The invention provides a lifting appliance running anti-collision method, device and equipment and a crane. A first obstacle point cloud set is obtained by scanning obstacles in the running direction of a trolley, and a second obstacle point cloud set is obtained by scanning obstacles in the running direction of a cart; utilizing coordinate information corresponding to each obstacle point in the first obstacle point cloud set to construct a lifting appliance operation protection area corresponding to each obstacle point; obstacle points, invading the sling operation protection area, in the second obstacle point cloud set serve as adjacent bay position obstacle points; and according to the coordinate information corresponding to the adjacent bay position obstacle points, the sling operation protection areas invaded by the adjacent bay position obstacle points are updated, so that the sling operation path is determined according to all the sling operation protection areas, and therefore, obstacles are prevented from existing in the sling operation protection areas; anti-collision of lifting appliances or containers in adjacent storage positions in the lifting appliance operation process is achieved, and the safety of the lifting appliance operation path is improved.

    本申请提供了一种吊具运行防撞方法、装置、设备和起重机,通过扫描小车运行方向上的障碍物得到第一障碍物点云集合,以及通过扫描大车运行方向上的障碍物得到第二障碍物点云集合;利用第一障碍物点云集合中的每个障碍物点对应的坐标信息,构建每个障碍物点对应的吊具运行保护区;将第二障碍物点云集合中侵入吊具运行保护区的障碍物点作为相邻贝位障碍物点;根据相邻贝位障碍物点对应的坐标信息,对相邻贝位障碍物点所侵入的吊具运行保护区进行更新,以便根据所有吊具运行保护区确定吊具运行路径,从而避免吊具运行保护区内存在障碍物,实现了吊具运行过程中相邻贝位的吊具或集装箱防撞,提高吊具运行路径的安全性。


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    Titel :

    Lifting appliance operation anti-collision method, device and equipment and crane


    Weitere Titelangaben:

    吊具运行防撞方法、装置、设备和起重机


    Beteiligte:
    FANG ZHENHUA (Autor:in)

    Erscheinungsdatum :

    2022-07-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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