Anti-collision method, system and crane for lifting appliance unit

Abstract

An anti-collision method, system and crane for a spreader unit are disclosed in an embodiment of the present invention. Among them, the anti-collision method for the spreader unit includes: during the operation process, collecting environmental information around the spreader unit by using a plurality of lidars installed on the outer periphery of the spreader unit; according to the environmental information, determining whether there are obstacles around the spreader unit, and when there are obstacles, determining the lateral distance between the obstacles and the spreader unit; feeding back the lateral distance to a spreader unit control system, so that the spreader unit control system performs anti-collision control on the spreader unit during the operation process according to the lateral distance. The technical solution in the embodiment of the present invention can achieve real-time anti-collision of the spreader unit.

Description

Technical Field

[0001] The present invention relates to the field of industrial technologies, and particularly to an anti-collision method and system for a spreader unit and a crane. Background Art

[0002] During the operation of a Rubber-Tired Gantry Crane (RTG), the spreader often needs to move along with the trolley or move independently in the hoisting direction. During the operation of a Rail-Mounted Gantry Crane (RMG), the spreader may also move along with the gantry. During the movement of the spreader, it may collide with the existing containers in the yard, resulting in safety accidents, property losses, and even personal safety problems. Therefore, it is very necessary to perform anti-collision detection on the spreader during its movement.

[0003] The existing anti-collision method for spreaders is to install a 3D laser (such as a 2D laser + pan-tilt) on the trolley beam. Before the spreader moves, the pan-tilt of the 3D laser is controlled to scan the surrounding situation of the spreader movement path. Then, the spreader performs anti-collision based on the scanning results of the 3D laser. This solution ultimately uses the scanning data before movement, rather than real-time data, and it cannot well sense if the surrounding environment changes between the end of scanning and the start of movement.

[0004] Therefore, technicians in this field are still working hard to find other anti-collision solutions for spreaders. Summary of the Invention

[0005] In view of this, on the one hand, an anti-collision method for a spreader unit is proposed in an embodiment of the present invention, and on the other hand, an anti-collision system for a spreader unit and a crane are proposed to better realize real-time anti-collision control of the spreader unit during the operation of the crane.

[0006] An anti-collision method for a spreader unit proposed in an embodiment of the present invention includes: during the operation, collecting environmental information around the spreader unit by using a plurality of lidars installed on the outer periphery of the spreader unit; determining whether there are obstacles around the spreader unit according to the environmental information, and when there are obstacles, determining the lateral distance between the obstacles and the spreader unit; and feeding back the lateral distance to a spreader unit control system so that the spreader unit control system performs anti-collision control on the spreader unit during the operation according to the lateral distance.

[0007] In one embodiment, the multiple lidars include four lidars installed in the front, rear, left, and right directions of the spreader unit, and corresponding coordinate systems are established with the emission points of each lidar as the origin; the environmental information includes: lidar point cloud data in the front, rear, left, and right directions of the spreader unit; determining whether there are obstacles around the spreader unit according to the environmental information includes: for each of the four directions, determining the Y coordinate value of the highest point within the detection range of the lidar according to the lidar point cloud data in that direction; determining whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spreader unit, and if so, determining that there is an obstacle in that direction; determining the lateral distance between the obstacle and the spreader unit includes: for the direction where there is an obstacle, determining the X coordinate value of the boundary point of the obstacle close to the lidar according to the lidar point cloud data in that direction, and taking the X coordinate value as the lateral distance between the obstacle and the spreader unit.

[0008] In one embodiment, the multiple lidars include two lidars installed in the front and rear directions or the left and right directions of the spreader, and corresponding coordinate systems are established with the emission points of each lidar as the origin; the environmental information includes: lidar point cloud data in the front and rear directions or the left and right directions of the spreader; determining whether there are obstacles around the spreader unit according to the environmental information includes: for each of the two directions, determining the Y coordinate value of the highest point within the detection range of the lidar according to the lidar point cloud data in that direction; determining whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spreader unit, and if so, determining that there is an obstacle in that direction; determining the lateral distance between the obstacle and the spreader unit includes: for the direction where there is an obstacle, determining the X coordinate value of the boundary point of the obstacle close to the lidar according to the lidar point cloud data in that direction, and taking the X coordinate value as the lateral distance between the obstacle and the spreader unit.

[0009] In one embodiment, the spreader unit includes: a spreader, and the Y coordinate value of the lowest point of the spreader unit is 0; or, the spreader unit includes: a spreader and a container, and the Y coordinate value of the lowest point of the spreader unit is: 0 + the height value of the container.

[0010] An anti-collision system for a spreader unit proposed in an embodiment of the present invention includes: a spreader unit; a plurality of lidar sensors installed on the outer periphery of the spreader unit for collecting environmental information around the spreader unit during the operation of the spreader unit; an obstacle determination unit for determining whether there are obstacles around the spreader unit according to the environmental information; a lateral distance determination unit for determining the lateral distance between the obstacle and the spreader unit when the obstacle determination unit determines that there is an obstacle; and a spreader control system for performing anti-collision control on the spreader unit during the operation according to the lateral distance.

[0011] In one embodiment, the plurality of lidar sensors include four lidar sensors installed in the front, rear, left, and right directions of the spreader unit; the environmental information includes: lidar point cloud data in the front, rear, left, and right directions of the spreader unit; the obstacle determination unit, for each of the four directions, determines the Y coordinate value of the highest point within the detection range of the lidar according to the lidar point cloud data of the direction; determines whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spreader unit, and if so, determines that there is an obstacle in the direction; the lateral distance determination unit, for the direction where there is an obstacle, determines the X coordinate value of the boundary point of the obstacle close to the lidar according to the lidar point cloud data of the direction, and takes the X coordinate value as the lateral distance between the obstacle and the spreader unit.

[0012] In one embodiment, the plurality of lidar sensors include two lidar sensors installed in the front and rear directions or the left and right directions of the spreader; the environmental information includes: lidar point cloud data in the front and rear directions or the left and right directions of the spreader; the obstacle determination unit, for each of the two directions, determines the Y coordinate value of the highest point within the detection range of the lidar according to the lidar point cloud data of the direction; determines whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spreader unit, and if so, determines that there is an obstacle in the direction; the lateral distance determination unit, for the direction where there is an obstacle, determines the X coordinate value of the boundary point of the obstacle close to the lidar according to the lidar point cloud data of the direction, and takes the X coordinate value as the lateral distance between the obstacle and the spreader unit.

[0013] In one embodiment, the spreader unit includes: a spreader, and the Y coordinate value of the lowest point of the spreader unit is 0; or, the spreader unit includes: a spreader and a container, and the Y coordinate value of the lowest point of the spreader unit is: 0 + the height value of the container.

[0014] A crane proposed in an embodiment of the present invention includes: the anti-collision system for a spreader unit according to any one of the above embodiments.

[0015] In one embodiment, the crane is a rubber tyred gantry crane or a rail-mounted gantry crane.

[0016] As can be seen from the above solution, in the technical solution of the embodiment of the present invention, since a lidar is introduced into the operation process of the spreader unit to detect the environmental information around the spreader unit, and then whether there are obstacles around the spreader unit is judged according to the environmental information, and when there are obstacles, the lateral distance between the obstacles and the spreader unit is determined; furthermore, the anti-collision control of the spreader unit can be carried out according to the lateral distance, realizing the real-time anti-collision of the spreader unit. The technical solution in the embodiment of the present invention is simpler in structure, lower in price, and simpler in algorithm compared with the existing methods. In addition, the lidar can also be used to detect the alignment of the upper and lower containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those of ordinary skill in the art can more clearly understand the above and other features and advantages of the present invention. In the drawings:

[0018] Figure 1 is an exemplary flowchart of the spreader anti-collision method in the embodiment of the present invention.

[0019] Figure 2A and Figure 2B is a schematic diagram of the installation position of the lidar in an example of the present invention.

[0020] Figure 3A and Figure 3B shows a schematic diagram of a lidar 22 scanning environmental information in the case of an empty spreader.

[0021] Figure 4A and Figure 4B shows a schematic diagram of a lidar scanning environmental information in the case of a spreader with a container.

[0022] Figures 5A to 5C shows a schematic diagram of a lidar scanning an obstacle at a relative position in the case of an empty spreader.

[0023] Figures 6A to 6C shows a schematic diagram of a lidar scanning an obstacle at a relative position in the case of a spreader with a container.

[0024] Figure 7 is an exemplary structural diagram of the spreader unit anti-collision system in the embodiment of the present invention.

[0025] Among them, the reference numerals are as follows:

[0026] Reference numeral Meaning

[0027] Steps 101 to 103

[0028] 21 Hoisting appliance

[0029] 22 Lidar

[0030] 23 Container

[0031] 71 Hoisting appliance unit

[0032] 72 Obstacle determination unit

[0033] 73 Lateral distance determination unit

[0034] 74 Hoisting appliance unit control system Detailed implementation manners

[0035] In an embodiment of the present invention, it is considered to measure the environmental information around the hoisting appliance unit based on lidar, determine whether there is an obstacle according to the environmental information, and determine the lateral distance between the obstacle and the hoisting appliance unit when there is an obstacle, and then feedback the lateral distance to the hoisting appliance unit control system to achieve anti-collision control of the hoisting appliance unit. In this embodiment, for a rubber-tired gantry crane or a rail-mounted gantry crane, before grasping the container, the hoisting appliance is an empty hoisting appliance, and at this time, the hoisting appliance unit only includes the hoisting appliance and does not carry a container; while after loading the container and before discharging the container, the hoisting appliance carries a container, and at this time, the hoisting appliance unit includes the hoisting appliance and a container.

[0036] To have a clearer understanding of the purpose, technical solution and effect of the present invention, the specific implementation manners of the present invention are now described with reference to the accompanying drawings. The same reference numerals in the drawings denote components with the same or similar structures but the same functions.

[0037] In this document, "exemplary" and "schematic" mean "serving as an example, instance or illustration", and any illustration or implementation manner described as "exemplary" or "schematic" in this document should not be construed as a more preferred or more advantageous technical solution.

[0038] To make the drawings concise, only the parts related to the present invention are schematically shown in each drawing, and they do not represent the actual structure of the product.

[0039] In this document, "one" not only means "only this one", but also means "more than one" situation. In this document, "first", "second", etc. are only used for distinction from each other, rather than indicating their importance level and order, etc.

[0040] Figure 1 This is an exemplary flowchart of the anti-collision method for the hoisting appliance unit in an embodiment of the present invention. As Figure 1 shown, the method may include the following processes:

[0041] Step 101, during the operation, use multiple lidars installed on the outer periphery of the spreader unit to collect the environmental information around the spreader unit.

[0042] In this step, in the case of an empty spreader, the spreader unit only includes the spreader and does not include the container; in the case of a spreader with a container, the spreader unit may include the spreader and the container. The lidar is usually installed on the spreader of the spreader unit.

[0043] Specifically, the number of lidars can be determined according to the actual situation. For example, if the spreader only moves in the front-back direction of the spreader, one lidar can be set only in the front-back direction of the spreader respectively, that is, the number of lidars is two. If the spreader only moves in the left-right direction of the spreader, one lidar can be set only in the left-right direction of the spreader respectively. At this time, the number of lidars is still two. If the spreader can move both in the front-back direction and in the left-right direction of the spreader, one lidar can be set in each of the four directions of the front, back, left and right of the spreader. At this time, the number of lidars is four. Figure 2A and Figure 2B shows a schematic diagram of the installation positions of the lidars in an example, where Figure 2A is a top view, Figure 2B is a side view. As Figure 2A and Figure 2B shown, the four small triangles in the four directions of the front, back, left and right of the spreader 21 respectively represent a lidar 22. Of course, in other embodiments, the number and installation positions of the lidars can also have other implementation manners, which are not limited herein.

[0044] Specifically, during the operation, each lidar can scan the environmental information within its detection range and obtain the lidar point cloud data corresponding to the direction of the spreader where it is located. For example, a corresponding coordinate system can be established with the emission point of each lidar as the origin, and each lidar can obtain the x and y coordinates of each point within the detection range.

[0045] Step 102, according to the environmental information, determine whether there are obstacles around the spreader unit, and when there are obstacles, determine the lateral distance between the obstacles and the spreader unit.

[0046] In this step, in specific implementation, for each direction, according to the lidar point cloud data in the direction, the Y coordinate value of the highest point within the detection range of the lidar is determined; it is judged whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spreader unit. If so, it is determined that there is an obstacle in the direction; for the direction where there is an obstacle, according to the lidar point cloud data in the direction, the X coordinate value of the boundary point of the obstacle close to the lidar is determined, and the X coordinate value is used as the lateral distance between the obstacle and the spreader unit.

[0047] In this embodiment, if there are multiple obstacles around the spreader unit, multiple lateral distances can be obtained in step 102.

[0048] Figure 3A and Figure 3B show a schematic diagram of a certain lidar 22 scanning the environmental information in the case of an empty spreader. As Figure 3A and Figure 3B shown, in this example, the coordinate origin is on the lower edge of the spreader 21, and the spreader unit only includes the spreader 21 and does not include the container. Therefore, the Y coordinate value y0 of the lowest point of the spreader unit, that is, the bottom surface of the spreader, is 0.

[0049] In this direction, the environmental information will show two situations as shown in Figure 3A and Figure 3B , that is:

[0050] As Figure 3A shown in the first situation: when the empty spreader moves horizontally as shown by the arrow (such as moving with the trolley or moving with the gantry), under safe working conditions, the height of the top surface of the front container 23 is lower than the height of the bottom surface of the spreader 21, and there is no need to worry about collision problems. Among the key points A - E shown, the Y coordinate of the AB segment from the origin can be detected, denoted as y1; the X coordinate of the BC segment is detected, denoted as x1. At this time, y1 is positive.

[0051] As Figure 3B shown in the second situation: under control conditions, the top surface of the front container 23 is higher than the bottom surface of the spreader 21. At this time, anti - collision control is required. The Y coordinate of point B can be detected, denoted as y2; the X coordinate of the BC segment is denoted as x2. At this time, y2 is negative, and the absolute value of x2 needs to be used as the lateral distance between the obstacle, that is, the front container 23 and the spreader 21, and input into the spreader unit control system as the control basis.

[0052] Figure 4A and Figure 4B show a schematic diagram of a certain lidar 22 scanning the environmental information in the case of a spreader with a container. As Figure 4A and Figure 4BAs shown, in this example, the origin of coordinates is on the lower edge of the spreader 21, and the spreader unit not only includes the spreader 21 but also a container 23. Therefore, the lowest point of the spreader unit, that is, the Y coordinate value y0 of the bottom surface of the container 23 carried by the spreader 21, is 0 + the height of the container. In this direction, the environmental information will appear in two situations as shown in Figure 4A and Figure 4B . In both of these two situations, the Y coordinate of the AB distance from the origin can be detected and denoted as y3; the X coordinate of the BC segment is denoted as x3; the Y coordinate of point I is denoted as y4. In the safe working condition as shown in Figure 4A , y3 is greater than y4; in the control working condition as shown in Figure 4B , y3 is less than y4.

[0053] In addition, in specific implementation, two lidars located at relative positions can work together. At this time, for each pair of opposite directions, such as the front-back direction or the left-right direction, the obstacle conditions in the two opposite directions of the spreader unit can be determined according to the lidar point cloud data in the two directions. And when the spreader unit moves in the lifting direction, the obstacle conditions in the two opposite directions of the spreader unit can also be determined simultaneously. There are specifically the following three situations:

[0054] The first: The top surface heights of the containers on both sides are lower than the safety height;

[0055] The second: The top surface height on one side is higher than the safety height, and the other side is lower than the safety height;

[0056] The third: The top surface heights of the containers on both sides are higher than the safety height.

[0057] Among them, in the case of an empty spreader, the safety height is the height where the laser is located; in the case of a spreader with a container, the safety height is the height of the bottom surface of the carried container.

[0058] Figures 5A to 5C shows a schematic diagram of the lidar at relative positions scanning obstacles in the case of an empty spreader. As shown in Figures 5A to 5C , in this example, the origin of coordinates is on the lower edge of the spreader, and the spreader unit only includes the spreader and does not include the container. Therefore, the lowest point of the spreader unit, that is, the Y coordinate value y0 of the bottom surface of the spreader, is 0. In the first situation shown in Figure 5A , the Y coordinates of the AB segment and the PN segment are positive; in the second situation shown in Figure 5B , the Y coordinate of the AB segment is positive, and the Y coordinate of point N is negative; in the third situation shown in Figure 5C , the Y coordinates of point A and point N are both negative.

[0059] Figures 6A to 6C shows a schematic diagram of the lidar at relative positions scanning obstacles in the case of a spreader with a container. As shown in Figures 6A to 6CAs shown, in this example, the origin of coordinates is on the lower edge of the spreader, and the spreader unit includes not only the spreader but also the container. Therefore, the Y coordinate value y0 of the lowest point of the spreader unit, which is also the bottom surface of the container, is y0 = 0 + the height of the container. In Figure 6A In the first case shown, the Y coordinates of the AB segment and the PN segment are greater than the Y coordinates of point I and point H; in Figure 6B In the second case shown, the Y coordinate of the AB segment is greater than the Y coordinate of point H; the Y coordinate of point N is less than the Y coordinate of point I; in Figure 6C In the third case shown, the Y coordinate of point N is less than the Y coordinate of point I, and the Y coordinate of point A is less than the Y coordinate of point H.

[0060] Step 103: Feed back the lateral distance to a spreader unit control system, so that the spreader unit control system performs anti-collision control on the spreader unit during the operation process according to the lateral distance.

[0061] In this embodiment, if multiple lateral distances are obtained in step 102, then in this step, anti-collision control can be performed according to the multiple lateral distances. For example, if there are obstacles in both the front and rear directions of the spreader unit, when controlling the spreader unit to move away from the front obstacle, it is also necessary to consider not hitting the rear obstacle; similarly, if there are obstacles in both the left and right directions of the spreader unit, when controlling the spreader unit to move away from the left obstacle, it is also necessary to consider not hitting the right obstacle.

[0062] The anti-collision method for the spreader unit in the embodiments of the present invention has been described in detail above. Next, the anti-collision system for the spreader unit in the embodiments of the present invention will be described. The anti-collision system for the spreader unit in the embodiments of the present invention can be used to implement the anti-collision method for the spreader unit in the embodiments of the present invention. For the details not disclosed in detail in the system embodiments of the present invention, please refer to the corresponding descriptions in the method embodiments of the present invention.

[0063] Figure 7 It is an exemplary structural diagram of the anti-collision system for the spreader unit in the embodiments of the present invention. As Figure 7 shown, the system may include: a spreader unit 71, a plurality of lidars 22 installed on the outer periphery of the spreader, an obstacle determination unit 72, a lateral distance determination unit 73, and a spreader unit control system 74.

[0064] Among them, each of the multiple lidars 22 installed on the outer periphery of the spreader unit 71 is used to collect the environmental information around the spreader unit during the operation of the spreader unit. Specifically, the multiple lidars include four lidars installed in the front, rear, left, and right directions of the spreader unit; correspondingly, the environmental information may include: lidar point cloud data in the front, rear, left, and right directions of the spreader unit. Alternatively, the multiple lidars include two lidars installed in the front and rear directions or the left and right directions of the spreader unit; correspondingly, the environmental information includes: lidar point cloud data in the front and rear directions or the left and right directions of the spreader unit.

[0065] The obstacle determination unit 72 is used to determine whether there are obstacles around the spreader unit according to the environmental information. Specifically, based on the lidar point cloud data in each direction collected by the multiple lidars 22, for each direction, according to the lidar point cloud data in this direction, the Y coordinate value of the highest point within the detection range of the lidar is determined; it is judged whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spreader unit. If so, it is determined that there is an obstacle in this direction.

[0066] The lateral distance determination unit 73 is used to determine the lateral distance between the obstacle and the spreader unit when the obstacle determination unit determines that there is an obstacle. Specifically, for the direction where there is an obstacle, according to the lidar point cloud data in this direction, the X coordinate value of the boundary point of the obstacle close to the lidar is determined, and the X coordinate value is used as the lateral distance between the obstacle and the spreader unit.

[0067] The spreader unit control system 74 is used to perform anti-collision control on the spreader unit during the operation according to the lateral distance.

[0068] In this embodiment, the spreader unit 71 may only include the spreader 21. In one implementation manner, the Y coordinate value of the lowest point of the spreader unit may be 0. Alternatively, the spreader unit 71 may include: the spreader 21 and the container 23. In one implementation manner, the Y coordinate value of the lowest point of the spreader unit 71 may be: 0 + the height value of the container.

[0069] In addition, an overhead crane is further provided in the embodiment of the present invention, which may include the above-mentioned Figure 7 spreader unit anti-collision system as shown. Among them, the overhead crane may include: rubber tired gantry crane, rail-mounted gantry crane, etc.

[0070] As can be seen from the above solution, in the technical solution of the embodiment of the present invention, since a lidar is introduced into the operation process of the spreader unit to detect the environmental information around the spreader unit, and then it is determined whether there are obstacles around the spreader unit according to the environmental information, and when there are obstacles, the lateral distance between the obstacles and the spreader unit is determined; furthermore, the anti-collision control of the spreader unit can be carried out according to the lateral distance, realizing the real-time anti-collision of the spreader unit. The technical solution in the embodiment of the present invention is simpler in structure, lower in price, and simpler in algorithm compared with the existing methods. In addition, a lidar can also be used to detect the alignment of the upper and lower containers.

[0071] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. Anti-collision method for spreader unit Characterized in that it includes During the operation, use multiple lidars installed on the outer periphery of the spreader unit to collect environmental information around the spreader unit; According to the environmental information, determine whether there are obstacles around the spreader unit, and when there are obstacles, determine the lateral distance between the obstacles and the spreader unit; Feed back the lateral distance to a spreader unit control system, so that the spreader unit control system performs anti-collision control on the spreader unit during the operation according to the lateral distance; Further The multiple lidars include two lidars installed in the front and rear directions or the left and right directions of the spreader, and corresponding coordinate systems are established with the emission points of each lidar as the origin; The environmental information includes: lidar point cloud data in the front and rear directions or the left and right directions of the spreader; The determining whether there are obstacles around the spreader unit according to the environmental information includes For each of the two directions, according to the lidar point cloud data in the direction, determine the Y coordinate value of the highest point within the detection range of the lidar; judge whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spreader unit, if so, determine that there are obstacles in the direction; The determining the lateral distance between the obstacle and the spreader unit includes: for the direction where there is an obstacle, according to the lidar point cloud data in the direction, determine the X coordinate value of the boundary point of the obstacle close to the lidar, and use the X coordinate value as the lateral distance between the obstacle and the spreader unit.

2. The anti-collision method for spreader unit according to claim 1 Characterized in that The multiple lidars include four lidars installed in the front, rear, left and right directions of the spreader unit, and corresponding coordinate systems are established with the emission points of each lidar as the origin; The environmental information includes: lidar point cloud data in the front, rear, left and right directions of the spreader unit; The determining whether there are obstacles around the spreader unit according to the environmental information includes: for each of the four directions, according to the lidar point cloud data in the direction, determine the Y coordinate value of the highest point within the detection range of the lidar; judge whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spreader unit, if so, determine that there are obstacles in the direction; The determining the lateral distance between the obstacle and the spreader unit includes: for the direction where there is an obstacle, according to the lidar point cloud data in the direction, determine the X coordinate value of the boundary point of the obstacle close to the lidar, and use the X coordinate value as the lateral distance between the obstacle and the spreader unit.

3. The anti-collision method for spreader unit according to any one of claims 1 to 2 Characterized in that The spreader unit includes: a spreader, and the Y coordinate value of the lowest point of the spreader unit is 0; or The spreader unit includes: a spreader and a container, and the Y coordinate value of the lowest point of the spreader unit is: 0 + the height value of the container.

4. Spread unit anti-collision system, Characterized in that, Comprising: A spread unit; A plurality of lidar sensors installed on the outer periphery of the spread unit, used to collect environmental information around the spread unit during the operation of the spread unit; An obstacle determination unit, used to determine whether there are obstacles around the spread unit according to the environmental information; A lateral distance determination unit, used to determine the lateral distance between the obstacle and the spread unit when the obstacle determination unit determines that there is an obstacle; A spread control system, used to perform anti-collision control on the spread unit during operation according to the lateral distance; Further, The plurality of lidar sensors include two lidar sensors installed in the front and rear directions or the left and right directions of the spread; The environmental information includes: lidar point cloud data in the front and rear directions or the left and right directions of the spread; For each of the two directions, the obstacle determination unit determines the Y coordinate value of the highest point within the detection range of the lidar according to the lidar point cloud data of the direction; determines whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spread unit, if so, determines that there is an obstacle in that direction; For the direction where there is an obstacle, the lateral distance determination unit determines the X coordinate value of the boundary point of the obstacle close to the lidar according to the lidar point cloud data of the direction, and takes the X coordinate value as the lateral distance between the obstacle and the spread unit.

5. The spread unit anti-collision system according to claim 4, Characterized in that, The plurality of lidar sensors include four lidar sensors installed in the front, rear, left, and right directions of the spread unit; The environmental information includes: lidar point cloud data in the front, rear, left, and right directions of the spread unit; For each of the four directions, the obstacle determination unit determines the Y coordinate value of the highest point within the detection range of the lidar according to the lidar point cloud data of the direction; determines whether the Y coordinate value of the highest point is less than the Y coordinate value of the lowest point of the spread unit, if so, determines that there is an obstacle in that direction; For the direction where there is an obstacle, the lateral distance determination unit determines the X coordinate value of the boundary point of the obstacle close to the lidar according to the lidar point cloud data of the direction, and takes the X coordinate value as the lateral distance between the obstacle and the spread unit.

6. The spread unit anti-collision system according to any one of claims 4 to 5, Characterized in that, The spread unit includes: a spread, and the Y coordinate value of the lowest point of the spread unit is 0; or, The spread unit includes: a spread and a container, and the Y coordinate value of the lowest point of the spread unit is: 0 + the height value of the container.

7. A crane, Characterized in that, Comprising: The spread unit anti-collision system according to any one of claims 4 to 6.

8. The crane according to claim 7, Characterized in that, The crane is a rubber tired gantry crane or a rail mounted gantry crane.

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