The embodiment of the invention discloses a crane working environment sensing method, computer equipment and a computer readable storage medium. The method comprises the following steps that sensing data collected by a sensing suite are obtained, the sensing suite comprises at least one of a laser radar unit, an inertia measurement unit and a camera shooting unit, and the sensing suite is installed at the preset position of the crane; a scene model is established according to the sensing data, a target object is recognized, the scene model comprises a static obstacle and/or a dynamic obstacle, and the target object comprises a lifting hook and/or a load; and obtaining perception enhancement information between the scene model and the target object and outputting the perception enhancement information. Therefore, the working environment of the crane can be sensed, and the corresponding distance information is determined and output according to the correlation of the target object in the scene model, so that the three-dimensional space position, size and relative relation information of the lifting hook, the load and the surrounding environment can be completely detected in real time, and over-the-horizon work can be safely realized.
本申请实施例公开了一种起重机工作环境感知方法、计算机设备和计算机可读存储介质。其中,方法包括如下步骤:获取感知套件采集的感知数据,感知套件包括激光雷达单元、惯性测量单元、摄像单元中的至少一项,感知套件安装在起重机的预定位置处;根据感知数据建立场景模型,并识别目标对象,场景模型中包括静态障碍物和/或动态障碍物,目标对象包括吊钩和/或载荷;获取场景模型和目标对象之间的感知增强信息并输出。因此,本申请能够感知起重机的工作环境,通过目标对象在场景模型中的相关关系确定相应的距离信息以输出,使得能够实时、完整地检测吊钩、载荷及周边环境的三维空间位置、尺寸和相对关系信息,便于安全实现超视距工作。
Crane working environment sensing method, computer equipment and computer readable storage medium
起重机工作环境感知方法、计算机设备和计算机可读存储介质
13.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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