阅读说明：本技术 一种起重机作业实时导航系统及方法 (Crane operation real-time navigation system and method ) 是由 单增海 张程 李�权 杨艳 王翠萍 李立晶 于 2020-07-17 设计创作，主要内容包括：本发明公开了一种起重机作业实时导航系统及方法,该系统包括路径规划单元、人机交互单元、臂架姿态检测单元和障碍物碰撞检测单元；当有吊装任务时,系统自动规划出起重机动作路径,并在人机界面上显示当前应执行的动作、目标点及下一阶段需要执行的动作、目标点,实现对操作人员图形化的引导。当执行某一子动作时系统检测到障碍物,或某一子动作超过目标点时,系统会重新规划动作路径并在人机界面上及时更新,保障吊装物安全转运。(The invention discloses a real-time navigation system and a method for crane operation, wherein the system comprises a path planning unit, a man-machine interaction unit, an arm support posture detection unit and an obstacle collision detection unit; when a hoisting task is available, the system automatically plans a crane action path, and displays the action and the target point which are currently executed and the action and the target point which are required to be executed in the next stage on a human-computer interface, thereby realizing the graphical guidance of operators. When the system detects an obstacle when executing a certain sub-action, or when the certain sub-action exceeds a target point, the system replans the action path and updates the action path on a human-computer interface in time, so that the safe transportation of the hoisted object is guaranteed.)

1. A real-time navigation method for crane operation is characterized by comprising the following steps:

planning an arm support action path according to the operation site environment model, the current arm support posture information and the received target hoisting object coordinate position to obtain an arm support action sequence and a target point position; the arm support actions comprise amplitude variation rising and falling, arm support stretching, left-right rotation and hoisting and lifting;

displaying the action path and the position of the target point in a picture and text mode; controlling the arm support to move to the position of a target point according to the action path;

detecting whether the arm support has collision danger in the action process; if no collision danger exists, the arm support continues to act, and if collision danger exists, action path planning is carried out again;

detecting whether the arm support in motion exceeds the position of a target point or not; and if the position of the target point is not exceeded, the arm support continues to act, and if the position of the hoisting object coordinate is exceeded, the action path planning is carried out again.

2. The real-time navigation method for crane operation according to claim 1, wherein the action path planning specifically comprises:

converting the action path information into an action path matrix, an array or a digital sequence; wherein the action path is an ordered combination of one or more actions;

and planning the action path according to the action path matrix and the array digital sequence.

3. The real-time navigation method for crane operation according to claim 1, further comprising: and if the arm support has collision danger, performing sound-light alarm prompting.

4. The real-time navigation method for crane operation according to claim 1, further comprising: and if the boom exceeds the position of the target point, performing sound-light alarm prompting.

5. A crane operation real-time navigation system is characterized by comprising:

a path planning unit: the system comprises a boom motion path planning module, a boom position planning module, a boom motion sequence planning module and a boom motion path planning module, wherein the boom motion sequence planning module is used for planning a boom motion path according to an operation site environment model, current boom attitude information and a received target hoisting object coordinate position to obtain a boom motion; the arm support actions comprise amplitude variation rising and falling, arm support stretching, left-right rotation and hoisting and lifting;

a human-computer interaction unit: the system is used for setting coordinate information of a target hoisting object and displaying the action path and the position of a target point in a picture-text mode;

boom posture detection unit: the collision detection device is used for detecting whether the arm support has collision danger in the action process;

an obstacle collision detection unit: the detection device is used for detecting whether the arm support in motion exceeds the position of a target point.

6. The real-time navigation system for crane operation as claimed in claim 5, wherein the human-computer interaction unit is further configured to select whether to alarm or not according to information on whether the boom has collision risk or whether the boom exceeds a target point position.

7. The real-time navigation system for crane operation according to claim 5, wherein the human-computer interaction unit is further configured to display an action and a target point position that should be executed currently, an action and a target point position that should be executed next, and crane operation information; the action to be executed currently is a still picture or a moving picture.

8. The real-time navigation system for crane operation as claimed in claim 5, wherein the path planning unit is further configured to select whether to perform the path planning again according to whether the boom has collision risk information or whether the boom exceeds the target point position information.

9. The real-time navigation system for crane operation as claimed in claim 5, wherein the path planning unit is electrically connected with the boom attitude detection unit and the obstacle collision detection unit or connected with a CAN bus, and the path planning unit is connected with the human-computer interaction unit through the CAN bus.

10. The real-time navigation system for crane operation as claimed in claim 5, wherein the path planning unit is a vehicle-mounted controller, the human-computer interaction unit is a vehicle-mounted display, and the boom attitude detection unit is a vehicle-mounted sensor.

Technical Field

The invention relates to the technical field of crane operation navigation, in particular to a crane operation real-time navigation system and method.

Background

The crane is widely applied to occasions such as urban building construction, bridge construction, high-altitude equipment installation and the like, the hoisting operation environment is complex, and the occasions with the influence of multiple obstacles and hoisting in narrow space are frequently generated. In the hoisting operation process, due to the fact that communication with commanders is not smooth and the visual field is poor, collision accidents occur frequently in the hoisting process. With the development of the crane towards the intelligent operation direction, the control system can build an environment model of an operation field in advance, plan an operation path according to the positions of the crane, a hoisting object and an obstacle, and guide an operator to operate safely. However, because the working field environment changes in real time, the established working field model is difficult to reflect the real situation, and therefore the planned action path needs to be continuously adjusted according to the actual field environment. In addition, after the control system plans an action path, an operator is difficult to clearly acquire an action sequence, and an intuitive action navigation system is lacked.

The publication No. CN106325100 discloses a hoisting simulation method based on a crane vehicle-mounted control system, which comprises modeling, working condition optimization, path planning and hoisting simulation, and can carry out hoisting simulation by the vehicle-mounted system before hoisting operation. The patent operation site environment model cannot follow the change of an actual environment, cannot guide the actual operation process, and lacks the early warning reminding for the sub-action target point.

The publication number CN106348173B discloses a system and a method for recommending a crane obstacle-crossing hoisting working condition, which comprises a working condition recommending man-machine interaction module, a mathematical model calculating module, a performance table inquiring module and a recommended working condition displaying module, and can plan the hoisting task according to the position of an obstacle and provide optional working condition configuration. The patent can not carry out planning and operation navigation of the action path.

The publication No. CN103241654B discloses an intelligent operation control system for bridge crane, which makes the bridge crane realize the collision-free automatic operation of XY axes in semi-unknown environment. The patent lacks graphical display of a human-computer interface on an action path, and the technology only aims at two-dimensional plane motion and does not provide a navigation method for multi-mechanism motion in a three-dimensional environment.

Disclosure of Invention

The invention aims to provide a real-time navigation system and a real-time navigation method for crane operation, which can automatically plan an action path of a crane, display the action to be executed and a target point position to guide an operator to operate, update the action path in real time and ensure the safe transportation of a hoisted object.

In order to achieve the purpose, the invention is realized by adopting the following technical scheme:

a real-time navigation method for crane operation comprises the following steps:

planning an arm support action path according to the operation site environment model, the current arm support posture information and the received target hoisting object coordinate position to obtain an arm support action sequence and a target point position; the arm support actions comprise amplitude variation rising and falling, arm support stretching, left-right rotation and hoisting and lifting;

displaying the action path and the position of the target point in a picture and text mode; controlling the arm support to move to the position of a target point according to the action path;

detecting whether the arm support has collision danger in the action process; if no collision danger exists, the arm support continues to act, and if collision danger exists, action path planning is carried out again;

detecting whether the arm support in motion exceeds the position of a target point or not; and if the position of the target point is not exceeded, the arm support continues to act, and if the position of the hoisting object coordinate is exceeded, the action path planning is carried out again.

Further, the action path planning specifically includes:

converting the action path information into an action path matrix, an array or a digital sequence; wherein the action path is an ordered combination of one or more actions;

and planning the action path according to the action path matrix and the array digital sequence.

Further, still include: and if the arm support has collision danger, performing sound-light alarm prompting.

Further, still include: and if the boom exceeds the position of the target point, performing sound-light alarm prompting.

The invention also discloses a real-time navigation system for crane operation, which comprises:

a path planning unit: the system comprises a boom motion path planning module, a boom position planning module, a boom motion sequence planning module and a boom motion path planning module, wherein the boom motion sequence planning module is used for planning a boom motion path according to an operation site environment model, current boom attitude information and a received target hoisting object coordinate position to obtain a boom motion; the arm support actions comprise amplitude variation rising and falling, arm support stretching, left-right rotation and hoisting and lifting;

a human-computer interaction unit: the system is used for setting coordinate information of a target hoisting object and displaying the action path and the position of a target point in a picture-text mode;

boom posture detection unit: the collision detection device is used for detecting whether the arm support has collision danger in the action process;

an obstacle collision detection unit: the detection device is used for detecting whether the arm support in motion exceeds the position of a target point.

Further, the human-computer interaction unit is also used for selecting whether to give an alarm or not according to the information whether the arm support has collision danger or whether the arm support exceeds the position of the target point.

Furthermore, the human-computer interaction unit is also used for displaying the action and the target point position which should be executed currently, the action and the target point position which should be executed next step and crane operation information; the action to be executed currently is a still picture or a moving picture.

Further, the path planning unit is further configured to select whether to perform path planning again according to whether the boom has collision risk information or whether the boom exceeds the target point position information.

Furthermore, the path planning unit is electrically connected with the boom posture detection unit and the obstacle collision detection unit through an electric connection or a CAN bus, and the path planning unit is connected with the human-computer interaction unit through the CAN bus.

Further, the path planning unit is a vehicle-mounted controller, the human-computer interaction unit is a vehicle-mounted display, and the boom posture detection unit is a vehicle-mounted sensor.

According to the technical scheme, the embodiment of the invention at least has the following effects:

1. the crane real-time navigation system provided by the invention can realize the navigation of the action path in the actual hoisting operation process in the three-dimensional operation space, and compared with a hoisting simulation system, the crane real-time navigation system is more fit with the real operation field environment, can perform navigation in the operation process of operators and guide the operators to operate safely; the system can realize the functions of action path planning, obstacle detection, boom posture detection and human-computer interface display;

2. the path planning unit in the navigation system provided by the invention utilizes the vehicle-mounted controller to carry out logic processing and algorithm realization, the human-computer interaction unit utilizes the vehicle-mounted display to carry out information input and navigation display, the boom posture detection unit is mainly based on the vehicle-mounted sensor, no additional hardware is required to be added except for the collision detection unit, and the cost is lower;

3. the real-time navigation method for the crane, provided by the invention, can plan the action path according to the hoisting task and display the action path in the human-computer interface, and can re-plan the path and update the human-computer interface when an obstacle is detected, so that the operation safety is improved; the method has the advantages that the method carries out early warning and reminding when the sub-action is about to reach the target point, has the function of replanning the path beyond the target point, ensures that operators do not need to operate in the opposite direction to return to the originally planned target point, and improves the operation efficiency;

4. the real-time navigation method of the crane has the functions of collision detection and path re-planning, prevents safety risks caused by operation of operators only according to navigation prompts without paying attention to field environment operation, and improves the safety of the operation process;

5. the real-time navigation method for the crane displays the action and the target point which are required to be executed at present and the action and the target point which are required to be executed in the next step in the form of texts and images, and is helpful for operators to visually know the operation content and prepare for the next step.

Drawings

FIG. 1 is a block diagram of a navigation system in accordance with an embodiment of the present invention;

FIG. 2 is a flow chart diagram of a navigation method according to an embodiment of the present invention;

FIG. 3 is a preview page view of an action path in accordance with the present invention;

FIG. 4 is a diagram of an action navigation page according to an embodiment of the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

The invention provides a real-time navigation system and a real-time navigation method for crane operation. When the system detects an obstacle when executing a certain sub-action, or when the certain sub-action exceeds a target point, the system replans the action path and updates the action path on a human-computer interface in time, so that the safe transportation of the hoisted object is guaranteed.

The invention provides a real-time navigation system of a crane, which can realize navigation of an action path in the actual hoisting operation process in a three-dimensional operation space and guide the safe operation of an operator. The system can realize the functions of action path planning, obstacle detection, boom posture detection and human-computer interface display.

By implementing the method, the operator can more intuitively acquire the safe action sequence, and the action path plan can be dynamically adjusted and displayed to the operator in time when the risk of collision of the obstacle exists, so that the real-time performance of the path plan is ensured, and the safety of hoisting operation and the intelligent degree of products can be improved.

Abbreviations and key terms are defined as follows:

a crane: it is a multi-action hoisting machine, also called a crane, for vertically lifting and horizontally carrying heavy objects within a certain range.

An action path: for a crane, the sequential combination of amplitude variation, expansion, rotation and lifting is mainly referred to, such as amplitude variation lift → boom extension → left rotation → hoisting lift.

The vehicle-mounted controller: the programmable control equipment can perform input and output processing, logic operation, bus communication and other functions of electric signals.

Vehicle-mounted display: programmable control equipment, the field of engineering machinery generally refers to a device which has a human-computer interface, can perform logic operation and human-computer interaction, and displays mechanical operation information in the form of text, images, videos and animations.