The invention relates to a crawler crane, a hoisting method, device and system thereof and a storage medium. The method comprises the following steps: recognizing and detecting the working state of a lifting arm in real time through a laser radar and a camera, and collecting image information of a lifted object and surrounding obstacles; target identification is carried out after the image information is processed, whether a target is a hoisted object or not is judged, target position information is determined, and the target is at least one of the hoisted object and a surrounding obstacle; according to the target position information, path planning is conducted on the suspension arm, and an anti-collision moving path is generated. The hoisting operation environment is sensed, the surrounding environment can be updated in real time, and complete autonomous hoisting of the crawler crane is achieved.

    本公开涉及一种履带起重机及其吊装方法、装置和系统、存储介质。该方法包括:通过激光雷达和相机实时识别与检测吊臂的工作状态,并采集吊装物和周围环境障碍物图像信息;对所述图像信息进行处理后进行目标识别,判断目标是否为吊装物并确定目标位置信息,其中,目标为吊装物和周围环境障碍物中的至少一种;根据目标位置信息,对吊臂进行路径规划,生成防碰撞移动路径。本公开通过对吊装作业环境感知进行感知,可以实时更新周围环境,实现履带起重机的完全自主吊装。


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    Title :

    Crawler crane, hoisting method, device and system thereof and storage medium


    Additional title:

    履带起重机及其吊装方法、装置和系统、存储介质


    Contributors:
    LIU XIANGCHAO (author) / YANG JIHAI (author) / ZHANG KEFEI (author) / HUI WENLONG (author) / XIONG YUAN (author)

    Publication date :

    2023-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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