A kind of active anti-collision control method and device for multiple crane cooperative operation

Abstract

This invention discloses an active collision avoidance control method and device for multi-crane collaborative operation, relating to the technical field of crane collision early warning. The method includes: loading a crane model into a site model to obtain a collaborative construction model; updating the collaborative construction model in real time based on received crane status data and environmental obstacle data; constructing a motion model for each crane based on received crane status data, loading the motion model into the collaborative construction model, and generating a dynamic safety zone for each crane by combining the type and working environment of each crane; determining the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone, and generating a collision avoidance early warning scheme based on the relationship between the shortest distance and a preset safety threshold. This invention can monitor the crane's movement path and surrounding environment in real time, and issue alarm or stop signal control when the safety zone is intruded upon, ensuring the safety and construction efficiency of multi-crane collaborative operation.

Description

Technical Field

[0001] This invention relates to the technical field of crane collision warning, and in particular to an active collision avoidance control method and device for multi-crane cooperative operation. Background Technology

[0002] Cranes, as a type of lifting machinery, are indispensable equipment in modern industrial production. They are widely used in construction sites, ports, mines, power plants, and other locations to complete various construction and operations such as lifting, transporting, loading, unloading, and installing materials, as well as transporting personnel. They can greatly reduce the physical labor intensity of operators and improve labor productivity. Nowadays, construction sites are mostly intensive, and to meet construction needs, multiple cranes often operate simultaneously on a single construction site. For example, multiple tower cranes may operate simultaneously, or tower cranes and crawler cranes may operate simultaneously.

[0003] In a construction plant, when multiple cranes (such as gantry cranes, tower cranes, etc.) are working together, collisions can easily occur between the cranes due to the complex movements of their moving parts (such as booms, slewing mechanisms, trolleys, etc.), leading to equipment damage and production interruptions. Summary of the Invention

[0004] This invention provides an active anti-collision control method and device for multi-crane collaborative operation, which can monitor the movement path of the cranes and the surrounding environment in real time, and issue alarm or stop signal control when the safe zone is invaded, so as to ensure the safety and construction efficiency of multi-crane collaborative operation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an active collision avoidance control method for multi-crane collaborative operation. This method is applied to the control module of an active collision avoidance control system for multi-crane collaborative operation. The active collision avoidance control system for multi-crane collaborative operation further includes a data acquisition module and an alarm module. The data acquisition module is used to collect crane status data of each crane within the target construction site, as well as environmental obstacle data within the target construction site. The method includes: The crane model obtained by structural decomposition modeling for each crane is loaded into the site model obtained by site space modeling for the target construction plant, resulting in a collaborative construction model with site space as the unified coordinate system. The collaborative construction model is updated in real time based on the real-time received crane status data and environmental obstacle data. The crane status data includes the trolley position, boom rotation angle, boom pitch angle, trolley position, and hook height of each crane. The environmental obstacle data includes radar point cloud data of buildings, other cranes around the target crane, and personnel. Based on the received crane status data of each crane, a motion model of each crane is constructed, the motion model is loaded into the collaborative construction model, and a dynamic safety zone of each crane is generated by combining the type and working environment of each crane. Determine the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone, and generate a collision avoidance warning scheme based on the relationship between the shortest distance and a preset safety threshold.

[0006] In one possible implementation, the working environment of the target crane includes the construction area of ​​the target construction site where the target crane is located, other cranes around the target crane, and fixed obstacles within the construction area; loading the motion model into the collaborative construction model, and combining the type and working environment of each crane, the dynamic safety area of ​​each crane is generated, specifically including: The motion model is loaded into the collaborative construction model, and each crane is taken as the target crane. The maximum working range of the target crane is determined in real time according to the type and motion model of the target crane. Within the maximum operating range, the safe operating range is determined by using the boundary of the construction area, fixed obstacles within the construction area, and the positions of other cranes as avoidance constraints. The overlapping area between the safe operating range of the target crane and the safe operating range of other cranes is defined as the dynamic safe zone of the target crane.

[0007] In one possible implementation, determining the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone specifically includes: The radar point cloud data is grouped based on a clustering algorithm to perform independent obstacle identification. The independent obstacles include buildings, other cranes around the target crane, and personnel. The shortest distance from each of the identified obstacles to the dynamic safety zone is calculated based on the distance formula.

[0008] In one possible implementation, the preset safety threshold includes a warning control threshold, a deceleration control threshold, and a stop control threshold, with values ​​decreasing sequentially. The corresponding anti-collision warning schemes are alarm, crane deceleration control, and crane stop control, respectively. The anti-collision warning scheme is generated based on the relationship between the shortest distance and the preset safety threshold as follows: When the shortest distance is less than or equal to the warning control threshold and greater than the deceleration control threshold, an alarm signal is generated; the alarm signal is used to trigger the alarm module to work. When the shortest distance is less than or equal to the deceleration control threshold and greater than the stop control threshold, a crane deceleration control signal is generated. When the shortest distance is less than or equal to the stop control threshold, a crane stop control signal is generated.

[0009] In one possible implementation, the method further includes, before receiving the crane status data: The system controls the signal acquisition device installed on each crane to monitor the crane status data of each crane in real time. The signal acquisition device includes an encoder or GPS device for acquiring the position of the trolley, a gyroscope or rotary encoder for acquiring the boom rotation angle, a tilt sensor for acquiring the boom pitch angle, a linear encoder for acquiring the position of the trolley, and a height sensor for acquiring the hook height.

[0010] In one possible implementation, before receiving the environmental obstacle data, the method further includes: The lidar installed on the top of the crane boom or the slewing platform is controlled to emit laser beams in a rotating scanning manner to acquire radar point cloud data of the surrounding environment of the crane in order to capture dynamic obstacles in real time.

[0011] In one possible implementation, the active collision avoidance control system for multi-crane collaborative operation also includes a remote monitoring platform, which is used to display in real time the position, attitude, movement trajectory of all cranes and the position of obstacles identified according to the received radar point cloud data during the multi-crane collaborative operation of the target construction site.

[0012] Secondly, the present invention provides an active collision avoidance control device for multi-crane collaborative operation. This device is applied to the control module of an active collision avoidance control system for multi-crane collaborative operation. The active collision avoidance control system for multi-crane collaborative operation further includes a data acquisition module and an alarm module. The data acquisition module is used to collect crane status data of each crane within the target construction site, as well as environmental obstacle data within the target construction site. The device includes: The system initialization unit is used to load the crane model obtained by structural decomposition modeling for each crane into the site model obtained by site space modeling for the target construction plant, so as to obtain a collaborative construction model with site space as the unified coordinate system. The model update unit is used to update the collaborative construction model in real time based on the real-time received crane status data and environmental obstacle data; the environmental obstacle data includes radar point cloud data of buildings, other cranes around the target crane, and personnel; the crane status data includes the trolley position, boom rotation angle, boom pitch angle, trolley position, and hook height of each crane. The dynamic safety zone determination unit is used to construct a motion model for each crane based on the crane status data received from each crane, load the motion model into the collaborative construction model, and generate a dynamic safety zone for each crane by combining the type and working environment of each crane. The risk assessment and early warning decision unit is used to determine the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone, and generate a collision avoidance early warning scheme based on the relationship between the shortest distance and a preset safety threshold.

[0013] In one possible implementation, the working environment of the target crane includes the construction area of ​​the target construction site where the target crane is located, other cranes surrounding the target crane, and fixed obstacles within the construction area; when loading the motion model into the collaborative construction model and generating the dynamic safety area for each crane based on its type and working environment, the dynamic safety area determination unit is specifically configured to execute: The motion model is loaded into the collaborative construction model, and each crane is taken as the target crane. The maximum working range of the target crane is determined in real time according to the type and motion model of the target crane. Within the maximum operating range, the safe operating range is determined by using the boundary of the construction area, fixed obstacles within the construction area, and the positions of other cranes as avoidance constraints. The overlapping area between the safe operating range of the target crane and the safe operating range of other cranes is defined as the dynamic safe zone of the target crane.

[0014] In one possible implementation, when determining the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone, the risk assessment and early warning decision unit is configured to perform: The radar point cloud data is grouped based on a clustering algorithm to perform independent obstacle identification. The independent obstacles include buildings, other cranes around the target crane, and personnel. The shortest distance from each of the identified obstacles to the dynamic safety zone is calculated based on the distance formula.

[0015] In one possible implementation, the preset safety threshold includes a warning control threshold, a deceleration control threshold, and a stop control threshold, with values ​​decreasing sequentially. The corresponding anti-collision warning schemes are alarm, crane deceleration control, and crane stop control, respectively. When generating an anti-collision warning scheme based on the relationship between the shortest distance and the preset safety threshold, the risk assessment and warning decision unit is specifically configured to execute: When the shortest distance is less than or equal to the warning control threshold and greater than the deceleration control threshold, an alarm signal is generated; the alarm signal is used to trigger the alarm module to work. When the shortest distance is less than or equal to the deceleration control threshold and greater than the stop control threshold, a crane deceleration control signal is generated. When the shortest distance is less than or equal to the stop control threshold, a crane stop control signal is generated.

[0016] In one possible implementation, the device further includes a data acquisition control unit, which is configured to perform the following before receiving the crane status data: The system controls the signal acquisition device installed on each crane to monitor the crane status data of each crane in real time. The signal acquisition device includes an encoder or GPS device for acquiring the position of the trolley, a gyroscope or rotary encoder for acquiring the boom rotation angle, a tilt sensor for acquiring the boom pitch angle, a linear encoder for acquiring the position of the trolley, and a height sensor for acquiring the hook height. In one possible implementation, the data acquisition control unit is configured to perform the following before receiving the environmental obstacle data: The lidar installed on the top of the crane boom or the slewing platform is controlled to emit laser beams in a rotating scanning manner to acquire radar point cloud data of the surrounding environment of the crane in order to capture dynamic obstacles in real time.

[0017] In one possible implementation, the device further includes a display control unit configured to perform: during the collaborative operation of multiple cranes at the target construction site, displaying in real time the position, attitude, movement trajectory of all cranes, as well as the position of obstacles identified based on received radar point cloud data, through a remote monitoring platform.

[0018] Thirdly, the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the active collision avoidance control method for multi-crane cooperative operation as described above.

[0019] Fourthly, the present invention provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the active collision avoidance control method for multi-crane cooperative operation as described above.

[0020] The active collision avoidance control method for multi-crane collaborative operation provided in this invention, in practical applications, loads the crane models of multiple cranes working in the target construction site into the site model of the target construction site. Using the site space as the same coordinate system, a collaborative construction model is obtained that realistically reflects the key information such as the structure and position of each crane. The relevant parameters of the collaborative construction model are updated based on real-time received crane status data and environmental obstacle data. The motion model of each crane, constructed based on its status information, is also loaded into the collaborative construction model. The dynamic safety zone of each crane is determined by combining the crane type and working environment. Finally, a collision avoidance warning scheme is generated based on the relationship between the shortest distance between obstacles corresponding to radar point cloud data and the dynamic safety zone, and a preset safety threshold. This invention transforms the work safety problem in physical space into a geometric distance calculation problem in digital space. By monitoring the movement path and surrounding environment of each crane in real time, it issues an alarm or performs deceleration and stopping control on the crane when its safety zone is intruded, thereby ensuring the safety of multi-crane collaborative operation and guaranteeing construction efficiency. Attached Figure Description

[0021] Figure 1 A flowchart illustrating the steps of an active collision avoidance control method for multi-crane collaborative operation provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a multi-crane collision scenario in a target construction site, provided by an embodiment of the present invention, in an active collision avoidance control method for multi-crane collaborative operation. Figure 3 This is a schematic diagram illustrating a collision scenario between cranes in a target construction site, provided in an active collision avoidance control method for multi-crane collaborative operation according to an embodiment of the present invention. Figure 3 (a) is a schematic diagram of the collision scenario between crane 1, crane 2 and crane 3; (b) is a schematic diagram of the collision scenario between crane 1 and crane 2; (c) is a schematic diagram of the collision scenario between crane 1 and crane 3; and (d) is a schematic diagram of the collision scenario between crane 2 and crane 4. Figure 4 This is a schematic diagram of a crane model for structural decomposition modeling when the crane is a gantry crane, in an active anti-collision control method for multi-crane collaborative operation provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of a crane model for structural decomposition modeling when the crane is a tower crane, in an active collision avoidance control method for multi-crane collaborative operation provided in an embodiment of the present invention. Figure 6 This is a structural block diagram of an active anti-collision control device for multi-crane collaborative operation provided in an embodiment of the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more. Furthermore, the use of "based on" or "according to" implies openness and inclusiveness, because processes, steps, calculations, or other actions "based on" or "according to" one or more of the stated conditions or values ​​may in practice be based on additional conditions or beyond the stated values.

[0024] This invention provides an active anti-collision control method and device for multi-crane collaborative operation, which can monitor the movement path of the cranes and the surrounding environment in real time, and issue alarm or stop signal control when the safe zone is invaded, so as to ensure the safety and construction efficiency of multi-crane collaborative operation.

[0025] In a first aspect, embodiments of the present invention provide an active collision avoidance control method for multi-crane collaborative operation, which is applied to the control module of an active collision avoidance control system for multi-crane collaborative operation.

[0026] This active collision avoidance control system for multi-crane collaborative operation also includes a data acquisition module and an alarm module. The data acquisition module collects crane status data for each crane within the target construction site, as well as environmental obstacle data. The alarm module, upon receiving an alarm signal from the control module, issues an audible and visual alarm to alert the user of a potential collision risk with the crane.

[0027] like Figure 1 As shown, the active collision avoidance control method for multi-crane cooperative operation provided in this embodiment of the invention includes the following steps: Step 101: Load the crane model obtained by structural decomposition modeling for each crane into the site model obtained by site space modeling for the target construction plant, to obtain a collaborative construction model with the site space as the unified coordinate system.

[0028] like Figure 2 As shown, in this embodiment, cranes 1, 2, 3, and 4 are respectively arranged inside the target construction site, and the four cranes work together. Figure 2An analysis of the location and working principle of the four cranes reveals the following possibilities for collisions between them: Not only must crane 1 and crane 2 be prevented from colliding with each other, but also collisions between these two cranes and crane 3 must be prevented.

[0029] Crane 2 needs to prevent collisions with the boom of crane 4, and also needs to prevent collisions with crane 1 and crane 3.

[0030] Specifically, such as Figure 3 As shown in (a), cranes 1, 2, and 3 will collide when operating simultaneously; as Figure 3 As shown in (b), crane 1 and crane 2 will collide when they are working simultaneously; as Figure 3 As shown in (c), crane 1 and crane 3 will collide when they are working simultaneously; as Figure 3 As shown in (d), cranes 2 and 4 will collide when they are working at the same time.

[0031] like Figure 4 , Figure 5 As shown, due to the wide variety of crane types, their irregular shapes, and differences in operating methods, when modeling a crane structure, it is necessary to decompose the crane into multiple hexahedral wireframe models (e.g., chassis, turntable, boom, counterweight, and hooks) according to the actual dimensions of the equipment. The basic dimensions of the crane model are set proportionally according to the actual geometric dimensions of the crane, and the established crane model realistically reflects the assembly position relationships and external dimensions of the actual crane equipment.

[0032] Using a hexahedral wireframe model to simplify and abstract complex surfaces and structures into a set of hexahedrons such as cubes or cuboids is a common engineering simplification method that facilitates calculation, analysis, and display. This embodiment does not impose any specific limitations.

[0033] Site spatial modeling of the target construction site refers to establishing a mathematical model of the tracks and track spacing of the cranes associated with the construction site (target construction site) in proportion. The established site model can accurately and clearly reflect the positional relationship of each crane in the site space.

[0034] Loading the crane model into the site model to obtain a collaborative construction model with the site space as the unified coordinate system specifically refers to substituting multiple related crane models for collaborative operations into the site model, using the site space as the unified coordinate system and the track direction as the X-axis, to realistically reflect key information such as the position of each crane, boom orientation, and hook height in the spatial mathematical model.

[0035] Specifically, in this embodiment, the travel distance of the crane on the track is the X coordinate, the travel distance of the trolley on the boom is the Y coordinate, and the height of the hook is the Z coordinate.

[0036] Step 102: Update the collaborative construction model in real time based on the real-time received crane status data and environmental obstacle data.

[0037] The crane status data includes the position of the trolley, the boom slewing angle, the boom pitch angle, the trolley position, and the hook height for each crane.

[0038] Environmental obstacle data includes radar point cloud data of buildings, other cranes around the target crane, and personnel.

[0039] by Figure 4 The gantry crane and Figure 5 Taking tower cranes as an example, collision prevention between gantry cranes and tower cranes requires monitoring real-time changes in crane status data such as the position of the trolley, the slewing angle of the gantry crane boom, the pitch angle of the gantry crane boom, and the position of the tower crane trolley, and updating the position and attitude of the corresponding cranes through the crane status data.

[0040] For a crane, the movement of the trolley affects the overall position of the crane; the rotation of the boom affects the position of the trolley and hook; the pitch of the boom affects the height and horizontal distance between the trolley and hook; the movement of the trolley changes the horizontal position of the hook; and the hook height directly changes the Z-coordinate of the hook. Therefore, based on the real-time received crane status data, the actual position and attitude of each component of the crane in a unified coordinate system can be calculated.

[0041] Environmental obstacle data typically originates from multiple radar sensors and requires fusion processing. Furthermore, radar point cloud data is usually very large, necessitating efficient processing. Environmental obstacle data includes static and dynamic data. Static data, such as fixed buildings, can be pre-loaded into the site model; dynamic data, such as personnel and other cranes around the affected crane, is constantly changing and requires real-time updates.

[0042] Step 103: Based on the received crane status data of each crane, construct a motion model for each crane, load the motion model into the collaborative construction model, and generate a dynamic safety zone for each crane by combining the type and working environment of each crane.

[0043] The motion model of the crane includes a kinematic model, a dynamic model, a workspace model, and a trajectory planning model.

[0044] The kinematic model is used to describe the geometric position and attitude relationship of the crane's various components, without considering the forces that generate the motion. For example, by using the trolley position, boom rotation angle, boom pitch angle, trolley position, and hook height, the positions of key points such as the end of the crane boom and the hook in a unified coordinate system can be calculated.

[0045] A dynamic model is used to describe the motion behavior of a crane under the action of forces, including factors such as mass, inertia, torque, and friction. Dynamic models can be used to simulate the dynamic response of a crane under external loads (such as wind loads and suspended weights), and for the design of control systems.

[0046] The workspace model describes the reachable working area of ​​the crane, that is, the spatial area that the hook can reach. The workspace is usually limited by the crane's structural dimensions and range of motion.

[0047] Trajectory planning model: used to plan the motion path of the crane from the initial state to the target state, so that it can avoid obstacles and meet kinematic and dynamic constraints.

[0048] The motion model provides the real-time position and motion trend of each component of the crane. Based on the motion model, combined with the crane type and working environment, the dynamic safety zone required by the crane during its movement can be calculated. For example, when the crane boom rotates, it needs to avoid collisions with other cranes or buildings, so a fan-shaped safety zone needs to be generated based on the boom's position and rotation angle; the crane hook may swing when lifting a load, so a spherical safety zone needs to be generated with the hook as the center, and the radius of this safety zone is determined based on factors such as the load and wind speed.

[0049] Step 104: Determine the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone, and generate a collision avoidance warning scheme based on the relationship between the shortest distance and the preset safety threshold.

[0050] Here, the obstacles corresponding to the radar point cloud data refer to the dynamic obstacles formed by clustering the radar point cloud data. Each obstacle can be represented by a point set or a bounding box. The shortest distance from each obstacle to each sub-region of the dynamic safety area determined in step 103 is calculated, and the minimum value is taken as the shortest distance from the obstacle to the dynamic safety area. The shortest distance is compared with the preset safety threshold, and different levels of early warning schemes are generated according to different distance ranges.

[0051] In practical applications, the active collision avoidance control method for multi-crane collaborative operation provided by this invention loads the crane models of multiple cranes working in the target construction building into the site model of the target construction building. Using the site space as the same coordinate system, a collaborative construction model that truly reflects the key information such as the structure and position of each crane is obtained. The relevant parameters of the collaborative construction model are updated based on the real-time received crane status data and environmental obstacle data. The motion model of each crane, constructed based on its status information, is loaded into the collaborative construction model. The dynamic safety zone of each crane is determined by combining the crane type and working environment. Finally, a collision avoidance warning scheme is generated based on the relationship between the shortest distance between the obstacle and the dynamic safety zone corresponding to the radar point cloud data and the preset safety threshold.

[0052] This invention transforms the work safety problem in physical space into a geometric distance calculation problem in digital space. By monitoring the movement path and surrounding environment of each crane in real time, it can issue an alarm or control the crane to slow down or stop when the safety zone of a crane is invaded, thereby ensuring the safety of multi-crane collaborative operation and guaranteeing construction efficiency.

[0053] Optionally, the working environment of the target crane includes the construction area of ​​the target construction site where the target crane is located, other cranes around the target crane, and fixed obstacles within the construction area; the motion model is loaded into the collaborative construction model, and combined with the type and working environment of each crane, the dynamic safety zone of each crane is generated, specifically including: The motion model is loaded into the collaborative construction model, and each crane is taken as the target crane. Based on the type of the target crane and the motion model, the maximum working range of the target crane is determined in real time.

[0054] The maximum working range of the target crane refers to its theoretical maximum working area without considering construction site boundaries, obstacles, and other cranes. The shape of this maximum working range may vary depending on the type of crane. For example, a tower crane may be cylindrical or spherical, while a crawler crane may be spherical or fan-shaped.

[0055] Within the maximum operating range, the safe operating area is determined by the boundaries of the construction area, fixed obstacles within the construction area, and the positions of other cranes as avoidance constraints.

[0056] The safe operating range of the target crane is obtained by trimming the maximum operating range after considering the construction area, fixed obstacles, and other crane positions.

[0057] The overlapping area between the safe operating range of the target crane and the safe operating range of other cranes is defined as the dynamic safe zone of the target crane.

[0058] The dynamic safety zone of the target crane is the area where both the target crane and other cranes will operate without collision. In other words, the dynamic safety zone (overlapping area) is a shared area where the target crane and other cranes operate, requiring special attention and coordination from the user to ensure that the operation of multiple cranes is staggered. We need to implement collision avoidance strategies within this area.

[0059] Optionally, determine the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safe zone, specifically including: The radar point cloud data is grouped based on a clustering algorithm to perform independent obstacle identification.

[0060] Individual obstacles include buildings, other cranes around the target crane, and personnel; The shortest distance from each identified obstacle to the dynamic safety zone is calculated based on the distance formula.

[0061] Specifically, the Point Cloud Library (PCL) algorithm is used to cluster and segment the point cloud to identify potential obstacles. Then, the minimum distance from the obstacle point cloud to a specified plane (such as the crane boom path) is calculated to achieve nearest point detection.

[0062] Optionally, the preset safety thresholds include a warning control threshold, a deceleration control threshold, and a stop control threshold, with values ​​decreasing sequentially. The corresponding anti-collision warning schemes are alarm, crane deceleration control, and crane stop control, respectively. The anti-collision warning scheme is generated based on the relationship between the shortest distance and the preset safety thresholds as follows: An alarm signal is generated when the shortest distance is less than or equal to the warning control threshold and greater than the deceleration control threshold; the alarm signal is used to trigger the alarm module to work. When the shortest distance is less than or equal to the deceleration control threshold and greater than the stop control threshold, a crane deceleration control signal is generated. A crane stop control signal is generated when the shortest distance is less than or equal to the stop control threshold.

[0063] In other words, the anti-collision warning scheme of the present invention is designed with a three-layer protection mechanism. When the shortest distance is detected to be less than or equal to the warning control threshold and greater than the deceleration control threshold, an audible and visual alarm is triggered to remind the operator that the crane is about to reach the dynamic safety zone.

[0064] When the shortest distance is less than or equal to the deceleration control threshold and greater than the stop control threshold, the crane will automatically decelerate to avoid excessive speed and increase the operator's working time.

[0065] When the shortest distance is less than or equal to the stop control threshold, it indicates that the crane is about to collide, and the crane will be automatically triggered to stop moving.

[0066] Optionally, before receiving crane status data, the method further includes: Control the signal acquisition device installed on each crane to monitor the crane status data of each crane in real time.

[0067] The signal acquisition device includes an encoder or GPS device for acquiring the position of the trolley, a gyroscope or rotary encoder for acquiring the boom rotation angle, a tilt sensor for acquiring the boom pitch angle, a linear encoder for acquiring the position of the trolley, and a height sensor for acquiring the hook height.

[0068] Specifically, the selection and specific location of each signal acquisition device vary slightly depending on the type of crane, which will not be elaborated upon in this solution.

[0069] Optionally, before receiving environmental obstacle data, the method further includes: The system controls a lidar mounted on the top of the crane boom or on the slewing platform to emit laser beams in a rotating scanning manner to acquire radar point cloud data of the surrounding environment of the crane, so as to detect dynamic obstacles in real time.

[0070] Specifically, in this embodiment, multiple lidars are used to form a radar monitoring system. A hybrid solid-state multi-line lidar gimbal radar is adopted, which emits a laser beam through high-speed rotation to acquire three-dimensional point cloud data of the 360° environment. The point cloud data reflects the surface shape and position of obstacles (such as other cranes, building structures).

[0071] Optionally, the active collision avoidance control system for multi-crane collaborative operation also includes a remote monitoring platform, which is used to display in real time the position, attitude, movement trajectory of all cranes and the position of obstacles identified based on the received radar point cloud data during the multi-crane collaborative operation of the target construction site.

[0072] Specifically, the remote monitoring platform can intuitively display the position, attitude, movement status of each crane, as well as the type and location of obstacles during the collaborative operation of multiple cranes in the target construction site, facilitating remote construction control.

[0073] The active collision avoidance control method for multi-crane collaborative operation of this invention realizes a multi-layered, proactive safety protection system through digital modeling, multi-sensor fusion, wireless communication, and intelligent algorithms. It not only improves operational safety but also enhances construction efficiency through collaborative optimization.

[0074] like Figure 6As shown, in a second aspect, embodiments of the present invention also provide an active collision avoidance control device for multi-crane collaborative operation. This device is applied to the control module of the active collision avoidance control system for multi-crane collaborative operation. The active collision avoidance control system for multi-crane collaborative operation also includes a data acquisition module and an alarm module. The data acquisition module is used to collect the crane status data of each crane in the target construction building, as well as the environmental obstacle data in the target construction building.

[0075] The device specifically includes a system initialization unit 201, a model update unit 202, a dynamic safety zone determination unit 203, and a risk assessment and early warning decision-making unit 204.

[0076] The system initialization unit 201 is used to load the crane model obtained by structural decomposition modeling for each crane into the site model obtained by site space modeling for the target construction plant, so as to obtain a collaborative construction model with the site space as the unified coordinate system.

[0077] The model update unit 202 is used to update the collaborative construction model in real time based on the real-time received crane status data and environmental obstacle data.

[0078] Specifically, environmental obstacle data includes radar point cloud data of buildings, other cranes around the target crane, and personnel; crane status data includes the trolley position, boom slewing angle, boom pitch angle, trolley position, and hook height of each crane.

[0079] The dynamic safety zone determination unit 203 is used to construct a motion model for each crane based on the crane status data received from each crane, load the motion model into the collaborative construction model, and generate a dynamic safety zone for each crane by combining the type and working environment of each crane.

[0080] The risk assessment and early warning decision unit 204 is used to determine the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone, and generate a collision avoidance early warning scheme based on the relationship between the shortest distance and the preset safety threshold.

[0081] Optionally, the working environment of the target crane includes the construction area of ​​the target construction plant where the target crane is located, other cranes around the target crane, and fixed obstacles within the construction area; when loading the motion model into the collaborative construction model and generating the dynamic safety area for each crane based on its type and working environment, the dynamic safety area determination unit 203 is specifically configured to execute: The motion model is loaded into the collaborative construction model, and each crane is taken as the target crane. Based on the type of the target crane and the motion model, the maximum working range of the target crane is determined in real time.

[0082] Within the maximum operating range, the safe operating area is determined by the boundaries of the construction area, fixed obstacles within the construction area, and the positions of other cranes as avoidance constraints.

[0083] The overlapping area between the safe operating range of the target crane and the safe operating range of other cranes is defined as the dynamic safe zone of the target crane.

[0084] Optionally, when determining the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone, the risk assessment and early warning decision unit 204 is configured to execute: The radar point cloud data is grouped based on a clustering algorithm to identify independent obstacles; these independent obstacles include buildings, other cranes around the target crane, and personnel.

[0085] The shortest distance from each identified obstacle to the dynamic safety zone is calculated based on the distance formula.

[0086] Optionally, the preset safety thresholds include a warning control threshold, a deceleration control threshold, and a stop control threshold, with values ​​decreasing sequentially. The corresponding anti-collision warning schemes are alarm, crane deceleration control, and crane stop control, respectively. When generating an anti-collision warning scheme based on the relationship between the shortest distance and the preset safety thresholds, the risk assessment and warning decision unit 204 is specifically configured to execute: An alarm signal is generated when the shortest distance is less than or equal to the warning control threshold and greater than the deceleration control threshold; the alarm signal is used to trigger the alarm module to work.

[0087] When the shortest distance is less than or equal to the deceleration control threshold and greater than the stop control threshold, a crane deceleration control signal is generated. A crane stop control signal is generated when the shortest distance is less than or equal to the stop control threshold.

[0088] Optionally, the device also includes a data acquisition control unit, which is configured to perform the following before receiving crane status data: Control the signal acquisition device installed on each crane to monitor the crane status data of each crane in real time; the signal acquisition device includes an encoder or GPS device for acquiring the position of the trolley, a gyroscope or rotary encoder for acquiring the boom rotation angle, an angle sensor for acquiring the boom pitch angle, a linear encoder for acquiring the position of the trolley, and a height sensor for acquiring the hook height. Optionally, before receiving environmental obstacle data, the data acquisition control unit is configured to perform: The system controls a lidar mounted on the top of the crane boom or on the slewing platform to emit laser beams in a rotating scanning manner to acquire radar point cloud data of the surrounding environment of the crane, so as to detect dynamic obstacles in real time.

[0089] Optionally, the device also includes a display control unit, which is configured to perform the following: during the collaborative operation of multiple cranes in the target construction site, display in real time the position, attitude, movement trajectory of all cranes, as well as the position of obstacles identified based on the received radar point cloud data, through a remote monitoring platform.

[0090] The active collision avoidance control device for multi-crane collaborative operation provided in this embodiment of the invention is used to execute the above-mentioned active collision avoidance control method for multi-crane collaborative operation, and thus can achieve the same effect as the above-mentioned active collision avoidance control method for multi-crane collaborative operation.

[0091] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0092] Thirdly, embodiments of the present invention also provide an electronic device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The processor loads and executes the at least one instruction, at least one program, code set, or instruction set to implement the active anti-collision control method for multi-crane cooperative operation in embodiments of the present invention.

[0093] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the active anti-collision control method for multi-crane cooperative operation in embodiments of the present invention.

[0094] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of the present invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0095] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An active collision avoidance control method for multi-crane cooperative operation, characterized in that, A control module for an active collision avoidance control system for multi-crane collaborative operation, the active collision avoidance control system for multi-crane collaborative operation further includes a data acquisition module and an alarm module; the data acquisition module is used to collect crane status data of each crane in the target construction site, as well as environmental obstacle data in the target construction site; the method includes: The crane model obtained by structural decomposition modeling for each crane is loaded into the site model obtained by site space modeling for the target construction plant, resulting in a collaborative construction model with site space as the unified coordinate system. The collaborative construction model is updated in real time based on the real-time received crane status data and environmental obstacle data. The crane status data includes the trolley position, boom rotation angle, boom pitch angle, trolley position, and hook height of each crane. The environmental obstacle data includes radar point cloud data of buildings, other cranes around the target crane, and personnel. Based on the received crane status data of each crane, a motion model of each crane is constructed, the motion model is loaded into the collaborative construction model, and a dynamic safety zone of each crane is generated by combining the type and working environment of each crane. Determine the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone, and generate a collision avoidance warning scheme based on the relationship between the shortest distance and a preset safety threshold.

2. The active collision avoidance control method for multi-crane cooperative operation according to claim 1, characterized in that, The working environment of the target crane includes the construction area of ​​the target construction site where the target crane is located, other cranes around the target crane, and fixed obstacles within the construction area; the motion model is loaded into the collaborative construction model, and combined with the type and working environment of each crane, the dynamic safety zone of each crane is generated, specifically including: The motion model is loaded into the collaborative construction model, and each crane is taken as the target crane. The maximum working range of the target crane is determined in real time according to the type and motion model of the target crane. Within the maximum operating range, the safe operating range is determined by using the boundary of the construction area, fixed obstacles within the construction area, and the positions of other cranes as avoidance constraints. The overlapping area between the safe operating range of the target crane and the safe operating range of other cranes is defined as the dynamic safe zone of the target crane.

3. The active collision avoidance control method for multi-crane cooperative operation according to claim 1, characterized in that, Determining the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone specifically includes: The radar point cloud data is grouped based on a clustering algorithm to perform independent obstacle identification. The independent obstacles include buildings, other cranes around the target crane, and personnel. The shortest distance from each of the identified obstacles to the dynamic safety zone is calculated based on the distance formula.

4. The active collision avoidance control method for multi-crane cooperative operation according to claim 3, characterized in that, The preset safety thresholds include a warning control threshold, a deceleration control threshold, and a stop control threshold, with values ​​decreasing sequentially. The corresponding anti-collision warning schemes are alarm, crane deceleration control, and crane stop control, respectively. The anti-collision warning scheme is generated based on the relationship between the shortest distance and the preset safety thresholds as follows: When the shortest distance is less than or equal to the warning control threshold and greater than the deceleration control threshold, an alarm signal is generated; the alarm signal is used to trigger the alarm module to work. When the shortest distance is less than or equal to the deceleration control threshold and greater than the stop control threshold, a crane deceleration control signal is generated. When the shortest distance is less than or equal to the stop control threshold, a crane stop control signal is generated.

5. The active collision avoidance control method for multi-crane cooperative operation according to claim 1, characterized in that, Before receiving the crane status data, the method further includes: The system controls the signal acquisition device installed on each crane to monitor the crane status data of each crane in real time. The signal acquisition device includes an encoder or GPS device for acquiring the position of the trolley, a gyroscope or rotary encoder for acquiring the boom rotation angle, a tilt sensor for acquiring the boom pitch angle, a linear encoder for acquiring the position of the trolley, and a height sensor for acquiring the hook height.

6. The active collision avoidance control method for multi-crane cooperative operation according to claim 1, characterized in that, Before receiving the environmental obstacle data, the method further includes: The lidar installed on the top of the crane boom or the slewing platform is controlled to emit laser beams in a rotating scanning manner to acquire radar point cloud data of the surrounding environment of the crane in order to capture dynamic obstacles in real time.

7. The active collision avoidance control method for multi-crane cooperative operation according to claim 1, characterized in that, The active collision avoidance control system for multi-crane collaborative operation also includes a remote monitoring platform, which is used to display in real time the position, attitude, movement trajectory of all cranes and the position of obstacles identified based on the received radar point cloud data during the multi-crane collaborative operation of the target construction site.

8. An active collision avoidance control device for multi-crane cooperative operation, characterized in that, A control module for an active collision avoidance control system for multi-crane collaborative operation, the active collision avoidance control system for multi-crane collaborative operation further includes a data acquisition module and an alarm module; the data acquisition module is used to collect crane status data of each crane in the target construction site, as well as environmental obstacle data in the target construction site; the device includes: The system initialization unit is used to load the crane model obtained by structural decomposition modeling for each crane into the site model obtained by site space modeling for the target construction plant, so as to obtain a collaborative construction model with site space as the unified coordinate system. The model update unit is used to update the collaborative construction model in real time based on the real-time received crane status data and environmental obstacle data; the environmental obstacle data includes radar point cloud data of buildings, other cranes around the target crane, and personnel; the crane status data includes the trolley position, boom rotation angle, boom pitch angle, trolley position, and hook height of each crane. The dynamic safety zone determination unit is used to construct a motion model for each crane based on the crane status data received from each crane, load the motion model into the collaborative construction model, and generate a dynamic safety zone for each crane by combining the type and working environment of each crane. The risk assessment and early warning decision unit is used to determine the shortest distance from the obstacle corresponding to the radar point cloud data to the dynamic safety zone, and generate a collision avoidance early warning scheme based on the relationship between the shortest distance and a preset safety threshold.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set, or instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the active collision avoidance control method for multi-crane cooperative operation as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or instruction set is loaded and executed by a processor to implement the active collision avoidance control method for multi-crane cooperative operation as described in any one of claims 1-7.

Images