CN113724380A - Method, processor and engineering device for generating hoisting scheme - Google Patents
Method, processor and engineering device for generating hoisting scheme Download PDFInfo
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Abstract
The invention relates to the field of engineering machinery, and discloses a method, a processor and an engineering device for generating a hoisting scheme. The method for generating the hoisting scheme comprises the following steps: acquiring operation environment data of a hoisting task; generating a three-dimensional map according to the operation environment data; inputting the hoisting task in the three-dimensional map; and generating a hoisting scheme for executing the hoisting task. The operation environment of the hoisting task is scanned by the sensing equipment, then a three-dimensional map about the operation environment is automatically obtained, the hoisting task is input into the three-dimensional map, a hoisting scheme for executing the hoisting task can be automatically generated for engineering personnel to select, manpower resources are saved, and the work efficiency and the operation accuracy are improved.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a method, a processor and an engineering device for generating a hoisting scheme.
Background
Hoisting refers to the general term of installation or positioning of equipment by a crane or a hoisting mechanism, and various hoisting tools are used for hoisting the equipment, workpieces, appliances or materials and the like in the process of maintenance or repair so as to change the positions of the equipment, the workpieces, the appliances or the materials. At present, a hoisting scheme is mainly established manually, personnel for establishing the hoisting scheme firstly come to a hoisting field to investigate, study and analyze a hoisting operation environment, manually survey and draw a construction environment and a construction object, measure the size and the position of an entity, then perform corresponding calculation and check according to work requirements, manually write the hoisting scheme, and have high requirements on professional ability and engineering experience of the personnel in the environment surveying and drawing and hoisting scheme writing process. Thus, the working efficiency and accuracy are low.
Disclosure of Invention
In order to overcome the defects of the prior art, the embodiment of the invention provides a method, a processor and an engineering device for generating a hoisting scheme.
In order to achieve the above object, a first aspect of the present invention provides a method for generating a hoisting scheme, the method comprising:
acquiring operation environment data of a hoisting task;
generating a three-dimensional map according to the operating environment data;
inputting a hoisting task in a three-dimensional map;
and generating a hoisting scheme for executing the hoisting task.
In an embodiment of the present invention, generating a three-dimensional map from work environment data includes:
generating a three-dimensional point cloud map according to the operating environment data;
transforming the three-dimensional point cloud map into a vectorized three-dimensional model;
inputting a hoisting task in the three-dimensional map comprises the following steps:
and inputting a hoisting task in the vectorized three-dimensional model.
In the embodiment of the invention, the input hoisting task comprises the following steps:
determining a hung object;
inputting attributes of the suspended object, wherein the attributes comprise at least one of weight and material;
inputting the starting position and the target position of the hung object.
In the embodiment of the present invention, generating a hoisting scheme for executing a hoisting task includes:
determining the model, the station position and the working condition of the crane according to the vectorized three-dimensional model, the hoisting task and pre-stored model data of the crane, wherein the model data of the crane comprises dynamic characteristic data and a hoisting capacity table of the crane;
a three-dimensional spatial path of the suspended object is generated.
In an embodiment of the present invention, the method further comprises:
before a hoisting scheme for executing a hoisting task is generated, correcting the size and the position of an entity in the vectorized three-dimensional model;
supplementing physical attributes of the vectorized three-dimensional model, the physical attributes comprising: at least one of voltage of the high voltage line, a strong magnetic field range, and a softness of the ground.
In the embodiment of the present invention, acquiring the operating environment data of the hoisting task includes:
scanning a working environment to acquire point cloud data and video data;
analyzing the point cloud data and the video data, and converting into a first data format;
the three-dimensional point cloud map generation method according to the operation environment data comprises the following steps:
and generating a three-dimensional point cloud map according to the first data format.
In an embodiment of the present invention, the method further comprises:
storing the point cloud data, the video data and the vectorized three-dimensional model;
receiving a query request;
and responding to the query request, and displaying the point cloud data, the video data and the vectorized three-dimensional model.
In the embodiment of the present invention, generating a hoisting scheme for executing a hoisting task includes:
generating at least two hoisting schemes;
receiving a user selection;
and determining one of the at least two hoisting schemes according to the selection of the user, and printing the hoisting scheme.
A second aspect of the invention provides a processor configured to perform the above-described method for generating a lifting plan.
A third aspect of the present invention provides an engineering apparatus for generating a hoisting scheme, the apparatus comprising:
the sensing equipment is used for acquiring the operating environment data of the hoisting task and comprises a laser radar; and
the processor described above.
In an embodiment of the invention, the perceiving device further comprises at least one of an IMU (Inertial Measurement Unit) and a camera.
In an embodiment of the present invention, the engineering apparatus further includes:
and the human-computer interaction equipment is used for receiving the query request and receiving the user selection.
A fourth aspect of the invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the method for generating a lifting plan described above.
A fifth aspect of the invention provides a computer program product comprising a computer program which, when executed by a processor, implements the method for generating a lifting plan as described above.
Compared with the prior art, the hoisting scheme is mainly established manually, workers of the hoisting scheme firstly visit a hoisting site to investigate, study and analyze a hoisting operation environment, manually survey and draw a construction environment and a construction object, measure the size and the position of an entity, then perform corresponding calculation and check according to work requirements, manually write the hoisting scheme, and have higher requirements on professional ability and engineering experience of the workers in the environment surveying and drawing and hoisting scheme writing process. According to the method for generating the hoisting scheme, the operation environment of the hoisting task is scanned by the sensing equipment, the three-dimensional map about the operation environment is automatically obtained, the hoisting task is input into the three-dimensional map, the hoisting scheme for executing the hoisting task can be automatically generated for engineering personnel to select, the human resources are saved, and the working efficiency and the operation accuracy are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
figure 1 schematically illustrates a flow diagram of a method for generating a lifting plan in accordance with an embodiment of the invention;
FIG. 2 schematically illustrates a block diagram of a self-generating system for a lifting scheme in accordance with an embodiment of the present invention;
FIG. 3 schematically illustrates a functional block diagram of a method for self-generation of a lifting scheme according to an embodiment of the present invention;
fig. 4 schematically shows an application flowchart of a hoisting scheme self-generation method according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Fig. 1 schematically shows a flow chart of a method for generating a hoisting scheme according to an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, a method for generating a hoisting plan is provided, including the steps of:
102, generating a three-dimensional map according to the operation environment data;
And 104, generating a hoisting scheme for executing a hoisting task.
Compared with the prior art, the hoisting scheme is mainly established manually, workers of the hoisting scheme firstly visit a hoisting site to investigate, study and analyze a hoisting operation environment, manually survey and draw a construction environment and a construction object, measure the size and the position of an entity, then perform corresponding calculation and check according to work requirements, manually write the hoisting scheme, and have higher requirements on professional ability and engineering experience of the workers in the environment surveying and drawing and hoisting scheme writing process. According to the method for generating the hoisting scheme, the operation environment of the hoisting task is scanned by the sensing equipment, the three-dimensional map about the operation environment is automatically obtained, the hoisting task is input into the three-dimensional map, the hoisting scheme for executing the hoisting task can be automatically generated for engineering personnel to select, the human resources are saved, and the working efficiency and the operation accuracy are improved.
In one embodiment, generating a three-dimensional map from job environment data comprises:
generating a three-dimensional point cloud map according to the operating environment data;
transforming the three-dimensional point cloud map into a vectorized three-dimensional model;
inputting a hoisting task in the three-dimensional map comprises the following steps:
and inputting a hoisting task in the vectorized three-dimensional model.
In one embodiment, the input hoisting task comprises:
determining a hung object;
inputting attributes of the suspended object, wherein the attributes comprise at least one of weight and material;
inputting the starting position and the target position of the hung object.
In one embodiment, generating a hoisting plan for performing a hoisting task includes:
determining the model, the station position and the working condition of the crane according to the vectorized three-dimensional model, the hoisting task and pre-stored model data of the crane, wherein the model data of the crane comprises dynamic characteristic data and a hoisting capacity table of the crane;
a three-dimensional spatial path of the suspended object is generated.
In an embodiment, the method further comprises:
before a hoisting scheme for executing a hoisting task is generated, correcting the size and the position of an entity in the vectorized three-dimensional model;
supplementing physical attributes of the vectorized three-dimensional model, the physical attributes comprising: at least one of voltage of the high voltage line, a strong magnetic field range, and a softness of the ground.
In one embodiment, the acquiring of the operating environment data of the hoisting task comprises:
scanning a working environment to acquire point cloud data and video data;
analyzing the point cloud data and the video data, and converting into a first data format;
the three-dimensional point cloud map generation method according to the operation environment data comprises the following steps:
and generating a three-dimensional point cloud map according to the first data format.
In an embodiment, the method further comprises:
storing the point cloud data, the video data and the vectorized three-dimensional model;
receiving a query request;
and responding to the query request, and displaying the point cloud data, the video data and the vectorized three-dimensional model.
In one embodiment, generating a hoisting plan for performing a hoisting task includes:
generating at least two hoisting schemes;
receiving a user selection;
and determining one of the at least two hoisting schemes, and printing the hoisting scheme.
The method for generating a hoisting scheme according to an embodiment of the present invention is specifically described below with an embodiment.
Fig. 2 schematically shows a block diagram of a hoisting scheme self-generating system according to an embodiment of the present invention, and a block diagram of key hardware devices of the hoisting scheme self-generating system is shown in fig. 2. The computer 10 may be a notebook computer, and the notebook computer and the sensing device 11 may form a portable automatic generation system of a hoisting scheme. The notebook computer provides power for the sensing device 11, sets and controls the sensor in the sensing device 11, and receives sensor data information sent by the sensing device 11. Three-dimensional modeling software and hoisting planning software of a hoisting site are deployed in the notebook computer, and a human-computer interaction operation interface is provided.
The perceiving device 11 may include: sensors such as lidar 12, IMU13 (also known as an inertial measurement unit), and camera 14. The lidar 12 provides three-dimensional point cloud data. The IMU13 provides information about the angular velocity, acceleration, and attitude of the sensing device 11. The camera 14 provides an auxiliary video recording while the lidar is scanning. By using the sensing device 11 to acquire the working environment data of the hoisting task, the laser radar 12, the IMU13 and the camera 14 work together to form a more accurate three-dimensional point cloud map. All components in the system have an online diagnosis function, so that fault points can be quickly positioned when equipment breaks down conveniently.
In order to provide point cloud data and pose reference information, the sensing device 11 may include a Global Positioning sensor such as a GPS (Global Positioning System) or an rtk (rtk measurement) in addition to the laser radar 12, the IMU13, and the camera 14. Or the perception device 11 includes only part of the sensors in the lidar 12, IMU13 and camera 14, but the final output is point cloud data.
Fig. 3 schematically shows a functional block diagram of a self-generating method of a hoisting scheme according to an embodiment of the present invention, and reference may be made to fig. 3. The three-dimensional modeling software 21 for the hoisting site has the main functions of: and constructing a three-dimensional vector model of the hoisting site by using the data from the sensing order equipment 11. The three-dimensional modeling software 21 for the hoisting site mainly comprises the following functional modules: a data analysis module 15, a SLAM (simultaneous localization and mapping) algorithm module 16, a point cloud vectorization module 17, a data recording module 18, and a data playback module 20.
The data analysis module 15: the raw data format output by the sensing device 11 (sensor) is analyzed and converted into a standard data format (first data format) that can be calculated by a program.
SLAM algorithm module 16: and outputting the three-dimensional point cloud map by taking the point cloud data and IMU data of the laser radar as input or only taking the point cloud data of the laser radar as input. The module uses SLAM technology as a framework, can adopt a LOAM algorithm, and can also adopt a LOAM algorithm which is integrated into an IUM in a loose coupling or tight coupling mode. The SLAM algorithm module 16 may also adopt other SLAM algorithms that take point cloud data as input and three-dimensional vector maps as output.
The point cloud vectorization module 17: and converting the three-dimensional point cloud map into a model with three-dimensional data, and outputting the vectorized three-dimensional model. The vectorized three-dimensional model may also be referred to as a three-dimensional vector model, a vector map, or a three-dimensional vector map. The three-dimensional map comprises a three-dimensional point cloud map and a vectorized three-dimensional model, and in addition, the three-dimensional map can also comprise other types of maps.
The data recording module 18: and recording sensor data output by the data analysis module 15, point cloud data and a vector map.
Hard disk 19: and storing the perception data and the result data.
The data playback module 20: and the modeling process is replayed by using a mode of comparing the video with the point cloud data, so that the construction personnel can conveniently understand the condition of the hoisting site.
The main functions of the hoisting planning software 27 are: and planning a hoisting path according to the vector map, the model data of the crane and the hoisting task edited by an operator, and generating a hoisting scheme. The hoisting planning software 27 mainly comprises the following functional modules: the system comprises a vector map management module 22, a crane model management module 23, a hoisting scheme template management module 26, a three-dimensional path planning module 24 and a hoisting scheme generation module 25.
Vector map management module 22: managing a vector map from the three-dimensional modeling software 21 of the hoisting site, managing a vector map created in the software by an operator, managing a vector map from engineering drawings (e.g., CAD, UG, etc.), and editing the vector map (adding or changing the size and position of an entity in the map, etc.). The vector map management module 22 also implements other man-machine exchange functions required to complete the lifting plan, for example, to edit the lifting task: the object to be hung is specified, the attribute (weight, material, etc.) of the object to be hung is input, and the destination to which the object to be hung arrives is specified. Editing physical attributes in a vector map: voltage value of high-voltage line, strong magnetic field range and soft degree of soil.
The crane model management module 23: model data of the crane is managed. The model data of the crane includes: three-dimensional model data, dynamic characteristic data, a weighing table and the like.
The three-dimensional path planning module 24: determining the type, station position and working condition of the crane according to the three-dimensional vector map of the operation environment, the model data of the crane and the hoisting task, planning a three-dimensional space path, and planning a plurality of candidate hoisting schemes for executing the hoisting task for selection of operators.
Hoisting scheme template management module 26: and editing and managing the hoisting scheme template.
Hoisting scheme generation module 25: and automatically generating a complete hoisting scheme file according to the hoisting scheme template and the hoisting scheme selected by an operator, and having a file printing and outputting function.
Fig. 4 schematically shows an application flowchart of a hoisting scheme self-generation method according to an embodiment of the present invention. The use process of the hoisting scheme file generated by the hoisting scheme self-generating system by the personnel for formulating the hoisting scheme is shown in fig. 4. The method comprises the following steps that a person who sets a hoisting scheme carries the system equipment to arrive at a hoisting construction site, hoisting site three-dimensional modeling software is opened, the equipment is held by hands to scan and build a map in the hoisting construction site, a complete three-dimensional vector map of the hoisting construction site is obtained, hoisting planning software is opened, the three-dimensional vector map of the hoisting construction site is led into the hoisting planning software, and whether elements in the three-dimensional vector map meet requirements is judged; if not, editing the three-dimensional vector map, and editing physical attributes in the three-dimensional vector map; and if so, editing the hoisting task, generating a candidate hoisting scheme list by using hoisting planning software, selecting one scheme from the hoisting scheme list by an operator, and then automatically generating a hoisting scheme file by using the software.
The embodiment of the invention mainly relates to information acquisition of a crane hoisting field and generation of a hoisting scheme, wherein an operation environment area is basically mapped before the crane operation, and the hoisting scheme is automatically formed according to mapping results and construction conditions. The embodiment of the invention provides a method and a system for three-dimensional environment modeling of a hoisting construction environment and a construction object and outputting a hoisting scheme by using a vector map model.
The embodiment of the invention can improve the full-process automation level and the intelligent level of the system for making the hoisting scheme, and has the advantages of simple operation and low cost. Compared with manual surveying and mapping, the embodiment of the invention changes the working mode formulated by the hoisting scheme, reduces the workload of personnel, and improves the working efficiency and the accuracy of hoisting planning.
An embodiment of the present invention provides a processor configured to execute any one of the above-mentioned embodiments of the method for generating a lifting plan.
In particular, the processor may be configured to:
acquiring operation environment data of a hoisting task;
generating a three-dimensional map according to the operating environment data;
inputting a hoisting task in a three-dimensional map;
and generating a hoisting scheme for executing the hoisting task.
In an embodiment of the invention, the processor is configured to:
generating a three-dimensional map from the work environment data includes:
generating a three-dimensional point cloud map according to the operating environment data;
transforming the three-dimensional point cloud map into a vectorized three-dimensional model;
inputting a hoisting task in the three-dimensional map comprises the following steps:
and inputting a hoisting task in the vectorized three-dimensional model.
In an embodiment of the invention, the processor is configured to:
the hoisting task input comprises the following steps:
determining a hung object;
inputting attributes of the suspended object, wherein the attributes comprise at least one of weight and material;
inputting the starting position and the target position of the hung object.
In an embodiment of the invention, the processor is configured to:
the method for generating the hoisting scheme for executing the hoisting task comprises the following steps:
determining the model, the station position and the working condition of the crane according to the vectorized three-dimensional model, the hoisting task and pre-stored model data of the crane, wherein the model data of the crane comprises dynamic characteristic data and a hoisting capacity table of the crane;
a three-dimensional spatial path of the suspended object is generated.
In an embodiment of the invention, the processor is further configured to:
before a hoisting scheme for executing a hoisting task is generated, correcting the size and the position of an entity in the vectorized three-dimensional model;
supplementing physical attributes of the vectorized three-dimensional model, the physical attributes comprising: at least one of voltage of the high voltage line, a strong magnetic field range, and a softness of the ground.
In an embodiment of the invention, the processor is configured to:
the method for acquiring the operating environment data of the hoisting task comprises the following steps:
scanning a working environment to acquire point cloud data and video data;
analyzing the point cloud data and the video data, and converting into a first data format;
the three-dimensional point cloud map generation method according to the operation environment data comprises the following steps:
and generating a three-dimensional point cloud map according to the first data format.
In an embodiment of the invention, the processor is further configured to:
storing the point cloud data, the video data and the vectorized three-dimensional model;
receiving a query request;
and responding to the query request, and displaying the point cloud data, the video data and the vectorized three-dimensional model.
In an embodiment of the invention, the processor is configured to:
the method for generating the hoisting scheme for executing the hoisting task comprises the following steps:
generating at least two hoisting schemes;
receiving a user selection;
and determining one of the at least two hoisting schemes according to the selection of the user, and printing the hoisting scheme.
The embodiment of the invention provides an engineering device for generating a hoisting scheme, which comprises: a sensing device 11 and the processor described above. The sensing device 11 is used for acquiring the working environment data of the hoisting task, and the sensing device 11 comprises a laser radar 12.
In an embodiment of the invention, the perceiving device 11 further comprises at least one of an IMU13 and a camera 14.
In an embodiment of the present invention, the engineering apparatus further includes: and the human-computer interaction device is used for receiving the query request and receiving the user selection.
An embodiment of the present invention provides a machine-readable storage medium, which stores instructions for causing a machine to execute the above method for generating a hoisting scheme.
An embodiment of the present invention provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for generating a hoisting scheme is implemented.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. A method for generating a lifting plan, comprising:
acquiring operation environment data of a hoisting task;
generating a three-dimensional map according to the operation environment data;
inputting the hoisting task in the three-dimensional map;
and generating a hoisting scheme for executing the hoisting task.
2. The method of claim 1, wherein generating a three-dimensional map from the work environment data comprises:
generating a three-dimensional point cloud map according to the operating environment data;
transforming the three-dimensional point cloud map into a vectorized three-dimensional model;
the step of inputting the hoisting task in the three-dimensional map comprises the following steps:
and inputting the hoisting task in the vectorized three-dimensional model.
3. The method of claim 2, wherein the inputting the hoist task comprises:
determining a hung object;
inputting attributes of the suspended object, wherein the attributes comprise at least one of weight and material;
inputting the starting position and the target position of the hung object.
4. The method of claim 2, wherein the generating a hoist solution for performing the hoist task comprises:
determining the model, the station position and the working condition of the crane according to the vectorized three-dimensional model, the hoisting task and pre-stored model data of the crane, wherein the model data of the crane comprises dynamic characteristic data and a load lifting table of the crane;
and generating a three-dimensional space path of the hung object.
5. The method of claim 2, further comprising:
before the hoisting scheme for executing the hoisting task is generated, correcting the size and the position of an entity in the vectorized three-dimensional model;
supplementing physical attributes of the vectorized three-dimensional model, the physical attributes including: at least one of voltage of the high voltage line, a strong magnetic field range, and a softness of the ground.
6. The method of claim 2, wherein the obtaining of the operational environment data of the hoist task comprises:
scanning the working environment to acquire point cloud data and video data;
analyzing the point cloud data and the video data, and converting the point cloud data and the video data into a first data format;
the generating of the three-dimensional point cloud map according to the operating environment data comprises:
and generating a three-dimensional point cloud map according to the first data format.
7. The method of claim 6, further comprising:
storing the point cloud data, the video data and the vectorized three-dimensional model;
receiving a query request;
and responding to the query request, and displaying the point cloud data, the video data and the vectorized three-dimensional model.
8. The method of claim 2, wherein the generating a hoist solution for performing the hoist task comprises:
generating at least two hoisting schemes;
receiving a user selection;
and determining one of the at least two hoisting schemes according to the user selection, and printing the hoisting scheme.
9. A processor configured to perform the method for generating a lifting plan of any of claims 1 to 8.
10. An engineering device for generating a hoisting scheme, comprising:
the sensing equipment is used for acquiring the operating environment data of the hoisting task and comprises a laser radar; and
the processor of claim 9.
11. The engineering device of claim 10, wherein the sensing apparatus further comprises at least one of an inertial sensor and a camera.
12. The engineering device of claim 10, further comprising:
and the human-computer interaction equipment is used for receiving the query request and receiving the user selection.
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