CN117422835A - Crane safety operation range evaluation method and system based on spherical polar coordinate system - Google Patents

Abstract

This application discloses a method and system for evaluating the safe operating range of a crane based on a spherical polar coordinate system. The method includes: obtaining the pose data and motion parameters of the crane; and performing an evaluation on the pose data of the crane based on the spherical polar coordinate system. Convert to obtain the three-dimensional spherical polar coordinate data of the crane; perform obstacle collision risk detection based on the three-dimensional spherical polar coordinate data and motion parameters of the crane, and evaluate the safe operating range of the crane; based on the safe operating range of the crane , determine the working speed range of the crane. This invention adopts a crane safe operating range assessment method based on the spherical polar coordinate system. By evaluating the transportation path and installation time of construction equipment or other objects in a complex environment, the invention can accurately and intuitively evaluate the crane itself and the hoisted goods compared with the actual installation environment. Objects undergo collision analysis to improve the safety of transmission line construction.

Description

A method and system for evaluating the safe operating range of cranes based on the spherical polar coordinate system

Technical field

The invention relates to the technical field of transmission line construction, and specifically relates to a method and system for evaluating the safe operating range of a crane based on a spherical polar coordinate system.

Background technique

Transmission lines are an important part of the transmission network. Most transmission lines are located outdoors in mountains and forests or even in some harsh environments. Under the influence of the external natural environment, transmission line conductors, ground wires, hardware and insulators will be damaged to varying degrees. Regular inspections and maintenance are required, and damaged components need to be replaced when necessary. Before constructing a transmission line, you must first conduct preliminary survey and design of the construction area to obtain the location coordinate data of the construction environment, and draw a cross-sectional view of the transmission line as needed. This usually requires determining the proportion of the graphics, segmenting the size of the graphics, and key measurements. The process of drawing points, drawing points across houses, drawing points across power lines and communication points, drawing points across rivers and lakes, drawing across highways, and drawing line sag; finally, based on the location information in the plan view and spatial relationships to determine the specific detailed processes in the construction of transmission lines.

In the construction of transmission lines, cranes are usually used to hoist infrastructure and power equipment. The telescopic struts are arc-shaped. During work, their supporting force is always perpendicular to the boom, causing the boom to rotate slowly, thereby lifting the goods. Lift. In the existing technology, the presentation surface of the transmission line plan section is a two-dimensional image, which cannot be intuitively converted into three-dimensional space constraints, making it difficult to clearly observe and predict potential safety hazards during the construction process. Due to the complex and diverse construction environment, the on-site installation process of prefabricated elements often involves the inevitable risk of collision with surrounding objects.

Therefore, there is a need to provide a method and system for evaluating the safe operating range of a crane based on the spherical polar coordinate system, which solves the problem that the existing technology cannot intuitively conduct collision analysis on the crane itself, the hoisted goods, and objects in the actual installation environment, and cannot conduct collision analysis on the construction site. Analyze the relative position and optimally plan the construction speed and path, which leads to technical problems with potential safety hazards in the construction process.

Contents of the invention

The present invention provides a method and system for evaluating the safe operating range of a crane based on a spherical polar coordinate system, which is used to overcome the constraints in the prior art that the presentation surface of the transmission line plan section is a two-dimensional image and cannot be intuitively converted into a three-dimensional space. Conditions make it impossible to intuitively conduct collision analysis between the crane itself and the goods being hoisted and objects in the actual installation environment during the construction process. The relative position of the construction site cannot be analyzed, and there are technical problems with potential safety hazards during the construction process.

In order to solve the above problems, the present invention provides a crane safe operating range assessment method based on the spherical polar coordinate system, including:

Obtain the crane's posture data and motion parameters;

Convert the pose data of the crane based on the spherical polar coordinate system to obtain the three-dimensional spherical polar coordinate data of the crane;

Conduct obstacle collision risk detection based on the three-dimensional spherical polar coordinate data and motion parameters of the crane to evaluate the safe operating range of the crane;

The working speed range of the crane is determined based on the safe operating range of the crane.

Further, the pose data of the crane includes the coordinate position of each component of the crane in the three-dimensional rectangular coordinate system, the angle and extension length of the crane's boom; wherein the components of the crane include the crane The main body and the boom of the crane.

Further, the pose data of the crane is converted based on the spherical polar coordinate system to obtain the three-dimensional spherical polar coordinate data of the crane, including:

For the three-dimensional rectangular coordinate system with the crane body as the origin, any point P (x, y, z) on the crane's boom is converted into three-dimensional spherical coordinate data in the three-dimensional spherical coordinate system. The specific formula is:

Among them, r represents the radial distance between point P and the origin, θ represents the angle between point P and the z-axis, Represents the angle between point P and the x-axis.

Further, the movement parameters include the size, operating limitations and freedom of movement of the crane.

Further, obstacle collision risk detection is performed based on the three-dimensional spherical polar coordinate data and motion parameters of the crane, and the safe operating range of the crane is evaluated, including:

According to the three-dimensional spherical polar coordinate data and motion parameters of the crane, determine the maximum activity radius and safe angle range of the current posture of the crane;

When the horizontal straight-line distance between the obstacles around the crane and the crane body exceeds the maximum radius of movement of the crane, the safe operating range is the first safe operating range;

When the horizontal linear distance between the obstacles around the crane and the crane body is within the maximum movement range of the crane, the safe operating range is the second safe operating range, and the second safe operating range is based on the The size and position of the obstacle and the safe angle range of the crane are determined.

Further, according to the safe operating range of the crane, the working speed range of the crane is determined, including:

When the safe operating range of the crane is the first safety range, the working speed of the crane is the normal luffing speed, normal horizontal rotation speed and normal vertical rotation speed;

When the safe operating range of the crane is the second safe range, it is judged whether the horizontal straight line distance between the obstacle and the crane body reaches the preset warning distance. When the preset warning distance is reached, all the obstacles are removed. The working speed of the above-mentioned crane is adjusted to the preset luffing speed, the preset horizontal rotation speed and the preset vertical rotation speed.

Further, the preset early warning distance is a multi-level early warning distance, and each level of the early warning distance is provided with a corresponding luffing speed, horizontal rotation speed and vertical rotation speed.

The invention also provides a crane safe operating range assessment system based on the spherical polar coordinate system, including:

Data acquisition module, used to obtain the pose data and motion parameters of the crane;

A coordinate conversion module, used to convert the pose data of the crane based on the spherical polar coordinate system to obtain the three-dimensional spherical polar coordinate data of the crane;

An evaluation module, used to detect obstacle collision risks based on the three-dimensional spherical polar coordinate data and motion parameters of the crane, and evaluate the safe operating range of the crane;

A calculation module is used to determine the working speed range of the crane according to the safe operating range of the crane.

The present invention also provides an electronic device, including a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, the spherical polar coordinate-based method as described in any of the above technical solutions is implemented. System's crane safety operating range assessment method.

The present invention also provides a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, a spherical electrode-based method as described in any of the above technical solutions is implemented. Coordinate system-based crane safety operating range assessment method.

Compared with the existing technology, the beneficial effects of the present invention include: first, obtaining the pose data and motion parameters of the crane, and converting the Cartesian coordinates of the crane into spherical polar coordinates through a coordinate conversion algorithm, so as to evaluate the safety range. and calculation; secondly, through the collision detection algorithm, analyze the crane position and surrounding environment data, and determine whether there is a possibility of collision; finally, evaluating the safe operating range of the crane also requires calculating the safety gap between the crane and surrounding objects, and displaying it in real time The crane position and safe operating range provide the most reasonable working speed, monitor and warn the construction process, effectively avoid a lot of time loss caused by collisions on the construction site, and also ensure the personal safety of construction workers. This invention adopts a crane safety operating range assessment method based on the spherical polar coordinate system. By evaluating the collision risk, transportation path and installation time of construction equipment or other objects in a complex environment, it can accurately and intuitively compare the crane itself and the hoisted goods with the actual situation. It performs collision analysis on objects in the installation environment, analyzes the relative positions of the construction site and optimally plans the construction speed and path, and provides warning and alarm systems, which improves the safety of transmission line construction and has strong practicability.

Description of the drawings

Figure 1 is a schematic representation of an object in a three-dimensional rectangular coordinate system provided by an embodiment of the present invention;

Figure 2 is a schematic representation of an object in a spherical polar coordinate system according to an embodiment of the present invention;

Figure 3 is a schematic flow chart of a crane safe operating range assessment method based on a spherical polar coordinate system provided by an embodiment of the present invention;

Figure 4 is a schematic representation of the crane provided by the embodiment of the present invention in a spherical polar coordinate system;

Figure 5 is a schematic diagram of the distance relationship between obstacles and a crane provided by an embodiment of the present invention;

Figure 6 is a schematic flowchart of a method of collision detection and speed planning provided by an embodiment of the present invention;

Figure 7 is a schematic structural diagram of a crane safe operating range assessment system based on a spherical polar coordinate system provided by an embodiment of the present invention.

Detailed ways

Before describing the embodiments of the present invention, the inventive concept of the present application is first introduced.

Before the construction of transmission lines, it is first necessary to determine the location information and spatial relationships of objects in the plan view of the construction area to determine the specific details of the construction process of transmission lines. In addition, cranes are usually used to hoist infrastructure and power equipment during construction. The telescopic struts of the crane are arc-shaped. During work, its supporting force is always perpendicular to the boom, causing the boom to rotate slowly, thus Lift the goods. However, in the existing technology, the presentation surface of the transmission line plan section is a two-dimensional image, which cannot be intuitively converted into the constraints of the three-dimensional space. Moreover, the selected Cartesian coordinate system coordinates are difficult to intuitively display the crane working conditions and cannot clearly display the crane working conditions. Observe and predict potential safety hazards during construction.

Therefore, the method of this application observes the hoisting work process from the perspective of the crane operator, and its best description of the three-dimensional space of the hoisting working conditions is the spherical polar coordinate system. Assessment of the crane's safe operating range based on the spherical polar coordinate system during the construction process can help construction personnel more clearly observe and predict potential safety hazards during the construction process. At the same time, it can also intuitively detect the distance and collision analysis between the crane itself and the hoisted goods and any objects in the actual installation environment. By analyzing the relative position of the construction site, the optimal planning of construction methods and paths can be achieved.

This application provides a method and system for evaluating the safe operating range of a crane based on the spherical polar coordinate system. The basic technology of the method is to convert the three-dimensional rectangular coordinates (xi, yi, zi) of objects in the construction environment into the spherical polar coordinate system. The three-dimensional spherical polar coordinates (ri, φi, θi). The specific principles are as follows:

The traditional three-dimensional rectangular coordinate system is a three-dimensional orthogonal coordinate system that uses rectangular coordinates (x, y, z) to represent the position of a point P in the three-dimensional space. The three-dimensional rectangular coordinate system discussed in this application defaults to the positive direction of its x, y, and z axes satisfying the right-hand rule (as shown in Figure 1). At any point P in three-dimensional space, its position can be expressed by rectangular coordinates (x, y, z).

The spherical polar coordinate system, also known as space polar coordinates, is a type of three-dimensional coordinate system. It is expanded from the two-dimensional polar coordinate system and is used to determine the positions of points, lines, surfaces and bodies in three-dimensional space. It takes the coordinate origin as The reference point consists of azimuth, elevation and distance. Using spherical coordinates A three-dimensional orthogonal coordinate system that represents the position of a point P in three-dimensional space.

As shown in Figure 2, the radial distance between the origin O and the target point P is r, the angle between the line connecting O to P and the positive z-axis is the zenith angle θ, and the line connecting O to P is at xy The angle between the projection line on the plane and the positive x-axis is the azimuth angle

Based on the above basic principles, the three-dimensional space of the hoisting working condition is represented by the spherical polar coordinate system, so as to judge the spatial relationship more intuitively and clearly. According to the three-dimensional spherical polar coordinate data and motion parameters, the safe operating range of the crane is determined. ;Then the working speed of the crane is adjusted according to the safe operating range to ensure the safety of the transmission line construction process.

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

The embodiment of the present invention proposes a method for evaluating the safe operating range of a crane based on a spherical polar coordinate system. Figure 3 is a schematic flow chart of the method for evaluating the safe operating range of a crane based on a spherical polar coordinate system. The method includes:

Step S101: Obtain the pose data and motion parameters of the crane;

Step S102: Convert the pose data of the crane based on the spherical polar coordinate system to obtain the three-dimensional spherical polar coordinate data of the crane;

Step S103: Perform obstacle collision risk detection based on the three-dimensional spherical polar coordinate data and motion parameters of the crane, and evaluate the safe operating range of the crane;

Step S104: Determine the working speed range of the crane based on the safe operating range of the crane.

The method provided in this embodiment firstly obtains the pose data and motion parameters of the crane, and uses a coordinate conversion algorithm to convert the Cartesian coordinates of the crane into spherical polar coordinates in order to evaluate and calculate the safety range; secondly, through the collision The detection algorithm analyzes the crane position and surrounding environment data and determines whether there is a possibility of collision; finally, evaluating the safe operating range of the crane also requires calculating the safe gap between the crane and surrounding objects, displaying the crane position and safe operating range in real time, and providing The most reasonable working speed monitors and warns the construction process, effectively avoiding a lot of time loss caused by collisions at the construction site, and also ensuring the personal safety of construction workers. The method of this embodiment is based on the coordinate conversion of the spherical polar coordinate system. By evaluating the transportation path and installation time of construction equipment or other objects in a complex environment, the collision between the crane itself and the hoisted goods and objects in the actual installation environment can be accurately and intuitively determined. Analysis, analyzing the relative position of the construction site and optimal planning of construction speed and path, improve the safety of transmission line construction.

As a specific embodiment, the position and attitude of the crane is acquired through sensors or other devices, such as cameras, laser scanners, radars, etc. These sensors and devices are also used to sense the position, shape and size of surrounding obstacles, thereby Obtain information about the environment surrounding the crane.

Using sensors such as laser scanners or radars, three-dimensional point cloud data of the environment around the crane can be obtained. By analyzing point cloud data, an accurate data basis can be provided for subsequent collision detection and safety range assessment to ensure that crane operations are carried out within a safe range.

As a preferred embodiment, the pose data of the crane includes the coordinate positions of each component of the crane in a three-dimensional rectangular coordinate system, the angle and extension length of the boom of the crane; wherein, the composition of the crane The components include the crane body and the crane's boom.

It should be noted that the method of this embodiment can continue to use the Cartesian coordinate system of the crane's position and attitude without performing coordinate transformation. By performing collision detection and safe clearance calculations in a Cartesian coordinate system, the safe operating range of the crane can be evaluated.

If the crane's operating space has spherical symmetry and the representation of the spherical polar coordinate system is more in line with the operator's workflow and visualization needs, then the method based on the spherical polar coordinate system is more suitable. It provides intuitive visualization of safety limits and provides important information within the operator's field of view. It does not require a large amount of sensory data or the assistance of high-precision radar and other instruments. Choosing the most suitable option depends on a variety of factors, including application scenario, available technology, budget and performance requirements.

As a preferred embodiment, the pose data of the crane is converted based on the spherical polar coordinate system to obtain the three-dimensional spherical polar coordinate data of the crane, including:

For the three-dimensional rectangular coordinate system with the crane body as the origin, any point P (x, y, z) on the crane's boom is converted into three-dimensional spherical coordinate data in the three-dimensional spherical coordinate system. The specific formula is:

Among them, r represents the radial distance between point P and the origin, θ represents the angle between point P and the z-axis, Represents the angle between point P and the x-axis.

As a specific embodiment, please refer to Figure 4. By mathematically expressing the crane in Figure 4, using the crane body as the origin of the coordinates, we can get: r is the length of the current crane arm, and θ is the angle between the current arm and the ground. the remaining angle, It is the angle between the projection of the current boom on the horizontal plane and the x-axis. The spherical polar coordinate system better describes the position and attitude of the crane in the three-dimensional space through three parameters: radial distance, azimuth angle and pitch angle.

Specifically, the specific formula for converting the spherical polar coordinate system into the rectangular coordinate system is as follows:

z＝rcosθ (3)

In the spherical polar coordinate system, the equation of the sphere x ² +y ² +z ² =a ² is r=a, the equation of the sphere x ² +y ² +(za) ² =a ² is r=2acosθ, and the equation of the cylinder x The equation of ² +y ² =R ² is rsinθ=R.

Then the specific formula for converting the rectangular coordinate system into the spherical polar coordinate system is as follows:

As a preferred embodiment, the movement parameters include the size, operating limitations and freedom of movement of the crane.

As a specific embodiment, the safety range of the crane is calculated based on the spherical polar coordinate data of the crane. This involves determining the maximum radius (r_max) and safe angle range (θ_min, θ_max, ).

Maximum radius (r_max): Based on the size and operating limitations of the crane, determine the maximum radius of the crane in the spherical polar coordinate system, that is, the farthest distance that the crane can safely reach.

Safety angle range (θ_min, θ_max, ): Determine the safe angle range of the crane in the spherical polar coordinate system based on the crane's restrictions and operating requirements. These angular ranges allow for the crane's freedom of movement such as rotation, lifting and oscillation to be taken into account on a case-by-case basis.

As a preferred embodiment, obstacle collision risk detection is performed based on the three-dimensional spherical polar coordinate data and motion parameters of the crane, and the safe operating range of the crane is evaluated, including:

According to the three-dimensional spherical polar coordinate data and motion parameters of the crane, determine the maximum activity radius and safe angle range of the current posture of the crane;

When the horizontal straight-line distance between the obstacles around the crane and the crane body exceeds the maximum radius of movement of the crane, the safe operating range is the first safe operating range;

When the horizontal linear distance between the obstacles around the crane and the crane body is within the maximum movement range of the crane, the safe operating range is the second safe operating range, and the second safe operating range is based on the The size and position of the obstacle and the safe angle range of the crane are determined.

The above process will be described in detail below using a specific embodiment.

Step 1: Construct a spherical polar coordinate system with the crane body as the origin, r is the length of the current crane arm, θ is the supplementary angle between the current arm and the ground, It is the angle between the projection of the current boom on the horizontal plane and the x-axis. Δr is the movable radius of the crane in the current state, Δθ,/> It is the angle range that can be moved in the current state. Assume that the maximum radius of the crane in the spherical polar coordinate system is r_max at this time, and the safe angle range is (θ_min, θ_max,/> ).

Step 2: Determine whether there are obstacles around the crane. If there are no obstacles, the safe operating range of the crane is the first safe operating range, recorded as safe range ①; if there are obstacles, go to the third step.

Step 3: Confirm the horizontal straight line safety distance d from the obstacle to the origin of the crane (point O) and the safety height of the obstacle as h. The occupied position of the obstacle is calculated based on the angle from the origin O to the safe distance on both sides of the obstacle. It should be noted that the safety distance here means that there is a certain distance away from the obstacle. As shown in Figure 5, in Figure 5, the cuboid is the detected obstacle, and the coordinate system represents the spherical polar coordinate system with the crane body as the origin.

Step 4: Conduct scenario analysis based on the horizontal straight line safety distance d to calculate the safety range of the crane;

When d>r_max, the safety range of the crane is safety range ①.

When d<r_max, the safety range of the crane is recorded as the safety range ②, which needs to be analyzed based on various situations.

Specifically, the safety range of the crane is r+Δr, θ+Δθ and satisfy:

Safety range ①:

r+Δr < r_max (7)

θ_min < θ+Δθ < θ_max (8)

Safety range ②:

As a specific embodiment, three-dimensional modeling and simulation technology can also be used to model and simulate the crane, environment and operating scenarios in a computer environment. By performing collision detection and safety range assessment in the simulation environment, the safe operating range of the crane can be predicted to avoid actual collision risks.

In some embodiments, deep learning and computer vision techniques may be utilized to develop object detection, tracking, and collision risk prediction algorithms. By analyzing real-time video or sensor data, objects around the crane can be detected and collision risks can be predicted, allowing assessment of the crane's safe operating range. Specifically, the YOLO model can be used to detect obstacle objects, and then use prediction algorithms such as Kalman filtering to predict actions through machine learning, thereby predicting collision risks.

As a preferred embodiment, the working speed range of the crane is determined based on the safe operating range of the crane, including:

When the safe operating range of the crane is the first safety range, the working speed of the crane is the normal luffing speed, normal horizontal rotation speed and normal vertical rotation speed;

When the safe operating range of the crane is the second safe range, it is judged whether the horizontal straight line distance between the obstacle and the crane body reaches the preset warning distance. When the preset warning distance is reached, all the obstacles are removed. The working speed of the above-mentioned crane is adjusted to the preset luffing speed, the preset horizontal rotation speed and the preset vertical rotation speed.

As a preferred embodiment, the preset early warning distance is a multi-level early warning distance, and each level of the early warning distance is provided with corresponding amplitude speed, horizontal rotation speed and vertical rotation speed.

As a specific embodiment, the working speed V of the crane is calculated according to the safe operating range of the crane. The working speed V refers to the speed at which the crane's working mechanism operates stably under rated load. The working speed V is different under different circumstances. The method of determining the working speed V will be discussed below based on the situation. Assume that the horizontal straight line safety distance from the obstacle to the origin of the crane (point O) is represented by d, the maximum radius of the crane in the spherical polar coordinate system is r_max, and the safety angle range is (θ_min, θ_max, ).

①If d>r_max, there is no risk of collision between the crane and the obstacle, and the working speed of the crane is the normal working speed. At this time, the working speed of the crane is as follows: the luffing speed is V1, the horizontal rotation speed is ω1, and the vertical rotation speed is w1; where V1, ω1, and w1 are the normal luffing speed, normal horizontal rotation speed, and normal vertical rotation speed respectively.

Specifically, the luffing speed refers to the average linear speed of the horizontal displacement of the crane's boom from the maximum amplitude to the minimum amplitude when the crane is in a stable motion state. The unit is m/min.

The rotation speed refers to the rotation speed of the crane around its rotation center in a stable state of motion. The horizontal rotation speed and vertical rotation speed refer to the rotation speed around the center point in the xoy plane/yoz plane. The unit is r/min.

②If d<r_max, the safety range of the crane needs to be analyzed based on various situations. The working speed within the safe range is the normal working speed. Reduce the working speed when approaching the obstacle safety range to a certain extent.

Under normal circumstances, the amplitude speed is V1, the horizontal rotation speed is ω1, and the vertical rotation speed is w1.

When the distance around the obstacle is the preset first warning distance d1, the amplitude speed is reduced to V2 (V2<V1/2), the horizontal rotation speed is reduced to ω2 (ω2<ω1), and the vertical rotation speed is reduced to w2 ( w2<w1).

When the distance to the obstacle is the preset second warning distance d2 (d2<d1), the amplitude speed is reduced to V3 (V3<V2/2), the horizontal rotation speed is reduced to ω3 (ω3<ω2), and the vertical rotation speed is Dropped to w3 (w3<w2).

When the distance to the obstacle is the preset third warning distance d3 (d3<d2), the luffing speed, horizontal rotation speed, and vertical rotation speed all drop to 0.

By presetting the first warning distance, the second warning distance and the third warning distance, the working speed of the crane can be distinguished, and the working speed can be determined based on the margin of the safety distance, thus ensuring maximum construction efficiency while ensuring safety.

As shown in Figure 6, Figure 6 shows the overall collision detection, working speed, and construction path optimal planning method flow chart.

It should be noted that the method described in this application can be applied in multiple scenarios, including but not limited to the following specific application scenarios:

(1) Industrial field: In industrial production, cranes are often used for tasks such as loading and unloading goods and carrying heavy objects. The safe operating range assessment method based on the spherical polar coordinate system can help crane operators evaluate the safe operating range of the crane in a small working space to avoid collisions with equipment, structures or other objects.

(2) Building and construction field: At construction sites and construction sites, cranes are used for tasks such as transporting building materials and hoisting components. The safe operating range assessment method based on the spherical polar coordinate system can help crane operators determine the safe operating range of the crane to avoid collisions with buildings, scaffolding or other equipment.

(3) Road and bridge maintenance: In road and bridge maintenance work, cranes are used for tasks such as hoisting and repairing equipment, clearing obstacles, etc. The safe operating range assessment method based on the spherical polar coordinate system can help crane operators evaluate the safe operating range of the crane on roads, bridges or elevated structures to avoid collisions with traffic flow or other structures.

This embodiment also provides a crane safe operating range assessment system based on a spherical polar coordinate system. As shown in Figure 7 , the crane safe operating range assessment system 700 based on a spherical polar coordinate system includes:

Data acquisition module 701, used to acquire the pose data and motion parameters of the crane;

The coordinate conversion module 702 is used to convert the pose data of the crane based on the spherical polar coordinate system to obtain the three-dimensional spherical polar coordinate data of the crane;

The evaluation module 703 is used to detect obstacle collision risks based on the three-dimensional spherical polar coordinate data and motion parameters of the crane, and evaluate the safe operating range of the crane;

The calculation module 704 is used to determine the working speed range of the crane according to the safe operating range of the crane.

This embodiment also provides an electronic device, including a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, the spherical electrode-based method as described in any of the above technical solutions is implemented. Coordinate system-based crane safety operating range assessment method.

This embodiment also provides a computer-readable storage medium. A computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, a spherical electrode-based method described in any of the above technical solutions is implemented. Coordinate system-based crane safety operating range assessment method.

The computer-readable storage medium and computing device provided according to the above embodiments of the present invention can be implemented with reference to the detailed description of the method for evaluating the safe operating range of a crane based on the spherical polar coordinate system according to the present invention, and have the following features: The above-mentioned method for evaluating the safe operating range of a crane based on the spherical polar coordinate system has similar beneficial effects and will not be described again here.

The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of changes or modifications within the technical scope disclosed in the present invention. All substitutions are within the scope of the present invention.

Claims (10)

1. A method for evaluating the safe operating range of a crane based on the spherical polar coordinate system, characterized in that the method includes: Obtain the crane's posture data and motion parameters; Convert the pose data of the crane based on the spherical polar coordinate system to obtain the three-dimensional spherical polar coordinate data of the crane; Conduct obstacle collision risk detection based on the three-dimensional spherical polar coordinate data and motion parameters of the crane to evaluate the safe operating range of the crane; The working speed range of the crane is determined based on the safe operating range of the crane. 2. The method for evaluating the safe operating range of a crane based on the spherical polar coordinate system according to claim 1, wherein the pose data of the crane includes the coordinate positions of each component of the crane in a three-dimensional rectangular coordinate system. , the crane's boom angle and extension length; wherein, the components of the crane include the crane body and the crane's boom. 3. The method for evaluating the safe operating range of a crane based on a spherical polar coordinate system according to claim 2, characterized in that the pose data of the crane is converted based on the spherical polar coordinate system to obtain a three-dimensional image of the crane. Sphere polar coordinate data, including: For the three-dimensional rectangular coordinate system with the crane body as the origin, any point P (x, y, z) on the crane's boom is converted into three-dimensional spherical coordinate data in the three-dimensional spherical coordinate system. The specific formula is: Among them, r represents the radial distance between point P and the origin, θ represents the angle between point P and the z-axis, Represents the angle between point P and the x-axis. 4. The method for evaluating the safe operating range of a crane based on the spherical polar coordinate system according to claim 1, wherein the motion parameters include the size, operating limits and freedom of movement of the crane. 5. The method for evaluating the safe operating range of a crane based on the spherical polar coordinate system according to claim 2, characterized in that obstacle collision risk detection is performed based on the three-dimensional spherical polar coordinate data and motion parameters of the crane to evaluate the crane. The safe operating scope includes: According to the three-dimensional spherical polar coordinate data and motion parameters of the crane, determine the maximum activity radius and safe angle range of the current posture of the crane; When the horizontal straight-line distance between the obstacles around the crane and the crane body exceeds the maximum radius of movement of the crane, the safe operating range is the first safe operating range; When the horizontal linear distance between the obstacles around the crane and the crane body is within the maximum movement range of the crane, the safe operating range is the second safe operating range, and the second safe operating range is based on the The size and position of the obstacle and the safe angle range of the crane are determined. 6. The method for evaluating the safe operating range of the crane based on the spherical polar coordinate system according to claim 5, characterized in that the working speed range of the crane is determined according to the safe operating range of the crane, including: When the safe operating range of the crane is the first safety range, the working speed of the crane is the normal luffing speed, normal horizontal rotation speed and normal vertical rotation speed; When the safe operating range of the crane is the second safe range, it is judged whether the horizontal straight line distance between the obstacle and the crane body reaches the preset warning distance. When the preset warning distance is reached, all the obstacles are removed. The working speed of the crane is adjusted to the preset luffing speed, the preset horizontal rotation speed and the preset vertical rotation speed. 7. The crane safe operating range assessment method based on the spherical polar coordinate system according to claim 6, characterized in that the preset early warning distance is a multi-level early warning distance, and each level of the early warning distance is provided with a corresponding luffing speed, horizontal rotation speed and vertical rotation speed. 8. A crane safety operating range assessment system based on the spherical polar coordinate system, which is characterized by including: Data acquisition module, used to obtain the pose data and motion parameters of the crane; A coordinate conversion module, used to convert the pose data of the crane based on the spherical polar coordinate system to obtain the three-dimensional spherical polar coordinate data of the crane; An evaluation module, used to detect obstacle collision risks based on the three-dimensional spherical polar coordinate data and motion parameters of the crane, and evaluate the safe operating range of the crane; A calculation module configured to determine the working speed range of the crane based on the safe operating range of the crane. 9. An electronic device, characterized in that it includes a processor and a memory, and a computer program is stored on the memory. When the computer program is executed by the processor, the method of any one of claims 1-7 is implemented. Evaluation method of crane safe operating range based on spherical polar coordinate system. 10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method of any one of claims 1-7 is implemented. A method for evaluating the safe operating range of cranes based on the spherical polar coordinate system.