and the target position, the slewing direction is determined based on the angle difference and the obstacle condition, and the luffing path is determined based on the starting position and the target position according to the slewing direction, and the technical solutions further comprise:

[0015] The starting position and the target position are converted into polar coordinate form to obtain a conversion result;

[0016] The angle difference is calculated according to the conversion result to determine an initial slewing direction;

[0017] The obstacle condition in the initial slewing direction is selected by step-by-step detection;

[0018] When there is an obstacle-free path in the initial slewing direction, the initial slewing direction is determined as the slewing direction; when there is no obstacle-free path in the initial slewing direction, the initial slewing direction is replaced, and when there is no obstacle-free path in the replaced initial slewing direction, the replaced initial slewing direction is determined as the slewing direction;

[0019] On the horizontal plane, the target position is moved from the current position based on the slewing direction; when an obstacle blocks the slewing, the luffing of the hook is adjusted to bypass the obstacle, and if the current direction is blocked, the luffing is adjusted in the opposite direction until a passable slewing path is found to continue moving forward, so as to obtain a luffing path.

[0020] Further, the technical solutions are as follows: the obstacle condition in the initial slewing direction is selected by step-by-step detection, and the technical solutions further comprise:

[0021] In the initial slewing direction, the large arm rotation sector is traversed by each step of several degrees, and the obstacle is detected along the radius axis by using a sliding window, so as to obtain the obstacle condition in the initial slewing direction.

[0022] Further technical solutions are as follows: in the initial rotating direction, a large arm rotating sector is traversed by a number of degrees each time, and a sliding window is used to detect obstacles along a radius axis to obtain the obstacle situation in the initial rotating direction, including:

[0023] In the initial rotating direction, a sector region is selected to obtain a sector;

[0024] Every set of degrees in the sector selects a radius as a detection axis;

[0025] A sliding window is arranged along the detection axis to analyze obstacles;

[0026] The position of each sliding window is corresponded to a three-dimensional space map;

[0027] It is judged whether the obstacles in the current sliding window allow safe passing;

[0028] If the obstacles in the current sliding window allow passing, it is determined that there is an obstacle-free path in the initial rotating direction;

[0029] It is judged whether all sliding windows on the detection axis have been checked;

[0030] If all sliding windows on the detection axis have been checked, the initial rotating direction is determined as the rotating direction when the initial rotating direction has an obstacle-free path, the initial rotating direction is replaced when the initial rotating direction has no obstacle-free path, and the replaced initial rotating direction is determined as the rotating direction when the replaced initial rotating direction has no obstacle-free path;

[0031] If all sliding windows on the detection axis have not been checked, a radius is selected as a detection axis every set of degrees in the sector;

[0032] If the obstacles in the current sliding window do not allow passing, it is judged whether all sliding windows on the detection axis have been checked.

[0033] Further technical solutions are as follows: the luffing path and the rotating direction of the segmented tower crane are combined, the speed ratio is adjusted, and the hook height is dynamically adjusted during horizontal movement to make the hook pass over the obstacle, including:

[0034] The speed ratio is calculated based on the luffing path and the rotating direction;

[0035] The luffing and rotating speed combination is selected based on the speed ratio;

[0036] A new path is planned based on the luffing and rotating speed combination;

[0037] determining whether the hook height on the new path is feasible;

[0038] if the hook height is feasible, optimizing the slewing direction and the luffing path by using the new path;

[0039] based on the height change required during the operation of the tower crane combined with the new path, calculating the required time to reach the next height, determining the lifting speed according to the required time, and selecting the speed value closest to the lifting speed in the fixed classification to adjust the hook height, so that the hook can pass over the obstacle;

[0040] if the hook height is not feasible, the optimal combination of luffing and slewing speed based on the speed ratio is executed.

[0041] Further technical solutions thereof are as follows: the optimal combination of luffing and slewing speed based on the speed ratio, comprising:

[0042] selecting a speed ratio greater than the speed ratio among all selectable luffing and slewing speed ratios to obtain a combination of luffing and slewing speed; wherein the selectable luffing and slewing speed ratio refers to all possible combination ratios between the luffing speed and the slewing speed set by the tower crane.

[0043] Further technical solutions thereof are as follows: the moving of the hook to the object position based on the automatic planning path to transport the object to the designated location, comprising:

[0044] when an obstacle is encountered during the automatic operation of the tower crane, a waiting strategy is adopted, and if the obstacle is not eliminated within a set time, the tower crane will be raised to avoid the obstacle and re-plan the path to continue the work.

[0045] Further technical solutions thereof are as follows: the identification and positioning of the object position and the specific coordinates of the object relative to the tower crane, comprising:

[0046] obtaining a target object picture;

[0047] obtaining a to-be-identified picture obtained by rotating and searching of a binocular camera of the tower crane;

[0048] identifying the object based on the to-be-identified picture by using a large model algorithm;

[0049] using an SfM algorithm to calculate the distance and relative coordinates of the object to the camera based on the to-be-identified picture, so as to obtain the object position and the specific coordinates of the object relative to the tower crane.

[0050] The application also provides a tower crane intelligent object lifting system based on automatic path planning, comprising:

[0051] An acquisition unit is configured to acquire information of a current position and a target position of a hook to obtain a starting position and a target position.

[0052] A rotation range determination unit is configured to determine an angle difference by polar coordinate conversion based on the starting position and the target position, determine a rotation direction based on the angle difference and an obstacle condition, and determine a luffing path based on the starting position and the target position according to the rotation direction.

[0053] A height determination unit is configured to determine a highest height of a path according to the rotation direction and the luffing path, and determine a hook lifting height.

[0054] An identification positioning unit is configured to identify and position a position of a hoisted object and a specific coordinate of the hoisted object relative to a tower crane.

[0055] An operation unit is configured to move the hook to the position of the hoisted object based on an automatically planned path to transport the hoisted object to a designated location, wherein the automatically planned path includes the rotation direction, the luffing path and the hook lifting height.

[0056] Compared with the prior art, the present application has the following beneficial effects: the present application acquires information of a current position and a target position of a hook, determines an angle difference between the two positions by polar coordinate conversion to determine a rotation direction, detects an obstacle condition in a rotating fan of a large arm by step scanning and sliding window technology, optimizes a luffing path according to the obstacle condition, determines a highest safe height and a hook lifting strategy during a running process according to the selected rotation direction and the luffing path, identifies and accurately positions a position of a hoisted object and a specific coordinate of the hoisted object relative to a tower crane, plans an optimal path including rotation, luffing and lifting actions by comprehensively using the above information, automatically guides the hook to the position of the hoisted object, and safely transports the hoisted object to a designated location, thereby realizing automation and intelligentization of tower crane operation, and ensuring work efficiency and safety.

[0057] The present application will be further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0059] Figure 1 A flowchart of a tower crane intelligent hoisted object method based on automatic path planning provided by the embodiments of the present application;

[0060] Figure 2 A schematic diagram of a fan provided by the embodiments of the present application;

[0061] Figure 3 A schematic diagram of radius axis determination provided for an embodiment of the present application;

[0062] Figure 4 A schematic diagram of determining a variable amplitude path based on a starting position and a target position provided for an embodiment of the present application;

[0063] Figure 5 A flowchart of a tower crane intelligent object hoisting method based on automatic path planning provided for another embodiment of the present application;

[0064] Figure 6 A schematic diagram of tower crane planning on a horizontal plane when a variable amplitude speed is large provided for another embodiment of the present application;

[0065] Figure 7 A schematic diagram of tower crane planning on a horizontal plane when a slewing speed is large provided for another embodiment of the present application;

[0066] Figure 8 A schematic diagram of height adjustment provided for another embodiment of the present application;

[0067] Figure 9 A schematic diagram of object hoisting position and specific coordinates of the object relative to the tower crane determination provided for an embodiment of the present application;

[0068] Figure 10 A schematic block diagram of a tower crane intelligent object hoisting system based on automatic path planning provided for an embodiment of the present application;

[0069] Figure 11 A schematic block diagram of a tower crane intelligent object hoisting system based on automatic path planning provided for another embodiment of the present application;

[0070] Figure 12 A schematic block diagram of a computer device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0071] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0072] It should be understood that, when used in the present specification and the appended claims, the terms “comprise” and “include” indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0073] It should also be understood that the terms used herein are for the purpose of describing particular embodiments and are not intended to limit the application. As used in the specification and the appended claims, the singular forms "a," "an" and "the" are intended to include plural forms as well, unless the context clearly indicates otherwise.

[0074] It should further be understood that the term "and / or" as used herein refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes these combinations.

[0075] Please refer to Figure 1 , Figure 1 The schematic flowchart of the intelligent crane object lifting method based on automatic path planning provided by the embodiments of the present application is shown. By obtaining the information of the current position and the target position of the hook, the angle difference and the rotation direction are determined by polar coordinate conversion, and the luffing path is determined by considering the obstacle situation. The method uses the sliding window technology to detect obstacles along the radius axis, ensures that the path is obstacle-free, and dynamically adjusts the hook height when necessary to overcome obstacles. Further, the speed ratio is calculated according to the luffing path and the rotation direction and the best combination is selected to optimize the moving path, so that the hook can safely and efficiently move to the object lifting position. In addition, the object and its specific coordinates are identified using a binocular camera combined with a large model algorithm, and the distance and relative coordinates of the object to the camera are calculated by the SfM algorithm, thereby completing the object lifting task. The entire process realizes automatic path planning and operation, and improves the work efficiency and safety.

[0076] Figure 1 is a flowchart of the intelligent crane object lifting method based on automatic path planning provided by the embodiments of the present application. As shown in Figure 1 , the method comprises the following steps S110 to S150.

[0077] S110, obtaining the information of the current position and the target position of the hook to obtain the starting position and the target position.

[0078] In this embodiment, the starting position refers to the current position of the hook when it starts to perform a task. This position is relative to the coordinate system of the crane and is usually represented in the form of rectangular coordinates (x, y) or polar coordinates (h, θ). Among them, x and y represent the coordinate values in the horizontal direction, h represents the distance (radius) from the origin to the hook, and θ represents the angle difference with the reference direction (for example, the north direction).

[0079] Target position: This refers to the destination coordinates that the hook needs to be moved to. Similarly, this position can also be expressed in rectangular coordinates or polar coordinates. The target position contains precise information about the exact location where the hook is expected to reach, including its position in the horizontal plane (x2, y2) and possible height requirements. In actual operation, this position is set by the operator according to the needs of the construction site.

[0080] In this embodiment, these pieces of information are obtained for subsequent path planning calculations, including determining the optimal rotation direction (clockwise or counterclockwise) and assessing whether there is an obstacle-free path within the rotation sector. These steps work together to ensure that the hook can safely and efficiently move from the starting position to the target position and complete the specified task. Through precise calculations and obstacle detection, the system can effectively avoid collisions and optimize the entire movement process.

[0081] S120, determine the angle difference based on the starting position and the target position using polar coordinate conversion, determine the rotation direction based on the angle difference and the obstacle situation, and determine the luffing path based on the starting position and the target position according to the rotation direction; wherein the obstacle situation is obtained by traversing the large arm rotation sector by several degrees each time and detecting obstacles along the radius axis using a sliding window.

[0082] In this embodiment, the rotation direction refers to the direction (clockwise or counterclockwise) in which the hook needs to rotate from the starting position to the target position. The direction is chosen based on the principle of small rotation angle and the presence of an obstacle-free path.

[0083] The luffing path refers to the varying path of different lengths that the hook takes along the selected rotation direction in the horizontal plane to avoid obstacles.

[0084] In an embodiment, the above-mentioned step S120 can include steps S121-S125.

[0085] S121, convert the starting position and the target position into polar coordinates based on the starting position and the target position to obtain a conversion result.

[0086] In this embodiment, the conversion result refers to the conversion of the starting position and the target position from rectangular coordinates (x, y) to polar coordinates (h, θ), where h represents the distance and θ represents the angle relative to the reference direction.

[0087] This step involves converting the rectangular coordinates (x, y) of the starting position and the target position into polar coordinates (h, θ), where: h represents the distance from the origin to the point. θ represents the angle relative to the reference direction. In this embodiment, it is assumed that the position of the tower crane cab is taken as the origin, and the polar coordinate values of each point are calculated through the conversion formula.

[0088] S122, calculate the angle difference according to the conversion result to determine the initial rotation direction.

[0089] In this embodiment, the initial rotation direction refers to the direction selected according to the angle difference (θ2-θ1) between the start position and the target position. If the angle difference is less than 180°, the counterclockwise direction is selected as the initial rotation direction; otherwise, the clockwise direction is selected.

[0090] Calculate the angle difference Δθ=θ2-θ1 between the start position and the target position. If |Δθ|<180°, select the counterclockwise direction as the initial rotation direction; otherwise, select the clockwise direction. This is to minimize the rotation angle.

[0091] S123, detect the obstacle situation in the selected initial rotation direction by step.

[0092] In this embodiment, in the initial rotation direction, the large arm rotation sector is traversed by stepping several degrees each time, and the sliding window is used to detect obstacles along the radial axis to obtain the obstacle situation in the initial rotation direction.

[0093] In the initial rotation direction, the system will traverse the large arm rotation sector by stepping several degrees, and use the sliding window to detect obstacles along each radial axis. Specifically:

[0094] Step 2 degrees to select a new axis for detection.

[0095] Along each axis, a 4-meter-long sliding window is set every 2 meters to check if there are obstacles. After each movement, it is determined whether there are obstacles in the range corresponding to the current window that cannot be passed. That is, it is ensured that there is at least one obstacle-free path for the hook to reach the target position.

[0096] In an embodiment, the above step S123 can include steps S1231-S1238.

[0097] S1231, in the initial rotation direction, select a sector to obtain a sector.

[0098] In this embodiment, based on the position of the tower crane cab as the origin, a sector area is selected for subsequent obstacle detection according to the polar coordinates determined by the start position and the target position. This sector area will cover all possible paths from the start position to the target position.

[0099] S1232, select a radius as a detection axis every set degree in the sector.

[0100] In this embodiment, a radius is selected as the detection axis at every 2-degree interval within the selected sector. This step ensures that the entire sector is evenly divided into multiple axes, each of which will be subjected to independent obstacle analysis.

[0101] S1233, a sliding window is set along the detection axis for obstacle analysis.

[0102] In this embodiment, for each detection axis, a 4-meter-long sliding window is set every 2 meters along its length. These windows are used to simulate the three-dimensional spatial conditions when the hook is at different positions and to check whether there are any obstacles that block the passage.

[0103] S1234, the position of each sliding window is mapped to the three-dimensional spatial map.

[0104] In this embodiment, the specific position of each sliding window is converted and mapped to the three-dimensional spatial map in the actual operating environment. This step enables the system to accurately determine the presence of obstacles and their impact range in the real environment.

[0105] S1235, it is determined whether the obstacle in the current sliding window allows safe passage.

[0106] In this embodiment, for each sliding window, the system checks whether there are any obstacles that cannot be crossed. If there are no obstacles in the window or the obstacles do not affect the safe passage of the hook, the window is considered passable.

[0107] S1236, if the obstacle in the current sliding window allows passage, it is determined that there is an obstacle-free path in the initial turning direction.

[0108] In this embodiment, once it is found that at least one sliding window is passable on its corresponding axis, it indicates that there is at least one obstacle-free path in this direction. At this time, the system can preliminarily determine that the initial turning direction is a feasible direction.

[0109] S1237, it is determined whether all sliding windows on the detection axis have been checked.

[0110] In this embodiment, after completing the obstacle check of all sliding windows on the current axis, the system needs to determine whether this axis has been completely traversed. If not, it returns to step S1232 to continue the check of the next window; if it has been traversed, it proceeds to the next step.

[0111] S1238, if all the sliding windows on the detection axis have been checked, then execute the step S1232 when the initial turning direction has no obstacle path, determine the initial turning direction as the turning direction; when the initial turning direction has no obstacle path, replace the initial turning direction, when the replaced initial turning direction has no obstacle path, determine the replaced initial turning direction as the turning direction;

[0112] If all the sliding windows on the detection axis have not been checked, then execute the step S1232.

[0113] If the obstacle in the current sliding window is not allowed to pass, execute the step S1237.

[0114] After all the axes are checked, if any axis on the initial turning direction is identified as having no obstacle, then confirm that the direction as the final turning direction. Otherwise, if no obstacle path is found, consider replacing the turning direction (e.g. from clockwise to counterclockwise). If both directions are not feasible, then re-evaluation or abandonment of automatic path planning may be needed.

[0115] If the obstacle in the current sliding window is not allowed to pass, then directly jump back to step S1237 and continue to check the remaining sliding windows until all are checked.

[0116] Through the above steps, the obstacle situation on the initial turning direction can be analyzed in detail, and a reasonable path planning decision can be made accordingly. This method not only improves the work efficiency, but also greatly enhances the safety of operation.

[0117] S124, when the initial turning direction has no obstacle path, determine the initial turning direction as the turning direction; when the initial turning direction has no obstacle path, replace the initial turning direction, when the replaced initial turning direction has no obstacle path, determine the replaced initial turning direction as the turning direction.

[0118] In this embodiment, if all the axes of the initial turning direction have no obstacle, then confirm that this direction as the final turning direction. If an obstacle is found, then try another turning direction (i.e. from clockwise to counterclockwise or vice versa). If both directions have obstacles, then re-evaluation or abandonment of automatic path planning may be needed.

[0119] S125, on the horizontal plane, move from the current position to the target position based on the turning direction; when an obstacle is encountered to block the turning, adjust the amplitude of the hook to bypass the obstacle, if the current direction is blocked, change the amplitude from the opposite direction until a passable turning path is found to continue moving forward, to obtain an amplitude path.

[0120] In this embodiment, the hook moves in a determined rotation direction on the horizontal plane. If an obstacle blocks the rotation, the system adjusts the amplitude of the hook to try to bypass the obstacle from a different direction.

[0121] If the current direction is blocked, the system tries to adjust the amplitude from the opposite direction until it finds a feasible rotation path and then continues to move forward.

[0122] These steps enable the tower crane to automatically plan the optimal path in complex environments while effectively avoiding obstacles, achieving efficient and safe operation. Through this method, the system not only considers the directness of the path but also fully considers dynamic factors in actual operation, thereby improving work efficiency and safety.

[0123] In this embodiment, as shown in Figure 2 , the principle of confirming the rotation direction is that the rotation angle is small and at least one path can reach the target position of the hook. Since the rotation has only two directions, clockwise and counterclockwise, only two judgments are needed. Assuming that the position of the tower crane cab is the origin, the initial position of the hook is , and the destination position is , converted to polar coordinates are and . If °, then rotate counterclockwise with a small rotation angle, otherwise rotate clockwise.

[0124] For any radius axis within the range of the boom rotation angle, if there is no obstacle that cannot be crossed at all positions within the axis, it is considered that there is a path that can be passed in this rotation direction. Because there are countless radius axes, in implementation, the boom rotation sector is traversed at an angle of 2 degrees per step. For example, the first time the boom should rotate clockwise, traverse the sector at an angle of 5 degrees clockwise, and if there is no radius axis that blocks the path of the hook, the rotation direction is selected as clockwise rotation; otherwise, traverse the counterclockwise sector, and if there is no radius axis that blocks the path of the hook, the rotation radius is selected as counterclockwise rotation, otherwise the automatic path planning is abandoned.

[0125] As shown in Figure 3 , whether the radius axis within the sector can be passed is determined using a sliding window. Assuming that the radius axis length is 40 meters and the sliding window length is 4 meters. The sliding window moves inward from the outermost side of the axis at a step of 2 meters. After each move, it is determined whether there is an obstacle that cannot be passed within the range corresponding to the sliding window on the three-dimensional map. If there is an obstacle that cannot be passed, continue to slide the window to the next grid; if not, consider that this axis can be passed, and move the axis to the next grid.

[0126] To determine whether the sector can be passed, the following steps can be taken:

[0127] First, define the sector area that needs to be detected; within the sector, select an axis as the detection path in a 2-degree step-by-step manner; along the selected axis, set a sliding window every 2 meters for obstacle detection; map the position of each sliding window to the three-dimensional space map for obstacle analysis.

[0128] Determine whether the obstacle in the window is passable: if the obstacle in the current window allows safe passage, continue to check the next window.

[0129] If the obstacle in the current window is not passable, further determine whether all sliding windows on the axis have been checked.

[0130] If all sliding windows on the axis have not been checked, return to set a sliding window every 2 meters along the selected axis for obstacle detection, and continue to select the next window for detection.

[0131] If all sliding windows on the axis have been checked, further determine whether the entire sector has been traversed.

[0132] If the sector has not been traversed, return to select an axis as the detection path in a 2-degree step-by-step manner within the sector, and continue to select the next axis for detection.

[0133] If the sector has been traversed and there is at least one obstacle-free path, determine that the sector is passable.

[0134] If the sector has been traversed but there is no obstacle-free path, determine that the sector is not passable.

[0135] Through the above steps, the system can comprehensively and meticulously detect the obstacle situation in the sector and ultimately determine whether the sector is passable, providing a reliable basis for subsequent path planning and operation.

[0136] After confirming the rotation direction, the amplitude path needs to be confirmed, and the amplitude path should be matched with the rotation path.

[0137] As shown in Figure 4 , start from the starting point, rotate in the current rotation direction until the front encounters an insurmountable obstacle. Amplitude in the direction approaching the destination point until the rotation direction can pass again. If there is no path that allows the rotation to pass, amplitude in the opposite direction until the rotation direction can pass. Continue to rotate in the rotation direction and repeat the above steps until the hook reaches the destination within the horizontal.

[0138] After the swing and luffing paths are confirmed, the highest obstacle height on the path is traversed to determine the hook lifting height. The final path operation mode is to first lift the hook to the required height, then perform the swing and luffing actions according to the planned path, and finally lift the hook to the destination. Through the above steps, the system can comprehensively consider factors such as swing direction, obstacle detection, and luffing operation, to realize intelligent lifting tasks of the tower crane.

[0139] The method of the embodiment is to determine whether to rotate clockwise or counterclockwise to reach the target angle according to the angle difference between the current hook position and the target position. Specifically, the two possible rotation directions are compared, and the direction that requires a smaller angle of rotation is selected as the swing direction.

[0140] Obstacle detection is performed on the selected swing direction to evaluate whether the sector can be passed.

[0141] If the selected sector is not passable and the other swing direction has not been checked, switch to the other direction to continue detection.

[0142] If both directions cannot pass, give up this automatic path planning attempt.

[0143] Once a feasible sector without obstacles is found, the final swing direction is determined.

[0144] Perform the rotation operation in the determined swing direction and monitor in real time whether there are obstacles affecting the swing process. If an obstacle is encountered, the strategy needs to be adjusted, such as performing a luffing operation to bypass the obstacle.

[0145] Continue to swing until the target angle is reached. After reaching the target angle, further check whether luffing makes the hook reach the target position.

[0146] If the target position is not reached, perform the necessary luffing operation according to the actual distance to adjust the position of the hook until it reaches the predetermined target position.

[0147] Based on the height requirement of the target position, the lifting height of the hook is accurately set to ensure that the lifted goods can be accurately placed or picked up.

[0148] After completing all the above steps, the entire automatic path planning process is completed, ensuring that the hook can safely and accurately reach the specified position and complete the work task. Key factors such as direction selection, obstacle avoidance, and accurate positioning are fully considered to improve the safety and efficiency of tower crane operation.

[0149] S130, determining the highest height of path operation according to the swing direction and the luffing path, and determining the hook lifting height.

[0150] In this embodiment, first, the entire movement path planned according to the rotation direction and amplitude path needs to be traversed to identify the highest obstacle that may appear on the path. The specific steps are as follows:

[0151] Along the predetermined rotation direction and amplitude path, the entire journey is analyzed. This process includes positioning all obstacles that may affect the movement of the hook in three-dimensional space.

[0152] Using sensors or pre-input data, obstacle information at each location on the path is obtained. Special attention is paid to obstacles above the hook, as they will directly affect the maximum height the hook can safely pass through.

[0153] Based on the above information, the height of the highest obstacle that the hook can reach in this path is calculated. This is to ensure that the hook does not collide with any obstacles during movement.

[0154] Once the height of the highest obstacle on the path is determined, the next step is to set the specific lifting height of the hook. This process needs to consider the following factors:

[0155] To ensure the safety of the operation, the actual operating height of the hook should be higher than the height of the highest obstacle by a certain safety distance. This safety distance can be adjusted according to actual conditions (such as equipment specifications, operating environment, etc.).

[0156] Actual job requirements also need to be considered, such as the precise height required when lifting the cargo to the destination. If the destination itself has specific height restrictions, the lifting strategy of the hook needs to be adjusted accordingly.

[0157] In some cases, real-time monitoring and adjustment of the height of the hook may be required. For example, when encountering temporary obstacles or path changes, the system should be able to respond quickly and adjust the height of the hook.

[0158] Through the above steps, the system not only ensures that the hook safely avoids all obstacles during the entire path planning process, but also efficiently completes the specified lifting task. This meticulous path planning and height adjustment mechanism is one of the key links to achieve intelligent and automated tower crane operation.

[0159] S140, identify and locate the position of the hoisted object and its specific coordinates relative to the tower crane.

[0160] In this embodiment, the position of the hoisted object refers to the specific location of the target hoisted object in the actual space. For the tower crane, accurately identifying and locating this position is the basis for achieving automated operation.

[0161] This refers to converting the position of the hoisted object into coordinate values in the coordinate system relative to the tower crane. By obtaining these coordinate values, the tower crane can accurately plan the path to approach the hoisted object and perform subsequent operations such as grabbing and transporting.

[0162] In an embodiment, as shown in FIG. 14, the above-mentioned step S140 can include steps S141-S144. Figure 9

[0163] S141, obtain the target object picture.

[0164] In this embodiment, a picture of the hoisted object is input as a template at the control terminal. This picture should clearly show the characteristics of the object that needs to be hoisted, in order to facilitate subsequent image matching and recognition.

[0165] S142, obtain the to-be-recognized picture obtained by rotating search of the binocular camera of the tower crane.

[0166] In this embodiment, the binocular camera on the tower crane will rotate and scan under the control of the gimbal, capturing real-time images of the surrounding environment. These images are referred to as to-be-recognized pictures, which will be used for matching with the target object picture.

[0167] S143, identify the hoisted object based on the to-be-recognized picture through a large model algorithm, and locate the hoisted object.

[0168] In this embodiment, a pre-trained large model (such as a deep learning model) is used to analyze the collected to-be-recognized pictures. This model can identify the target hoisted object and determine its specific location in the picture.

[0169] S144, calculate the distance from the hoisted object to the camera and its relative coordinates using the SfM algorithm based on the to-be-recognized picture, to obtain the specific coordinates of the hoisted object and the hoisted object relative to the tower crane.

[0170] In this embodiment, once the target hoisted object is identified, the Structure from Motion (SfM) algorithm is applied. Using the stereo vision information provided by the binocular camera, the SfM algorithm can calculate the actual distance from the hoisted object to the camera, as well as its three-dimensional coordinates relative to the tower crane.

[0171] These data not only provide the exact location of the hoisted object, but also allow the system to plan how to safely and effectively move the large arm and other components of the tower crane to achieve the best hoisting position based on this information.

[0172] When the coordinates of the hook and the coordinates of the hoisted object have been obtained, the hook is operated to the hoisted object position using automatic path planning. The hoisted object is manually connected to the hook, and then the destination coordinates of the hoisted object are input, and the tower crane again uses automatic path planning to transport the hoisted object to the destination. ​

[0173] Throughout the entire process, from image acquisition, object identification to final coordinate calculation, it is to ensure that the tower crane can automatically and efficiently complete the lifting task in complex environment. This is not only a test of technical accuracy, but also an important means to improve work efficiency and safety.

[0174] S150, move the hook to the object position based on the automatically planned path, to transport the object to the designated location, wherein the automatically planned path includes the rotation direction, the luffing path, and the lifting height of the hook.

[0175] In this embodiment, when the tower crane encounters an obstacle during automatic operation, a waiting strategy is adopted. If the obstacle is not removed within the set time, the tower crane will rise to avoid the obstacle and re-plan the path to continue the work.

[0176] During the automatic operation of the intelligent tower crane, it is crucial to ensure that the hook can accurately move to the specified object position and safely transport the object to the target location. This not only requires precise path planning, but also needs to flexibly handle unexpected situations, such as handling obstacles.

[0177] Automatic planning of the path refers to the system automatically generating a safe path from the current position to the target position based on current environmental information (including the position of obstacles, the state of the tower crane itself, etc.). This process takes into account the following key factors:

[0178] Rotation direction: Determine the direction of the tower crane's boom rotation to make the hook most directly or most effectively towards the target object or destination.

[0179] Luffing path: refers to adjusting the length of the tower crane's boom to cover different distances of target positions.

[0180] Lifting height of the hook: control the lifting or lowering height of the hook to ensure it can avoid ground or other low-altitude obstacles and smoothly reach the target object or destination.

[0181] In this embodiment, when the tower crane encounters an obstacle during automatic operation, the following strategies are adopted to ensure the continuity and safety of the work:

[0182] Waiting strategy: Once an obstacle on the path is detected, the tower crane will first pause the current operation, maintain the current position and wait for a period of time (in this scenario, ten minutes are set), expecting the obstacle to be removed by itself.

[0183] Rise to avoid obstacles: If the obstacle does not disappear within the waiting time, in order not to affect the progress of the task, the tower crane will choose to rise in place until the radar system no longer detects the obstacle. This step allows the tower crane to bypass the obstacle, avoiding direct contact and possible damage.

[0184] Replanning the path: After completing the lifting action, the system recalculates the optimal path based on the new height and the surrounding environment, and adjusts the moving route of the hook accordingly. At this time, the newly planned path also contains the above-mentioned turning direction, amplitude path, and hook lifting height, etc.

[0185] Human intervention alarm: If the obstacle problem cannot be solved after lifting (for example, the obstacle is higher than the maximum height that the hook can operate), an alarm is sent through the client to notify the on-site personnel to manually investigate and handle to ensure safety.

[0186] Through these measures, the tower crane can achieve efficient and safe automatic operation in a complex construction site environment, and can flexibly respond to unexpected situations, minimizing the impact on the work process. This mechanism reflects the improvement of the intelligence level of modern construction equipment, and also emphasizes the importance of human-machine cooperation.

[0187] The above-mentioned tower crane intelligent lifting method based on automatic path planning obtains the current position and target position information of the hook, and determines the angle difference between the two through polar coordinate conversion to determine the turning direction; at the same time, step scanning and sliding window technology are used to detect the obstacle situation in the large arm rotation sector, and the amplitude path is optimized accordingly; the highest safety height and hook lifting strategy during operation are determined according to the selected turning direction and amplitude path; the system identifies and accurately locates the position of the lifted object and its specific coordinates relative to the tower crane; using the above information, an optimal path containing turning, amplitude and lifting actions is planned, the hook is automatically guided to the lifted object position, and it is safely transported to the designated location, thereby realizing the automation and intelligence of tower crane operation, ensuring work efficiency and safety.

[0188] Figure 5 is a flowchart of a tower crane intelligent lifting method based on automatic path planning according to another embodiment of the present application. As shown in Figure 5 the tower crane intelligent lifting method based on automatic path planning of the present embodiment includes steps S210-S260. Steps S210-S220 are similar to steps S110-S120 in the above embodiment, and steps S240-S260 are similar to steps S130-S150 in the above embodiment, which will not be repeated here. The steps S230 added in the present embodiment will be described in detail below.

[0189] S230, merge the amplitude path and the turning direction of the tower crane in sections, adjust the speed ratio, and dynamically adjust the hook height during horizontal movement, so that the hook can pass over the obstacle.

[0190] In an embodiment, the above-mentioned step S230 can include steps S231-S236.

[0191] S231, calculating a speed ratio based on the luffing path and the slewing direction.

[0192] In this embodiment,

[0193] First, a speed ratio δ is calculated based on a pre-determined luffing path (i.e. the distance the hook moves along the boom) and a slewing direction (i.e. the angle the tower body rotates). This ratio is used to reflect the speed relationship required when performing the two actions.

[0194] S232, selecting a luffing and slewing speed combination based on the speed ratio.

[0195] In this embodiment, a speed ratio greater than the speed ratio is selected from all the selectable luffing and slewing speed ratios to obtain a luffing and slewing speed combination; wherein the selectable luffing and slewing speed ratios refer to all possible combination ratios formed between the luffing speed and the slewing speed set by the tower crane.

[0196] From all the possible luffing and slewing speed ratios, the minimum value greater than the calculated speed ratio δ is selected as the current optimal speed combination. Here, different speed levels set by the tower crane are considered, with the aim of finding a speed combination that can both ensure operation synchronization and maximize efficiency. For example, if the luffing speed of the tower crane can be set to , and the slewing speed can be set to , there are 12 speed ratios in total. Then, the appropriate pairing combination needs to be selected from them.

[0197] S233, planning a new path based on the luffing and slewing speed combination.

[0198] In this embodiment, a new operating path is planned based on the selected luffing and slewing speed combination. This new path aims to make the two actions as simultaneous as possible, reducing the number of separate operations, and thus improving overall efficiency.

[0199] S234, judging whether the hook height on the new path is feasible.

[0200] In this embodiment, it is checked whether the height of the hook on the newly planned path can safely pass all obstacles without collision. This step is crucial as it is directly related to the safety of the operation.

[0201] S235, if the hook height is feasible, optimizing the slewing direction and the luffing path using the new path.

[0202] In this embodiment, if the hook height is considered feasible, the new path is used to further optimize the slewing direction and luffing path. This step helps to ensure that the tower crane operates more efficiently and safely when performing tasks.

[0203] S236, based on the new path combined with the height changes that the tower crane needs to pass through during operation, calculate the time required to reach the next height, and determine the lifting speed according to the required time, and select the speed value closest to the lifting speed in the fixed classification, adjust the hook height to make the hook pass over the obstacle;

[0204] If the hook height is not feasible, perform step S231.

[0205] For each path segment, the corresponding hook lifting speed v needs to be calculated based on the average time t required to reach the next height. Then select the speed value closest to v from the fixed classification speed of the tower crane for adjustment. If the current height is lower than the target height, select a classification speed higher than the calculated speed; otherwise, select a classification speed lower than the calculated speed. This is done to ensure that the height adjustment is completed in the shortest time, so that the hook can smoothly pass over the obstacle.

[0206] If the hook height is found to be not feasible at any point, it is necessary to return to step S231 to start the entire process again until a feasible solution is found. This method effectively improves the efficiency of the automatic operation of the tower crane, while also ensuring the safety and accuracy of the operation.

[0207] In this embodiment, the luffing and slewing operations in the horizontal plane are first optimized by merging. The merging of luffing and slewing mainly depends on two factors: one is the height, to ensure that the hook does not hit obstacles; the other is the speed of the tower crane operation, especially the influence of luffing and slewing speed on the path, as shown in Figure 6 and Figure 7 Path planning considering the speed factor means that the length of the path of the tower crane when performing luffing and slewing will be proportional to the speed.

[0208] Since the operating speed of the existing tower crane is fixed in stages, it is difficult to make the merged path completely match the start and end points of luffing and slewing. Therefore, a strategy of using a larger luffing speed is adopted in the automatic operation planning, and the merged path is made as close to the ideal first and last connection state as possible. This strategy not only reduces the demand for one-time operation of the tower crane, but also makes the luffing operation relatively simple and easy to perform. In order to realize the merging of the path, the ratio of the luffing and slewing paths is calculated. Assuming that the luffing speed of the tower crane can be set to , and the slewing speed can be set to , then , there are 12 possible combinations of speed ratios. From all possible combinations of speed ratios, the one that is just greater than δ is chosen as the current selection. For example, if / is the speed ratio that is closest to and greater than , then / is chosen as the luffing speed, as the slewing speed. A new path is planned according to the selected speed ratio, and it is again checked whether there is a problem of the hook height being unable to reach. If there is no problem, the merged path is the optimal path; if there is a problem, a larger speed ratio is selected to continue to verify until a suitable path is found or the method is abandoned to return to the original path.

[0209] In addition, for the originally planned path, the luffing and slewing can be composed of multiple segments. The merging optimization is performed in turn in the manner of one segment of luffing plus one segment of slewing. As shown in Figure 8 , next, the height at which the tower crane operates is optimized. In both the original planning and the above-mentioned merged path, the height at which the tower crane operates is always the highest value in the path. In order to improve efficiency, the height is gradually adjusted during luffing and slewing, so that the automatic path planning of the tower crane can integrate the factor of height change. First, the height change on the luffing and slewing path is determined in the three-dimensional model, and then the horizontal path length and the required time t to reach the next height are calculated according to these changes. According to the time, the lifting speed is determined to ensure that the hook can reach the required height within the specified time. Finally, for multiple height values existing in the planned horizontal path, the above process is repeated to determine the corresponding lifting speed until the end position is reached.

[0210] The hook starts from the starting point and needs to cross a higher position A. Obviously, the height of position A is higher than the starting point, so the hook needs to be lifted to a height higher than A in advance before moving to A. In order to improve efficiency, the hook is lifted to an appropriate height during movement (combined with luffing and slewing). Assuming that the average speed of the hook during horizontal movement is , the time required to reach A is . According to this, the speed required for the hook to rise to A is at least . Because the lifting speed is fixed in stages, a stage speed slightly greater than v is selected, for example . In this way, the hook is lifted at a speed of while performing horizontal luffing and slewing, and when position A is reached, the hook is located at an appropriate height above, thereby successfully crossing the obstacle.

[0211] The embodiment combines the luffing and slewing operations of the tower crane, optimizes the operation efficiency on the horizontal plane based on the relationship that the path length is proportional to the speed, considers the hook height to avoid obstacles, adopts a larger luffing speed strategy to make the path connection closer and reduce the operation times, selects the optimal speed ratio from 12 speed ratio combinations to plan the path, ensures that the hook can smoothly reach the target position without height limitation, further dynamically adjusts the height during luffing and slewing to integrate the height change factor in the automatic path planning, so as to realize a more efficient and smooth automatic operation process, and effectively improves the overall efficiency and safety of the tower crane operation. This optimization not only reduces the operation complexity, but also ensures the efficiency and smoothness when crossing different heights, so that the tower crane operation is more intelligent and flexible.

[0212] Figure 10 is a schematic block diagram of a tower crane intelligent lifting object system 300 based on automatic path planning provided by an embodiment of the present application. As Figure 10 indicated, corresponding to the above tower crane intelligent lifting object method based on automatic path planning, the present application also provides a tower crane intelligent lifting object system 300 based on automatic path planning. The tower crane intelligent lifting object system 300 based on automatic path planning includes units for executing the above tower crane intelligent lifting object method based on automatic path planning, and the system can be configured in a server. Specifically, please refer to Figure 10 , the tower crane intelligent lifting object system 300 based on automatic path planning includes an acquisition unit 301, a slewing and luffing determination unit 302, a height determination unit 304, an identification and positioning unit 305, and a running unit 306.

[0213] The acquisition unit 301 is configured to acquire information of a current position and a target position of a hook to obtain a starting position and a target position. The slewing and luffing determination unit 302 is configured to determine an angle difference by polar coordinate conversion according to the starting position and the target position, determine a slewing direction based on the angle difference and an obstacle condition, and determine a luffing path according to the slewing direction based on the starting position and the target position. The height determination unit 304 is configured to determine a highest height of path running according to the slewing direction and the luffing path, and determine a hook lifting height. The identification and positioning unit 305 is configured to identify and position an object position and a specific coordinate of the object relative to the tower crane. The running unit 306 is configured to move the hook to the object position based on an automatically planned path to transport the object to a designated location, wherein the automatically planned path includes the slewing direction, the luffing path, and the hook lifting height.

[0214] In an embodiment, the slewing and luffing determination unit 302 includes:

[0215] The conversion subunit is configured to convert the starting position and the target position into polar coordinates to obtain a conversion result; the initial direction determination subunit is configured to calculate an angle difference according to the conversion result to determine an initial rotation direction; the detection subunit is configured to detect an obstacle situation in the initial rotation direction step by step; the rotation direction determination subunit is configured to determine the initial rotation direction as a rotation direction when there is an obstacle-free path in the initial rotation direction; when there is no obstacle-free path in the initial rotation direction, the initial rotation direction is replaced, and when there is no obstacle-free path in the replaced initial rotation direction, the replaced initial rotation direction is determined as the rotation direction; the amplitude path determination subunit is configured to move from a current position to a target position according to the rotation direction on a horizontal plane; when an obstacle blocks the rotation, the amplitude of the hook is adjusted to bypass the obstacle, and if the current direction is blocked, the amplitude is adjusted in the opposite direction until a passable rotation path is found to continue moving forward, to obtain an amplitude path.

[0216] In an embodiment, the detection subunit is configured to traverse a large arm rotation sector in the initial rotation direction by degrees each time and detect obstacles along a radius axis using a sliding window to obtain an obstacle situation in the initial rotation direction.

[0217] In an embodiment, the detection subunit includes:

[0218] The sector determination module is configured to select a sector in the initial rotation direction to obtain a sector; the axis determination module is configured to select a radius as a detection axis every set degree in the sector; the sliding window setting module is configured to set a sliding window along the detection axis to analyze obstacles; the corresponding module is configured to correspond the position of each sliding window to a three-dimensional space map; the judgment module is configured to judge whether the obstacles in the current sliding window allow safe passing; the first determination module is configured to determine that there is an obstacle-free path in the initial rotation direction if the obstacles in the current sliding window allow passing; the judgment module is configured to judge whether all the sliding windows on the detection axis have been checked; if all the sliding windows on the detection axis have been checked, the initial rotation direction is determined as the rotation direction when there is an obstacle-free path in the initial rotation direction; when there is no obstacle-free path in the initial rotation direction, the initial rotation direction is replaced, and when there is no obstacle-free path in the replaced initial rotation direction, the replaced initial rotation direction is determined as the rotation direction; if all the sliding windows on the detection axis have not been checked, a radius is selected as a detection axis every set degree in the sector; if the obstacles in the current sliding window do not allow passing, it is judged whether all the sliding windows on the detection axis have been checked.

[0219] In an embodiment, the running unit 306 is configured to take a waiting strategy when an obstacle is encountered during automatic operation of the tower crane, and if the obstacle is not removed within a set time, the tower crane will rise to avoid the obstacle and re-plan a path to continue work.

[0220] In an embodiment, the identification positioning unit 305 includes:

[0221] a picture acquisition subunit configured to acquire a target object picture; a to-be-identified picture acquisition subunit configured to acquire a to-be-identified picture obtained by rotating search of a binocular camera of the tower crane; an identification subunit configured to identify the to-be-identified picture based on a large model algorithm, and locate a hoisted object; and a positioning subunit configured to calculate a distance from the hoisted object to the camera and a relative coordinate of the hoisted object according to the to-be-identified picture using an SfM algorithm, so as to obtain a position of the hoisted object and a specific coordinate of the hoisted object relative to the tower crane.

[0222] Figure 11 is a schematic block diagram of a tower crane intelligent hoisting object system 300 based on automatic path planning according to another embodiment of the present application. As shown in Figure 11 the tower crane intelligent hoisting object system 300 based on automatic path planning of the present embodiment is based on the above-mentioned embodiment and further includes a segmented merging unit 303.

[0223] The segmented merging unit 303 is configured to segment and merge a luffing path and a slewing direction of the tower crane, adjust a speed ratio, and dynamically adjust a height of a hook during horizontal movement, so that the hook can pass over an obstacle.

[0224] In an embodiment, the segmented merging unit 303 includes:

[0225] a calculation subunit configured to calculate a speed ratio based on the luffing path and the slewing direction; a selection subunit configured to select a luffing and slewing speed combination based on the speed ratio; a combination subunit configured to plan a new path based on the luffing and slewing speed combination; a feasibility judgment subunit configured to judge whether a height of the hook on the new path is feasible; if the height of the hook is not feasible, the selection subunit is configured to select an optimal luffing and slewing speed combination based on the speed ratio; and an optimization subunit configured to, if the height of the hook is feasible, optimize the slewing direction and the luffing path by using the new path; and a time calculation subunit configured to calculate a time required to reach a next height based on the new path combined with a height change to be passed through during operation of the tower crane, determine a lifting speed according to the required time, select a speed value closest to the lifting speed in a fixed classification, and adjust the height of the hook, so that the hook can pass over the obstacle.

[0226] In an embodiment, the selecting unit is configured to select a speed ratio greater than the speed ratio from all selectable speed ratios of the luffing and slewing to obtain the luffing and slewing speed combination; wherein the selectable speed ratios of the luffing and slewing refer to all possible combination ratios formed between the luffing speed and the slewing speed according to the tower crane setting.

[0227] It should be noted that the specific implementation process of the tower crane intelligent object lifting system 300 and each unit based on automatic path planning described above can be clearly understood by those skilled in the art, and can refer to the corresponding description in the foregoing method embodiments. For the convenience and brevity of description, it will not be repeated here.

[0228] The tower crane intelligent object lifting system 300 based on automatic path planning described above can be implemented in the form of a computer program, which can run on a computer device as shown in the computer device. Figure 12 The computer device can be a server, wherein the server can be a stand-alone server or a server cluster composed of multiple servers.

[0229] Please refer to Figure 12 , Figure 12 is a schematic block diagram of a computer device provided by an embodiment of the present application. The computer device 500 can be a server, wherein the server can be a stand-alone server or a server cluster composed of multiple servers.

[0230] Referring to Figure 12 , the computer device 500 includes a processor 502, a memory, and a network interface 505 connected through a system bus 501, wherein the memory can include a non-volatile storage medium 503 and an internal memory 504.

[0231] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions, which when executed, can cause the processor 502 to perform a tower crane intelligent object lifting method based on automatic path planning.

[0232] The processor 502 is configured to provide computing and control capabilities to support the operation of the entire computer device 500.

[0233] The internal memory 504 provides an environment for the running of the computer program 5032 in the non-volatile storage medium 503, which when executed by the processor 502, can cause the processor 502 to perform a tower crane intelligent object lifting method based on automatic path planning.

[0234] The network interface 505 is configured to perform network communication with other devices. Those skilled in the art can understand that Figure 12The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device 500 to which the scheme of the present application is applied. Specifically, the computer device 500 can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0235] The processor 502 is configured to run the computer program 5032 stored in the memory to implement all steps of the method for intelligent object hoisting of a tower crane based on automatic path planning.

[0236] It should be understood that, in the embodiments of the present application, the processor 502 can be a central processing unit (CPU), and the processor 502 can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0237] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiments of the method can be completed by a computer program instructing relevant hardware. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the above-mentioned embodiments of the method.

[0238] Therefore, the present application also provides a storage medium. The storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program is executed by a processor to make the processor execute all steps of the method for intelligent object hoisting of a tower crane based on automatic path planning.

[0239] The storage medium can be a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various computer-readable storage media that can store program codes.

[0240] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in general terms in the above description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0241] In several embodiments provided by the present application, it should be understood that the disclosed system and method can be implemented in other ways. For example, the system embodiments described above are only illustrative. For example, the division of each unit is only a logical functional division, and actual implementation can have another division. For example, multiple units or components can be combined or integrated into another system, or some features can be omitted or not executed.

[0242] The steps in the method embodiments of the present application can be adjusted, combined and deleted in sequence according to actual needs. The units in the system embodiments of the present application can be combined, divided and deleted according to actual needs. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0243] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a terminal or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0244] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for intelligent lifting of tower cranes based on automatic path planning, characterized in that, include: Obtain the current and target positions of the hook to determine the starting and target positions; The angle difference is determined by polar coordinate transformation based on the starting position and the target position. The slewing direction is determined based on the angle difference and the obstacle situation. The luffing path is determined based on the slewing direction, the starting position, and the target position. The luffing path and slewing direction of the tower crane are segmented and merged. The speed ratio is adjusted, and the hook height is dynamically adjusted during horizontal movement so that the hook can pass over obstacles. The obstacle situation is obtained by traversing the boom rotation fan surface in steps of several degrees and using a sliding window to detect obstacles along the radial axis. The maximum height of the path is determined based on the rotation direction and the luffing path, and the lifting height of the hook is also determined. Identify and locate the position of the suspended object and its specific coordinates relative to the tower crane; The hook is moved to the position of the suspended object based on an automatically planned path in order to transport the suspended object to a designated location. The automatically planned path includes the turning direction, the luffing path, and the lifting height of the hook. The segmented tower crane's luffing path and slewing direction are combined, and the speed ratio is adjusted. The hook height is dynamically adjusted during horizontal movement to allow the hook to overcome obstacles, including: The speed ratio is calculated based on the amplitude variation path and the turning direction; The combination of amplitude and slewing speed is selected based on the aforementioned speed ratio; A new path is planned based on the aforementioned combination of amplitude and slewing speed; Determine whether the hook height on the new path is feasible; If the hook height is feasible, the new path is used to optimize the slewing direction and the luffing path; Based on the new path and the height changes that the tower crane needs to pass through during operation, the time required to reach the next height is calculated, and the lifting speed is determined according to the required time. The speed value closest to the lifting speed is selected in the fixed level, and the hook height is adjusted so that the hook can pass over the obstacle. If the hook height is not feasible, then the optimal combination of luffing and slewing speeds will be selected based on the speed ratio.

2. The intelligent tower crane lifting method based on automatic path planning according to claim 1, characterized in that, The step of determining the angle difference using polar coordinate transformation based on the starting position and the target position, determining the turning direction based on the angle difference and obstacle conditions, and determining the amplitude path based on the turning direction and the starting position and the target position includes: Based on the starting position and the target position, convert them into polar coordinates to obtain the conversion result; Calculate the angle difference based on the conversion result to determine the initial rotation direction; By progressively detecting obstacles in the selected initial turning direction; If there is an unobstructed path in the initial turning direction, the initial turning direction is determined as the turning direction; if there is no unobstructed path in the initial turning direction, the initial turning direction is changed; if there is no unobstructed path in the changed initial turning direction, the changed initial turning direction is determined as the turning direction. On the horizontal plane, based on the rotation direction, the crane moves towards the target position according to the current position; when an obstacle is encountered that obstructs the rotation, the boom is adjusted to bypass the obstacle; if the current direction of progress is blocked, the boom is adjusted in the opposite direction until a passable rotation path is found and the crane continues to move forward to obtain the boom path.

3. The intelligent tower crane lifting method based on automatic path planning according to claim 2, characterized in that, The step-by-step detection of obstacles in the selected initial turning direction includes: In the initial rotation direction, the large arm rotation fan is traversed by stepping several degrees each time, and obstacles are detected along the radial axis using a sliding window to obtain the obstacle situation in the initial rotation direction.

4. The intelligent tower crane lifting method based on automatic path planning according to claim 3, characterized in that, The process of traversing the rotating fan-shaped surface of the large arm in the initial rotation direction by taking steps of several degrees each time and using a sliding window to detect obstacles along the radial axis to obtain the obstacle situation in the initial rotation direction includes: In the initial rotation direction, a sector-shaped area is selected to obtain a fan-shaped surface; Within the sector, a radius is selected at predetermined intervals as the detection axis; A sliding window is set at intervals along the detection axis to perform obstacle analysis; Map the position of each sliding window to a three-dimensional spatial map; Determine whether the obstacle within the current sliding window allows for safe passage; If the obstacle within the current sliding window is passable, it is determined that there is an unobstructed path in the initial turning direction; Determine whether all sliding windows on the detection axis have been inspected; If all sliding windows on the detection axis have been checked, then the following steps are executed: if there is an unobstructed path in the initial turning direction, determine the initial turning direction as the turning direction; if there is no unobstructed path in the initial turning direction, change the initial turning direction; if there is no unobstructed path in the changed initial turning direction, determine the changed initial turning direction as the turning direction. If all sliding windows on the detection axis have not been checked, then the step of selecting a radius as the detection axis at set intervals within the sector is executed. If an obstacle within the current sliding window is not allowed to pass, the process proceeds to determine whether all sliding windows on the detection axis have been checked.

5. The intelligent tower crane lifting method based on automatic path planning according to claim 4, characterized in that, The selection of the optimal combination of amplitude and slewing speed based on the speed ratio includes: Select a speed ratio greater than the speed ratio from all available luffing and slewing speed ratios to obtain a combination of luffing and slewing speeds; wherein, the available luffing and slewing speed ratios refer to all possible combinations of ratios formed between the luffing speed and slewing speed set by the tower crane.

6. The intelligent tower crane lifting method based on automatic path planning according to claim 1, characterized in that, The method of moving the hook to the location of the suspended object based on automatic path planning to transport the suspended object to the designated location includes: When the tower crane encounters an obstacle during automatic operation, it adopts a waiting strategy. If the obstacle is not cleared within the set time, the tower crane will rise to avoid the obstacle and replan its path to continue the operation.

7. The intelligent tower crane lifting method based on automatic path planning according to claim 1, characterized in that, The process of identifying and locating the position of the suspended object and its specific coordinates relative to the tower crane includes: Obtain an image of the target object; Obtain the image to be identified obtained from the rotating search of the tower crane's binocular camera; Based on the above, the image to be identified is identified using a large model algorithm, and the suspended object is located; The SfM algorithm is used to calculate the distance from the suspended object to the camera and its relative coordinates based on the image to be identified, so as to obtain the position of the suspended object and its specific coordinates relative to the tower crane.

8. A tower crane intelligent lifting system based on automatic path planning, employing the method described in any one of claims 1-7, characterized in that, include: The acquisition unit is used to acquire information about the current position and target position of the hook in order to obtain the starting position and target position; A gyration amplitude determination unit is used to determine the angle difference based on the starting position and the target position using polar coordinate transformation, determine the gyration direction based on the angle difference and the obstacle situation, and determine the amplitude path based on the gyration direction, the starting position, and the target position. The height determination unit is used to determine the maximum height of the path operation based on the rotation direction and the luffing path, and to determine the lifting height of the hook; The identification and positioning unit is used to identify and locate the position of the suspended object and its specific coordinates relative to the tower crane; The operating unit is used to move the hook to the position of the suspended object based on an automatically planned path, so as to transport the suspended object to a designated location. The automatically planned path includes the turning direction, the luffing path, and the lifting height of the hook.

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