Intelligent crane path planning device

Abstract

The utility model relates to an intelligent crane path planning device which comprises a communication module, an environment sensing module, a path planning algorithm module, a user interface module, a control execution module and a data storage module. According to the utility model, surrounding environment information is acquired in real time through the environment sensing module, and the path planning algorithm module can quickly generate an optimal path so as to accurately control the movement of the crane, thereby greatly reducing the tedious steps of manual operation, improving the operation efficiency, reducing the dependence on operators through the intelligent path planning device, and reducing the labor intensity of workers. According to the crane, the labor intensity of manual operation is relieved, the fatigue degree of operators is reduced, the working continuity and stability are improved, the running state and environment change of the crane are monitored in real time through the safety monitoring module, measures such as emergency stop can be taken immediately when potential dangers are detected, collision accidents are effectively prevented, and the safety of the crane is improved. And the operation safety is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a crane technical field, concretely is a kind of intelligent crane path planning device. BACKGROUND

[0002] Crane is a kind of mechanical equipment, mainly for vertical lifting and horizontal movement heavy object. It realizes the hoisting, handling and installation of heavy object by a series of mechanical components such as steel wire rope, lifting hook, pulley block and motor etc. cooperation. Crane is widely used in construction site, wharf, warehouse and other occasions, is the important mechanical equipment indispensable in industrial production and logistics transportation.

[0003] Traditional crane path planning mainly relies on manual operation, and operating personnel need to manually set the moving path of crane according to actual environment and task demand, manual operation is slow, especially in complex environment, operating personnel need to constantly adjust the position and direction of crane, which greatly reduces the operation efficiency, manual operation is easily affected by the experience and skill of operating personnel, and problems such as inaccurate path planning and operation failure are prone to occur, which affects work efficiency and safety. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of intelligent crane path planning device, effectively solve the problem raised in the above background technology.

[0005] To achieve the above object, the utility model provides the following technical scheme.

[0006] A kind of intelligent crane path planning device, comprising:

[0007] Communication module is integrated in path planning device, is responsible for data transmission;

[0008] Environment perception module is used to collect the environmental data in crane operation area in real time;

[0009] Path planning algorithm module is connected to environment perception module by communication module, for receiving environmental data and executing path planning algorithm, to generate the optimal path from crane current position to target position;

[0010] User interface module is connected to path planning algorithm module by communication module, for providing the interface of user input path planning parameter and display path planning result;

[0011] Control execution module is connected to path planning algorithm module by communication module, for receiving planned path information, and generates control signal to drive crane to move along planned path;

[0012] A data storage module is connected to the path planning algorithm module through the communication module, and is used for storing historical path data, an obstacle database and a preset work area map.

[0013] Further, the path planning device further comprises a safety monitoring module and a power management module, the safety monitoring module is connected to the communication module, and is used for monitoring the operating state of the crane and the environmental change in real time, implementing a safety strategy to prevent collision and other accidents, and the power management module is used for power supply of the whole path planning device and monitoring the power state to manage energy use.

[0014] Further, the environment perception module comprises a laser radar, a camera and an ultrasonic sensor, and the laser radar, the camera and the ultrasonic sensor are connected to the communication module and are used for multi-modal environment data acquisition.

[0015] Further, the algorithm built in the path planning algorithm module adopts A* algorithm, Dijkstra algorithm and dynamic window method.

[0016] Further, the control execution module comprises a motion controller and a servo driver, the motion controller is connected to the communication module, and the servo driver is electrically connected to the motion controller and is used for accurately controlling the moving direction and speed of the crane.

[0017] Further, the data storage module adopts a non-volatile memory.

[0018] Further, the user interface module comprises a touch screen display and physical buttons, and the touch screen display and the physical buttons are connected to the communication module to allow the operator to set task parameters and monitor the operation progress.

[0019] Further, the communication module supports wired and wireless communication protocols.

[0020] Compared with the prior art, the path planning device has the following beneficial effects.

[0021] The environment perception module is used for acquiring surrounding environment information in real time, the path planning algorithm module can quickly generate an optimal path to accurately control the movement of the crane, the tedious steps of manual operation are greatly reduced, the operation efficiency is improved, the intelligent path planning device reduces the dependence on the operator, reduces the labor intensity of manual operation, reduces the fatigue degree of the operator, improves the continuity and stability of work, in addition, the safety monitoring module is used for monitoring the running state of the crane and the environmental change in real time, and can take emergency stop measures immediately when potential danger is detected, so that the collision accident is effectively prevented, and the safety of operation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1The path planning device structure schematic view provided by the utility model provides;

[0023] Figure 2 The environment perception module structure schematic view in the utility model provides;

[0024] Figure 3 The user interface module structure schematic view in the utility model provides;

[0025] Figure 4 The control execution module schematic view in the utility model provides.

[0026] In the figure: 1, environment perception module;11, laser radar;12, camera;13, ultrasonic sensor;2, path planning algorithm module;3, user interface module;31, touch screen display;32, physical button;4, control execution module;41, motion controller;42, servo driver;5, data storage module;6, communication module;7, safety monitoring module;8, power management module. DETAILED DESCRIPTION

[0027] Please refer to Figures 1-4 The utility model provides an intelligent crane path planning device, below will combine the figure in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, the described embodiment only is a part of embodiment of the utility model, but is not all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without making the creative labor belong to the range of protection of the utility model.

[0028] In the description of the utility model embodiment, it needs to be explained that, unless there is explicit provision and limitation, the term, "connect", "install" should be broad sense understanding, for example, "connect" can be detachably connected, also can be unremovably connected, can be direct connection, also can be indirectly connected through intermediate medium. In addition, "communication" can be direct communication, also can be indirectly communicated through intermediate medium. Wherein, "fix" refers to each other connection and the relative position relationship of connection is invariable. The position language such as "in", "out", "top", "bottom" etc. mentioned in the utility model embodiment is only the direction of reference drawing, therefore, the position language used is for better, more clearly illustrate and understand the utility model embodiment, and is not indicated or implied that the device or element indicated must have a particular orientation, with a particular orientation structure and operation, therefore, can not be understood as the restriction of the utility model embodiment.

[0029] In the embodiments of the utility model, the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more of the features.

[0030] The intelligent crane path planning device comprises:

[0031] The communication module 6 is integrated in the path planning device and is responsible for data transmission.

[0032] The environment perception module 1 is used for collecting environmental data in the crane operation area in real time.

[0033] The path planning algorithm module 2 is connected to the environment perception module 1 through the communication module 6, is used for receiving environmental data and executing a path planning algorithm, and generates an optimal path from the current position of the crane to the target position.

[0034] The user interface module 3 is connected to the path planning algorithm module 2 through the communication module 6, is used for providing an interface for user input path planning parameters and displaying path planning results.

[0035] The control execution module 4 is connected to the path planning algorithm module 2 through the communication module 6, is used for receiving planned path information, and generates a control signal to drive the crane to move along the planned path.

[0036] The data storage module 5 is connected to the path planning algorithm module 2 through the communication module 6, is used for storing historical path data, an obstacle database, and a preset operation area map.

[0037] In addition, the path planning device further comprises a safety monitoring module 7 and a power management module 8.

[0038] The safety monitoring module 7 is connected to the communication module 6, is used for monitoring the operating state of the crane and environmental changes in real time, implements a safety strategy to prevent collisions and other accidents, and has an emergency stop function, which can immediately interrupt the operation of the crane when potential dangers are detected.

[0039] The power management module 8 supplies power to the whole path planning device and monitors the power state to manage energy use.

[0040] The environmental perception module 1 collects environmental data of the crane operation area in real time through various sensors, including the position, size and motion state of obstacles, and the position information of target goods, and can provide comprehensive environmental perception capability by combining and processing environmental data. The path planning algorithm module 2 receives data from the environmental perception module 1 and uses advanced algorithms to calculate the optimal path from the current position of the crane to the target position. This process involves analyzing environmental data, considering the position and motion of obstacles, and the motion capability of the crane to ensure the safety and efficiency of the path. The user interface module 3 provides an interface for operators to interact with the system, allowing operators to input path planning parameters such as target position, speed limit, etc., and display path planning results. The input data is transmitted to the path planning algorithm module 2 for information fusion, and the path information generated by the path planning algorithm module 2 is converted into specific control signals by the control execution module 4.

[0041] After the control execution module 4 obtains the above-mentioned control signals, it controls the crane to move along the planned path, which involves precise control of the crane's boom, trolley and cart, etc. The control method and principle use existing technology and will not be described in detail. To achieve smooth and accurate movement, the data storage module 5 is responsible for storing historical path data, obstacle database and pre-set operation area map. These data are crucial for the learning and optimization of path planning algorithms, which can help the system better understand and adapt to the working environment.

[0042] Among them, the communication module 6 plays the role of neural network in the whole device, responsible for data transmission between modules. It ensures that environmental data, path information, control signals and user instructions can be quickly and accurately transmitted between parts. The power management module 8 provides stable power supply for all modules and monitors power status to manage energy use, which is crucial for ensuring the reliable operation of the system and prolonging the life of the equipment. The safety monitoring module 7 monitors the operating state of the crane and environmental changes in real time, including emergency stop function, collision warning system and detection of abnormal behavior, and implements safety strategies to prevent collisions and other accidents.

[0043] In summary, through the coordinated work of various modules, the path planning device realizes the autonomous navigation and operation of the crane, improves the efficiency and safety of operation.

[0044] Specifically, the environmental perception module 1 includes a laser radar 11, a camera 12 and an ultrasonic sensor 13, and the laser radar 11, the camera 12 and the ultrasonic sensor 13 are connected to the communication module 6 for multi-modal environmental data acquisition.

[0045] The environmental perception module 1 realizes multi-modal environmental data acquisition through the cooperation of the laser radar 11, the camera 12 and the ultrasonic sensor 13. The laser radar 11 provides high-precision three-dimensional point cloud data, the camera 12 provides rich visual information, and the ultrasonic sensor 13 is used for short-distance detection. Through multi-modal data fusion, the system can more accurately perceive the environment of the working area, providing reliable data support for path planning and safety monitoring.

[0046] Specifically, the algorithms embedded in the path planning algorithm module 2 are A* algorithm, Dijkstra algorithm and dynamic window method, to adapt to real-time environmental changes. A* algorithm and Dijkstra algorithm provide global path planning to ensure finding the optimal path in a static environment, and dynamic window method provides local path planning to ensure real-time adaptation to environmental changes in a dynamic environment, and cooperates with each other. Through the combination of global and local planning, the system can quickly generate a smooth and safe path in a dynamic environment while meeting the kinematic constraints of the crane. This combination method is very effective in the complex working environment of the crane, which can not only guarantee the global optimality of the path, but also respond to environmental changes in real time, improving the efficiency and safety of the operation.

[0047] Specifically, the control execution module 4 includes a motion controller 41 and a servo driver 42. The motion controller 41 is connected to the communication module 6, and the servo driver 42 is electrically connected to the motion controller 41, which is used to accurately control the moving direction and speed of the crane. Accurate control not only improves the efficiency of the operation, but also greatly enhances the safety of the operation.

[0048] Specifically, the data storage module 5 uses a non-volatile memory. The data storage module 5 is a key component in the crane autonomous navigation system, which is responsible for storing various types of data, including sensor data, path planning information, control instructions, system configuration parameters and logs, etc. In order to ensure the persistence and reliability of the data, the non-volatile memory can be a flash memory or a hard disk.

[0049] Specifically, the user interface module 3 includes a touch screen display 31 and physical buttons 32. The touch screen display 31 and the physical buttons 32 are connected to the communication module 6. The user interface module 3 is the part of the crane autonomous navigation system that directly interacts with people. It provides an operation interface through the touch screen display 31 and the physical buttons 32, allowing the operator to set task parameters and monitor the operation progress.

[0050] In particular, the communication module 6 supports wired and wireless communication protocols such as Ethernet, Wi-Fi and Bluetooth, ensuring flexible connection options for the crane autonomous navigation system, which work differently but together ensure reliable data transmission and efficient operation of the system, through reasonable configuration and management of communication, seamless connection between modules can be achieved, and flexibility and availability of the device are improved.

[0051] It is obvious for a person skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. An intelligent crane path planning apparatus, characterized by, Comprise: A communication module (6) integrated in the path planning device, responsible for data transmission; An environment perception module (1) for real-time collection of environmental data in the crane operating area; A path planning algorithm module (2) connected to the environment perception module (1) through the communication module (6), for receiving environmental data and executing path planning algorithms to generate the optimal path from the current position of the crane to the target position; A user interface module (3) connected to the path planning algorithm module (2) through the communication module (6), for providing an interface for user input of path planning parameters and display of path planning results; A control execution module (4) connected to the path planning algorithm module (2) through the communication module (6), for receiving planned path information and generating control signals to drive the crane to move along the planned path; A data storage module (5) connected to the path planning algorithm module (2) through the communication module (6), for storing historical path data, obstacle database and pre-set operating area map.

2. The intelligent crane path planning device according to claim 1, further comprising a safety monitoring module (7) and a power management module (8); The safety monitoring module (7) is connected to the communication module (6) for real-time monitoring of the operating state of the crane and environmental changes, and implementing safety strategies to prevent collisions and other accidents; The power management module (8) supplies power to the entire path planning device and monitors the power state to manage energy use.

3. The intelligent crane path planning device according to claim 1, wherein the environment perception module (1) comprises a laser radar (11), a camera (12) and an ultrasonic sensor (13); The laser radar (11), the camera (12) and the ultrasonic sensor (13) are connected to the communication module (6) for multi-modal environmental data collection.

4. The intelligent crane path planning device according to claim 1, wherein the algorithm built-in the path planning algorithm module (2) is A* algorithm, Dijkstra algorithm and dynamic window method.

5. The intelligent crane path planning device according to claim 1, wherein the control execution module (4) comprises a motion controller (41) and a servo driver (42), the motion controller (41) is connected to the communication module (6), and the servo driver (42) is electrically connected to the motion controller (41); For accurate control of the moving direction and speed of the crane.

6. The intelligent crane path planning device according to claim 1, wherein the data storage module (5) uses a non-volatile memory.

7. The intelligent crane path planning device according to claim 1, wherein the user interface module (3) comprises a touch screen display (31) and physical buttons (32). ​ ​ ​ ​ ​ ​ The touch screen display (31) and the physical buttons (32) are both connected to the communication module (6) to allow the operator to set task parameters and monitor the progress of the operation.

8. The intelligent crane path planning device according to claim 1, characterized in that: The communication module (6) supports wired and wireless communication protocols.

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