阅读说明：本技术 塔吊运动地图的生成方法及装置 (Method and device for generating tower crane movement map ) 是由 陈�胜 王喜望 赵锐 潘继文 于 2020-05-29 设计创作，主要内容包括：本发明公开了一种塔吊运动地图的生成方法及装置。其中,该方法包括：通过塔吊所在工地的建筑信息模型,结合视觉算法,生成网格地图；根据塔吊所在工地的干涉元素的数量,确定网格地图的干涉点；根据网格地图的干涉点,和塔吊的运动路线,生成塔吊当前的运动地图。本发明解决了相关技术中人工控制塔吊存在视觉盲区,导致安全性较低的技术问题。(The invention discloses a method and a device for generating a tower crane movement map. Wherein, the method comprises the following steps: generating a grid map by combining a visual algorithm through a building information model of a construction site where the tower crane is located; determining interference points of a grid map according to the number of interference elements of a construction site where a tower crane is located; and generating a current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane. The invention solves the technical problem of lower safety caused by the vision blind area of the manual tower crane control in the related technology.)

1. A method for generating a tower crane motion map is characterized by comprising the following steps:

generating a grid map by combining a visual algorithm through a building information model of a construction site where the tower crane is located;

determining interference points of the grid map according to the number of interference elements of the construction site where the tower crane is located;

and generating the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane.

2. The method of claim 1, wherein generating the grid map by combining a visual algorithm with a building information model of a construction site where the tower crane is located comprises:

determining an original point cloud map according to the map parameters of the building information model; wherein the map parameters include at least one of: floor information, material yard information and tower crane rotation angle limiting information;

determining obstacle information of obstacles on a construction site by combining the acquired actual image of the construction site where the tower crane is located through a visual algorithm;

acquiring the position information of the pedestrian on the construction site where the tower crane is located through a base station;

and generating the grid map according to the original point cloud map, the obstacle information and the position information of the pedestrian, wherein the obstacle and the pedestrian are marked on the grid map.

3. The method according to claim 2, wherein the step of obtaining the position information of the pedestrian on the construction site where the tower crane is located through the base station comprises the following steps:

transmitting a pulse signal through the base station;

receiving pulse information fed back by an active tag carried by the pedestrian;

and determining the position information of the pedestrian according to the pulse information.

4. The method as claimed in claim 2, wherein after generating the grid map by combining building information model data of a construction site where the tower crane is located with a visual algorithm, the method further comprises:

and correcting the grid map through the environmental factors of the environment where the tower crane is located, wherein the environmental factors comprise at least one of the following: wind speed, light irradiation.

5. The method according to claim 3, wherein after determining the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane, the method further comprises:

monitoring the position information of the pedestrian and the position information of a variable amplitude trolley of the tower crane, which is used for hoisting an object;

and giving an alarm under the condition that the distance between the position information of the pedestrian and the base station is less than a preset safe distance and/or under the condition that the amplitude variation trolley deviates from the track.

6. The method of claim 1, wherein determining the interference points of the grid map based on the number of interference elements at the site of the tower crane comprises:

determining a number of interference elements within a grid of the grid map, wherein the interference elements include at least one of: obstacles, buildings, pedestrians;

and determining the grid as an interference point when the number of the interference elements is within a preset number range.

7. The method of claim 1, wherein generating the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane comprises:

determining a plurality of movement routes which can be executed by the tower crane in the grid map;

selecting a plurality of movement routes which are not interfered by the interference points according to the interference points of the grid map;

receiving an instruction of selecting a target movement route from a plurality of selected movement routes;

and superposing the target movement route in the grid map to generate the movement map.

8. The utility model provides a tower crane motion map generation device which characterized in that includes:

the first generation module is used for generating a grid map by combining a visual algorithm through a building information model of a construction site where the tower crane is located;

the determining module is used for determining interference points of the grid map according to the number of interference elements of a construction site where the tower crane is located;

and the second generation module is used for generating the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane.

9. A storage medium, characterized in that the storage medium includes a stored program, and when the program runs, the device where the storage medium is located is controlled to execute the method for generating the tower crane movement map according to any one of claims 1 to 7.

10. A storage medium, characterized by a processor for executing a program, wherein the program executes the method for generating a tower crane motion map according to any one of claims 1 to 7.

Technical Field

The invention relates to the field of building construction, in particular to a method and a device for generating a tower crane motion map.

Background

The tower crane is a hoisting device which is most commonly used on the construction site, and is also called as a tower crane. At present, the tower crane for construction is mainly operated manually in a cab at the top of a tower through a stop lever, an electric part is controlled by the stop lever, a multi-speed motor is further controlled, and the mechanical speed reducing mechanism is used for driving the tower crane to rotate, change amplitude, lift and the like, and the purpose is to lift reinforcing steel bars, wood ridges, concrete, steel pipes, mechanism equipment and the like for construction. At present, the operation configuration of the tower crane on the construction site is 1 driver and 1 ground command, the operation of the driver completely depends on the voice remote control of the interphone under the command, and the driver can not observe the running track of the lifting hook due to the lack of visual effect, so that a visual blind area is extremely easy to cause, blind lifting is carried out, and collision danger is caused to surrounding personnel and buildings.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the invention provides a method and a device for generating a tower crane motion map, which are used for at least solving the technical problem of low safety caused by a visual blind area existing in manual control of a tower crane in the related technology.

According to one aspect of the embodiment of the invention, a method for generating a tower crane motion map is provided, which comprises the following steps: generating a grid map by combining a visual algorithm through a building information model of a construction site where the tower crane is located; determining interference points of the grid map according to the number of interference elements of the construction site where the tower crane is located; and generating the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane.

Optionally, generating the grid map by combining a visual algorithm through a building information model of a construction site where the tower crane is located includes: determining an original point cloud map according to the map parameters of the building information model; wherein the map parameters include at least one of: floor information, material yard information and tower crane rotation angle limiting information; determining obstacle information of obstacles on a construction site by combining the acquired actual image of the construction site where the tower crane is located through a visual algorithm; acquiring the position information of the pedestrian on the construction site where the tower crane is located through a base station; and generating the grid map according to the original point cloud map, the obstacle information and the position information of the pedestrian, wherein the obstacle and the pedestrian are marked on the grid map.

Optionally, the position information of the pedestrian on the building site where the tower crane is located is acquired through the base station and comprises: transmitting a pulse signal through the base station; receiving pulse information fed back by an active tag carried by the pedestrian; and determining the position information of the pedestrian according to the pulse information.

Optionally, after generating the grid map by combining building information model data of a construction site where the tower crane is located with a visual algorithm, the method further comprises the following steps: and correcting the grid map through the environmental factors of the environment where the tower crane is located, wherein the environmental factors comprise at least one of the following: wind speed, light irradiation.

Optionally, after determining the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane, the method further includes: monitoring the position information of the pedestrian and the position information of a variable amplitude trolley of the tower crane, which is used for hoisting an object; and giving an alarm under the condition that the distance between the position information of the pedestrian and the base station is less than a preset safe distance and/or under the condition that the amplitude variation trolley deviates from the track.

Optionally, determining the interference points of the grid map according to the number of interference elements on the construction site where the tower crane is located includes: determining a number of interference elements within a grid of the grid map, wherein the interference elements include at least one of: obstacles, buildings, pedestrians; and determining the grid as an interference point when the number of the interference elements is within a preset number range.

Optionally, generating the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane includes: determining a plurality of movement routes which can be executed by the tower crane in the grid map; selecting a plurality of movement routes which are not interfered by the interference points according to the interference points of the grid map; receiving an instruction of selecting a target movement route from a plurality of selected movement routes; and superposing the target movement route in the grid map to generate the movement map.

According to another aspect of the embodiment of the present invention, there is also provided a device for generating a tower crane motion map, including: the first generation module is used for generating a grid map by combining a visual algorithm through a building information model of a construction site where the tower crane is located; the determining module is used for determining interference points of the grid map according to the number of interference elements of a construction site where the tower crane is located; and the second generation module is used for generating the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane.

According to another aspect of the embodiment of the present invention, a storage medium is further provided, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is located is controlled to execute the method for generating the tower crane motion map according to any one of the above descriptions.

According to another aspect of the embodiment of the present invention, there is also provided a storage medium and a processor, where the processor is configured to execute a program, where the program executes the method for generating the tower crane motion map according to any one of the above descriptions.

In the embodiment of the invention, a grid map is generated by adopting a building information model of a construction site where a tower crane is located and combining a visual algorithm; determining interference points of a grid map according to the number of interference elements of a construction site where a tower crane is located; according to the interference points of the grid map and the motion route of the tower crane, the current motion map of the tower crane is generated, the grid map of a construction site where the tower crane is located is generated according to the building information model and the visual algorithm, the interference points of the grid map are determined according to the number of interference elements, and the motion map of the tower crane is generated according to the interference points and the motion route of the tower crane, so that the purpose of generating the motion map of the tower crane according to the interference points and the motion route of the tower crane and prompting a driver is achieved, the technical effect of improving the safety of controlling the tower crane by the driver is achieved, and the technical problem that the safety is low due to the fact that visual blind areas exist in manual control of the tower crane in the related technology is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a flow chart of a method for generating a tower crane motion map according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a distance between a tower crane and a pedestrian according to an embodiment of the invention;

FIG. 3 is a schematic diagram of a pedestrian's location according to an embodiment of the present invention;

FIG. 4 is a spiral cloud point diagram of a pedestrian and tower crane according to an embodiment of the invention;

FIG. 5 is a schematic illustration of a mapping according to an embodiment of the invention;

FIG. 6 is a schematic diagram of a tower crane motion map according to an embodiment of the invention;

fig. 7 is a schematic diagram of a control device of a cooking material storage system according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to an embodiment of the present invention, there is provided a method embodiment of a tower crane motion map generation method, where it is noted that the steps illustrated in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be executed in an order different from that described herein.

Fig. 1 is a flowchart of a method for generating a tower crane motion map according to an embodiment of the present invention, and as shown in fig. 1, according to another aspect of the embodiment of the present invention, a method for generating a tower crane motion map is further provided, where the method includes the following steps:

step S102, generating a grid map by combining a visual algorithm through a building information model of a construction site where a tower crane is located;

the construction site where the tower crane is located can be a preset range around the tower crane, so that the corresponding range of a tower crane movement map is determined. The building information model is a building information model of a building under construction in the working range of the tower crane. The building information model may include the building, and may not include temporary obstacles around the tower crane or pedestrians, and the obstacles may be static obstacles, such as a temporary material pile, a temporary construction shed constructed by construction, or a change in terrain due to construction, etc. But also movable obstacles, such as lorries, construction elevators, etc. Therefore, by combining a visual algorithm, the environment around the tower crane is shot through image acquisition equipment, and surrounding interference elements, namely the building under construction, a temporary barrier or pedestrians are identified, so that the data of the building information model is supplemented, the established grid map is more real and is fit for an actual construction scene, and the accuracy of the tower crane movement map is improved.

Optionally, generating the grid map by combining a visual algorithm through a building information model of a construction site where the tower crane is located includes: determining an original point cloud map according to map parameters of the building information model; wherein the map parameters include at least one of: floor information, material yard information and tower crane rotation angle limiting information; determining obstacle information of obstacles on a construction site by combining the acquired actual image of the construction site where the tower crane is located through a visual algorithm; acquiring position information of pedestrians on a construction site where a tower crane is located through a base station; and generating a grid map according to the original point cloud map, the obstacle information and the position information of the pedestrians, wherein the grid map is marked with obstacles and pedestrians.

And generating a grid map according to the original point cloud map, the obstacle information and the position information of the pedestrians, wherein the grid map is marked with obstacles and pedestrians, and the grid map is generated by comprehensively superposing the original point cloud map, the obstacle map and the position map of the pedestrians and carrying out grid division.

The original point cloud map can be a point cloud map generated according to the initial layout around the tower crane of the construction site.

The obstacle map can be a point cloud map, and the obstacle map can be determined according to the visual algorithm and the acquired actual image.

Above-mentioned basic station can be the basic station N who sets up on the width of cloth dolly of tower crane, building site pedestrian P1, P2 … carry the active label of UWB for send personnel's position pulse information, obtain the position information of the pedestrian of tower crane place building site through the basic station. The pedestrian map may be a pedestrian position map generated based on the pedestrian position information, and the pedestrian position map may be a cloud point map.

The grid map comprises original building and obstacle information, barrier information acquired in real time and pedestrian information in a construction site, and is considered in all directions from three angles, so that a tower crane movement map is generated, and the safety of tower crane movement is improved.

Optionally, the position information of the pedestrian who obtains the building site of tower crane place through the basic station includes: transmitting a pulse signal through a base station; receiving pulse information fed back by an active tag carried by a pedestrian; and determining the position information of the pedestrian according to the pulse information.

The base station can be a UWB base station, the pedestrian carries a UWB tag, a positioning pulse is sent to the UWB base station at regular time, and the UWB base station positions the pedestrian according to the positioning pulse.

The position information of the pedestrian on the construction site where the tower crane is located can be obtained through the base station, the position of the pedestrian label in the UWB rectangular coordinate system can be obtained in real time through the TOF ranging technology between the base station N and the label P1, and the distance S between the base station N and the label T √ (x 1) can be obtained through calculation²+y1²) (ii) a The distance L between the amplitude-variable trolley and the cab is a tower crane amplitude value L (obtained through an amplitude sensor arranged on a tower crane), and the distance H between the amplitude-variable trolley and the working surface is obtained through a height sensor arranged on the amplitude-variable trolley; from the data, P0P1 ═ L + √ (S) is calculated²-H²) P0P2 and P0P3 … can be calculated in this order; and (3) taking the tower body as a circle center, and taking the distances P0P1 and P0P2 … between the pedestrian and the tower body as radiuses, acquiring the position information of the pedestrian, and generating a spiral cloud point diagram.

In an alternative embodiment, the base station is a 24GHz millimeter wave radar mounted on a luffing carriage, which scans the interference objects updated in real time on the working surface and outputs three-dimensional point cloud data, the radar has good course resolution, can penetrate almost all particles and visible moisture, and has the advantage of increasing the instantaneous motion detection capability, and the hardware includes a radio frequency antenna and a complete radio frequency to baseband signal chain (ADF5904 (receive), ADF5901 (transmit), ADF4159(PLL), ADAR7251(AFE)), and includes an ADI ADSP-BF707 (digital signal processor), which can be quickly connected to the cab server through a readily available graphical user interface and radar algorithm software.

Optionally, after generating the grid map by combining building information model data of a construction site where the tower crane is located with a visual algorithm, the method further comprises the following steps: correcting the grid map by the environmental factors of the environment where the tower crane is located, wherein the environmental factors comprise at least one of the following: wind speed, light irradiation. Therefore, the grid map is more in line with the actual construction environment, and the accuracy of the tower crane movement map is improved.

After the grid map is determined, the environmental factors which may influence the operation of the tower crane, such as wind speed, illumination and the like, are considered, so that the safety and the accuracy of the tower crane movement are further improved.

S104, determining interference points of a grid map according to the number of interference elements of a construction site where the tower crane is located;

the grid map comprises a plurality of grids, each grid possibly comprises a plurality of interference elements corresponding to the actual range of the construction site where the tower crane is located, and interference points in the grid map are determined through the number of the interference elements. The interference points can also be points influencing the movement of the tower crane, and can be displayed as interference marks on a map, and when the movement route of the tower crane is determined, the interference points need to be avoided, so that the interference points cause interference to the tower crane when the tower crane moves, and the problem of potential safety hazards is avoided.

Optionally, determining the interference points of the grid map according to the number of interference elements on the construction site where the tower crane is located includes: determining a number of interference elements within a grid of a grid map, wherein the interference elements include at least one of: obstacles, buildings, pedestrians; and determining the grid as an interference point when the number of the interference elements is within a preset number range. And determining the grid as a non-interference point when the number of the interference elements is not within the preset number range.

For example, counting the number of interference elements around the tower crane, and if x is less than T and less than y (x is the minimum value of the avoidance interference of the running route, y is the maximum value, and T is the number of the interference elements), setting the current grid as an interference point; and if the T < x or T > y value of the cell is greater than the T < x or T > y value, setting the current grid as a non-interference point, and generating a tower crane operation map.

As another example, different interference elements may be displayed as different markers in the grid map for operator differentiation.

And S106, generating a current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane.

Optionally, generating the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane includes: determining a plurality of movement routes which can be executed by the tower crane in a grid map; selecting a plurality of movement routes which are not interfered by interference points according to the interference points of the grid map; receiving an instruction for selecting a target movement route from a plurality of selected movement routes; and superposing the target movement route in the grid map to generate a movement map.

A plurality of movement routes of the tower crane can be a plurality of routes of the tower crane in the historical operation process.

The movement route which is not interfered by the interference points can be used for explaining that the interference points can be avoided through operation under the condition that the number of the interference points which interfere with the movement route is out of a preset interference threshold value; when the number of the interference points interfering with the movement route is within the preset interference threshold, the interference points cannot be avoided through operation. Thereby determining a plurality of undisturbed motion routes;

sending the movement route to a display device, displaying the movement route to an operator for selection, selecting a target movement route by operation, and receiving an instruction of selecting the target movement route from a plurality of selected movement routes by an execution main body of the step; and superposing the target movement route in the grid map to generate a movement map.

The executing body of the steps can be a server, a calculator, a chip and the like.

Through the steps, a grid map is generated by adopting a building information model of a construction site where the tower crane is located and combining a visual algorithm; determining interference points of a grid map according to the number of interference elements of a construction site where a tower crane is located; according to the interference points of the grid map and the motion route of the tower crane, the current motion map of the tower crane is generated, the grid map of a construction site where the tower crane is located is generated according to the building information model and the visual algorithm, the interference points of the grid map are determined according to the number of interference elements, and the motion map of the tower crane is generated according to the interference points and the motion route of the tower crane, so that the purpose of generating the motion map of the tower crane according to the interference points and the motion route of the tower crane and prompting a driver is achieved, the technical effect of improving the safety of controlling the tower crane by the driver is achieved, and the technical problem that the safety is low due to the fact that visual blind areas exist in manual control of the tower crane in the related technology is solved.

Optionally, after determining the current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane, the method further comprises: monitoring the position information of pedestrians and the position information of a variable amplitude trolley of a tower crane, wherein the variable amplitude trolley is used for lifting objects; and sending an alarm under the condition that the distance between the position information of the pedestrian and the base station is less than the preset safety distance and/or under the condition that the amplitude variation trolley deviates from the track.

Therefore, the motility of the tower crane movement map is improved, and the movement of a moving object in the range of the tower crane movement path is considered, so that the rationality and the safety of the tower crane movement are improved.

The moving speed of the amplitude variation trolley of the tower crane can be detected, and an alarm is given out when the speed of the amplitude variation trolley exceeds the safe speed.

It should be noted that this embodiment also provides an alternative implementation, which is described in detail below.

In the embodiment, a UWB (Ultra Wideband Ultra wide band) personnel positioning technology is utilized to determine the cloud point track of the ground pedestrian and plan the spiral cloud point distribution diagram of the ground pedestrian. The method comprises the steps of shooting 360-degree building distribution of a tower crane hook in real time by using a visual algorithm technology to generate a physical distribution map, and automatically generating a tower crane moving biological map by combining with a pedestrian distribution map; and the millimeter wave radar obstacle avoidance technology is utilized to prevent accidental interference object collision in the operation of the tower crane.

According to the method, a biological map is automatically generated on the basis of an original fixed map by utilizing a UWB positioning technology and a visual algorithm technology and combining the operation rule of the tower crane in a fixed scene, the biological map is displayed on a display screen in a driver's cab of the tower crane, the driver operates each action of the tower crane according to the map, meanwhile, the motion road condition information of the tower crane can be displayed on a map track, and if overspeed and deviation track occur, a voice alarm of the driver's cab can give corresponding alarm prompt.

1. Pedestrians P1 and P2 … carry UWB tags T, and send positioning pulses to a UWB base station N at regular time, and form a personnel positioning system with a cab upper computer server to generate a pedestrian movement spiral cloud point track diagram in real time, as shown in figure 2, wherein figure 2 is a schematic diagram of the distance between a tower crane and a pedestrian according to the embodiment of the invention. 1 UWB base station N is installed on a tower crane amplitude variation trolley, the base station N is used for receiving and sending a tag positioning pulse signal, a lithium battery power supply technology is adopted for power supply, and a driver retracts the trolley to a charging position point for charging at regular intervals; building site pedestrians P1, P2 … carry UWB active tags for transmitting people position pulse information.

Fig. 3 is a schematic diagram of the position of a pedestrian according to an embodiment of the present invention, as shown in fig. 3, the position of the pedestrian tag in the UWB rectangular coordinate system can be obtained in real Time between the base station N and the tag P1 through a TOF (Time of flight Measurement Time difference ranging) ranging technique, as shown in fig. 3, and the distance S √ (x 1) between the base station N and the tag T can be obtained through calculation²+y1²)；

The distance L between the amplitude-variable trolley and the cab is a tower crane amplitude value L (obtained through an amplitude sensor arranged on a tower crane), and the distance H between the amplitude-variable trolley and the working surface is obtained through a height sensor arranged on the amplitude-variable trolley;

from the data, P0P1 ═ L + √ (S) is calculated²-H²) P0P2 and P0P3 … can be calculated in this order;

fig. 4 is a spiral cloud point diagram of a pedestrian and a tower crane according to an embodiment of the invention, as shown in fig. 4, the spiral cloud point diagram can be generated by taking the tower body as a center and distances P0P1 and P0P2 … between the pedestrian and the tower body as radii, as shown in fig. 4.

In the embodiment, an original map and map correction can be generated by using Building Information Modeling (BIM) data and a visual algorithm technology.

Fig. 5 is a schematic diagram of mapping according to an embodiment of the present invention, and as shown in fig. 5, specific parameters are as follows:

map parameters: floor information, material yard information, tower crane rotation angle limitation and the like;

an original map: generating a dotted cloud picture according to the initial layout around the building site tower crane;

path diagram: a route map of frequent movement in tower crane transfer;

naturalization: inserting environmental factors such as pedestrians, wind speed and the like during the practical work of the tower crane;

prototype, interferogram, illumination: basic factors of mapping required by the tower crane operation;

model data, texture data, interference data, time data: and finally, displaying map data on a working interface of a tower crane driver to guide the driver to operate.

Fig. 6 is a schematic diagram of a tower crane motion map according to an embodiment of the present invention, and as shown in fig. 6, a mapping algorithm: shooting surrounding environment cells (operation surface height information, operation surface pedestrian layout information, surrounding high-voltage line interference information and the like) of the tower crane through a camera arranged on a variable amplitude trolley, counting the number of the surrounding cells of a driver room in a overlooking mode, and setting a current grid as an interference point if the number of the cells x is less than a value T and less than a value y (x is an avoidance interference minimum value of an operation route, y is a maximum value, and T is an environment cell grid number); and if the cell T is less than x or T is more than y, setting the current grid as a non-interference point so as to generate an original map model for the tower crane to operate, and meanwhile, combining the lifting event data of the crane and the current wind speed data to digitize the original map.

The radar has good course resolution, can penetrate almost all particles and visible water vapor, and has the advantage of increasing the instantaneous motion detection capability, hardware comprises a radio frequency antenna and a complete radio frequency to baseband signal chain (ADF5904 (receiving), ADF5901 (transmitting), ADF4159(PLL), ADAR7251(AFE)), wherein the hardware also comprises ADSP-BF707DSP (digital signal processor) of ADI, and the radar can be quickly connected to a cab server through an easy-to-use graphical user interface and radar algorithm software.

And recommending optimal paths and road condition alarms such as pedestrian entering dangerous areas and tower crane overspeed.

According to a map (shown in figure 6) generated by a cell texture method and a millimeter wave radar, a computer server automatically calculates the optimal path of operation and memorizes the optimal path (including power failure memory), and a tower crane driver can select 1 optimal path for operation according to the map prompt.

As shown in fig. 2, the vertical projection linear distance K between the pedestrian and the luffing trolley is lx1l, K is calculated to be less than Lmin, where Lmin is the minimum safe distance between the pedestrian and the suspended object, automatic calculation is performed in a computer server, and a voice alarm is configured in a cab to give judgment instructions to a driver in real time.

The elements used in the system of the present embodiment may include: the system comprises a power supply system, a switch, a laser range finder, a millimeter wave obstacle avoidance radar, a lithium battery, a UWB base station, a UWB tag, a visual camera, a server computer and a black box.

Fig. 7 is a schematic diagram of a control device of a cooking material storage system according to an embodiment of the present invention, and as shown in fig. 7, according to another aspect of the embodiment of the present invention, there is further provided a device for generating a tower crane motion map, including: a first generation module 72, a determination module 74 and a second generation module 76, which are described in detail below.

The first generation module 72 is used for generating a grid map by combining a visual algorithm through a building information model of a construction site where the tower crane is located; the determining module 74 is connected with the first generating module 72 and is used for determining the interference points of the grid map according to the number of the interference elements of the construction site where the tower crane is located; and the second generating module 76 is connected with the determining module 74 and is used for generating a current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane.

By the device, a grid map is generated by adopting a first generation module 72 through a building information model of a construction site where the tower crane is located and combining a visual algorithm; the determining module 74 determines interference points of the grid map according to the number of interference elements of a construction site where the tower crane is located; the second generation module 76 generates a current motion map of the tower crane according to the interference points of the grid map and the motion route of the tower crane, generates the grid map of a construction site where the tower crane is located according to the building information model and the visual algorithm, determines the interference points of the grid map according to the number of interference elements, and generates a motion map of the tower crane according to the interference points and the motion route of the tower crane, so that the purpose of generating the motion map of the tower crane according to the interference points and the motion route of the tower crane and prompting a driver is achieved, the technical effect of improving the safety of controlling the tower crane by the driver is achieved, and the technical problem that the safety is low due to the fact that visual blind areas exist in manual control of the tower crane in the related technology is solved.

According to another aspect of the embodiment of the present invention, a storage medium is further provided, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is located is controlled to execute the method for generating the tower crane motion map according to any one of the above.

According to another aspect of the embodiment of the present invention, there is also provided a storage medium, a processor, and a program, where the program executes the method for generating the tower crane motion map according to any one of the above methods when the program is executed.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.