Tower crane and control method, control device and controller thereof

Abstract

The embodiment of the present invention provides a tower crane and a control method, a control device and a controller thereof. The control method for the tower crane includes: obtaining image information of the top view of the tower crane's hoisting object, position information of each point on the top view surface and the distance between the preset point and the preset surface in the vertical direction; determining the pixel coordinates of each point on the top view surface according to the image information and position information; determining the distance between each point on the outer contour of the top view surface and the preset point in the horizontal direction according to the pixel coordinates and the distance between the preset point and the preset surface in the vertical direction; determining the collision safety distance according to the distance between each point on the outer contour and the preset point in the horizontal direction. The embodiment of the present invention can accurately obtain contour information for collision prevention and path planning, realize automatic recognition of contour information in long distances and multiple environments, monitor the changes in the contour of the hoisting object in real time, and optimize the collision prevention and path planning effects.

Description

Technical Field

[0001] The present invention relates to the technical field of tower crane control, and in particular to a tower crane and a control method, a control device and a controller thereof. Background Art

[0002] At present, in the field of tower crane collision avoidance, the outline size of the hoisted object is generally obtained by manual input or by using the color information of the image for identification. The collision avoidance operation is performed based on the distance between the hook and the obstacle and the outline value of the hoisted object. There are also methods that obtain the data through data fusion and identification of tracking laser radar and images. At present, the outline size of the hoisted object is mainly obtained by manual input or product information import in path planning. The distance between the hoisted object and the obstacle is calculated to obtain a series of obstacle avoidance paths to achieve the ultimate goal. In the field of tower crane collision avoidance and path planning, real-time and accurate recognition of the size of the hoisted object's outline is very important. This technology enables real-time optimization of tower crane collision avoidance and path planning. The manually input outline size is fixed, and it needs to be frequently manually modified as the hoisted object changes, which is relatively cumbersome to automatically identify the outline of the hoisted object. The accuracy of identifying the size of the hoisted object's outline through simple image information is low. As the height of the hoisted object increases, the error increases, and it is greatly affected by the environment. The existing laser radar and image combined recognition method installs the tracking laser radar and image acquisition unit at the root of the tower crane's boom, and obtains relevant outline data from the side of the hoisted object. The obtained outline information is unevenly distributed compared to the outline data obtained from directly above the hoisted object, making the obtained outline information not accurate enough. At present, all kinds of technologies lack accurate recognition of the real-time contour changes of the hoisted object, which makes it difficult to achieve accurate monitoring and real-time optimization of tower crane collision avoidance and path planning. Therefore, it is urgent to propose a technical solution to solve the above technical problems in the prior art. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a tower crane and a control method, a control device and a controller thereof, so as to solve the above-mentioned technical problems in the prior art.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present invention provides a control method for a tower crane, comprising: obtaining image information of a top-view surface of a hoisted object of the tower crane, position information of each point on the top-view surface and the distance between a preset point and a preset surface in the vertical direction, wherein the preset point is a projection point of a connection between a lifting rope of the tower crane and a hook of the tower crane on the top-view surface in the vertical direction, and the preset surface is the lower surface of a luffing trolley of the tower crane or the lower surface of the arm tip of the tower crane; determining pixel coordinates of each point on the top-view surface according to the image information and the position information; determining the distance between each point on the outer contour of the top-view surface and the preset point in the horizontal direction according to the pixel coordinates and the distance between the preset point and the preset surface in the vertical direction; and determining a collision safety distance according to the distance between each point on the outer contour and the preset point in the horizontal direction.

[0005] In an embodiment of the present invention, determining the distance between each point on the outer contour of the top-view surface and the preset point in the horizontal direction according to the pixel coordinates and the distance between the preset point and the preset surface in the vertical direction includes: determining the distance between each point on the outer contour and the preset point in the horizontal direction according to the following formula:

[0006]

[0007] Among them, Rn is the distance information between the nth point on the outer contour and the preset point in the horizontal direction, α is the correction coefficient, (xn,yn) is the pixel coordinates of the nth point on the outer contour, (x0,y0) is the pixel coordinates of the preset point, and h is the distance between the preset point and the preset surface in the vertical direction.

[0008] In the embodiment of the present invention, the correction coefficient ranges from 5 to 20.

[0009] In an embodiment of the present invention, the collision safety distance is determined according to the distance between each point on the outer contour and the preset point in the horizontal direction, including: taking the maximum value of the distance between each point on the outer contour and the preset point in the horizontal direction as the collision safety distance.

[0010] A second aspect of the present invention provides a controller configured to execute the control method for a tower crane of the aforementioned embodiment.

[0011] A third aspect of the present invention provides a control device for a tower crane, comprising: an image acquisition device, configured to acquire image information of a top-view surface of a hoisted object of the tower crane; a laser radar, configured to acquire position information of each point on the top-view surface; a millimeter-wave radar, configured to acquire the distance between a preset point in the vertical direction and a preset surface, wherein the preset point is a projection point of a connection between a lifting rope of the tower crane and a hook of the tower crane in the vertical direction on the top-view surface, and the preset surface is the lower surface of the luffing trolley of the tower crane or the lower surface of the arm tip of the tower crane; and a controller of the aforementioned embodiment.

[0012] In an embodiment of the present invention, the image acquisition device, the laser radar and the millimeter wave radar are all installed on a preset surface, and the detection surface of the image acquisition device, the detection surface of the laser radar and the detection surface of the millimeter wave radar are all arranged vertically downward.

[0013] In an embodiment of the present invention, the detection distance of the laser radar and the detection distance of the millimeter wave radar are both greater than or equal to 100 meters.

[0014] In an embodiment of the present invention, the controller is connected to the image acquisition device, the millimeter wave radar and the laser radar signal respectively through a wired or wireless manner.

[0015] A fourth aspect of the present invention provides a tower crane, comprising the control device for a tower crane according to the aforementioned embodiment.

[0016] The aforementioned embodiments of the present invention can obtain more accurate contour information through their technical solutions, improve the stability when used for subsequent collision avoidance and path planning, realize automatic recognition of contour information of hanging objects at long distances and in multiple environments, monitor the changes in the contours of hanging objects in real time, and optimize the collision avoidance and path planning effects.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0019] Figure 1 is a flow chart of a control method 100 for a tower crane according to an embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of a control device 200 for a tower crane according to an embodiment of the present invention; and

[0021] Figure 3is a schematic structural diagram of a tower crane 300 according to an embodiment of the present invention; and

[0022] Figure 4 It is a schematic diagram of an application scenario of a control device for a tower crane provided in an example of the present invention. DETAILED DESCRIPTION

[0023] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0024] It should be noted that if the implementation methods of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0025] In addition, if there are descriptions involving "first", "second", etc. in the implementation methods of this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various implementation methods can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0026] like Figure 1 As shown, in an embodiment of the present invention, a control method 100 for a tower crane is provided, comprising the following steps:

[0027] Step S110: Obtain image information of the top-view surface of the hoist of the tower crane, position information of each point on the top-view surface, and the distance between the preset point and the preset surface in the vertical direction, wherein the preset point is the projection point of the connection between the tower crane's hoisting rope and the tower crane's hook on the top-view surface in the vertical direction, and the preset surface is the lower surface of the tower crane's luffing trolley or the lower surface of the tower crane's arm tip. In an embodiment of the present invention, "top-view surface" refers to the surface of the hoist that can be seen when looking down at the hoist. Those skilled in the art should know that, in an embodiment of the present invention, "each point" refers to a plurality of discrete sampling points, and the position information of these sampling points is sufficient to reproduce the object to which the "each point" belongs, such as the "top-view surface" or the "outer contour". Specifically, for example, the image information of the top-view surface of the hoist of the tower crane can be collected by an image acquisition device such as a camera. For example, the position information of each point on the top-view surface can be collected by laser radar and other equipment. The laser radar obtains point cloud information including the position information of each point on the top-view surface by scanning. Therefore, those skilled in the art should understand that, in addition, laser radar scanning the surface of an object to obtain point cloud information is a prior art. For details, please refer to the description in the prior art, which will not be repeated here. For example, the distance between a preset point and a preset surface in the vertical direction can be collected by millimeter wave radar and other equipment. Types of tower cranes include boom tower cranes, hammerhead tower cranes and flat-top tower cranes. For example, for hammerhead tower cranes and flat-top tower cranes, the preset surface is, for example, the lower surface of the luffing trolley of the tower crane, and for a boom tower crane, the preset surface is, for example, the lower surface of the arm tip.

[0028] Step S120: Determine the pixel coordinates of each point on the top view surface according to the image information and the position information. Determine the pixel coordinates of each point on the top view surface according to the image information and the position information is a prior art, and the details can be found in the prior art description, which will not be repeated here.

[0029] Step S130: Determine the distance between each point on the outer contour of the top-view surface and the preset point in the horizontal direction according to the pixel coordinates and the distance between the preset point and the preset surface in the vertical direction.

[0030] Step S140: Determine the collision safety distance according to the distance between each point on the outer contour and the preset point in the horizontal direction. The collision safety distance can be used to formulate collision avoidance and path planning strategies later.

[0031] Specifically, the distance between each point on the outer contour of the top-view surface and the preset point in the horizontal direction is determined according to the pixel coordinates and the distance between the preset point and the preset surface in the vertical direction, that is, step S130 includes the following steps, for example:

[0032] The horizontal distance between each point on the outer contour and the preset point is determined according to the following formula:

[0033]

[0034] Among them, Rn is the distance information between the nth point on the outer contour and the preset point in the horizontal direction, α is the correction coefficient, (xn,yn) is the pixel coordinates of the nth point on the outer contour, (x0,y0) is the pixel coordinates of the preset point, and h is the distance between the preset point and the preset surface in the vertical direction.

[0035] Specifically, the units of Rn and h are both, for example, meters.

[0036] Specifically, the correction coefficient has a value range of 5-20, for example, that is, the correction coefficient can take any value between 5-20, such as 5, 6, 7.5, 8, 9, 11, 12.6, 15, 18, 20, etc.

[0037] Specifically, the collision safety distance is determined according to the distance between each point on the outer contour and the preset point in the horizontal direction, for example, including:

[0038] The maximum value of the distances between each point on the outer contour and the preset point in the horizontal direction is taken as the collision safety distance.

[0039] In an embodiment of the present invention, a controller is provided, which is configured to execute a control method 100 for a tower crane according to any one of the aforementioned embodiments.

[0040] The specific functions and details of the control method 100 for a tower crane can be found in the related description of the aforementioned embodiment, which will not be described in detail here.

[0041] Specifically, the controller may be, for example, a control device such as an industrial computer, an embedded system, a microprocessor, and a programmable logic device.

[0042] More specifically, the controller is, for example, an onboard controller of a tower crane.

[0043] like Figure 2 As shown, in an embodiment of the present invention, a control device 200 for a tower crane is provided, including: a controller 210, an image acquisition device 230, a laser radar 250 and a millimeter wave radar 270.

[0044] The controller 210 is, for example, a controller according to any one of the aforementioned embodiments. The specific functions and details of the controller 210 can be referred to the relevant description of the aforementioned embodiments, which will not be repeated here.

[0045] The image acquisition device 230 is configured to acquire image information of a top view of a hoisted object of a tower crane, for example. The image acquisition device 230 may be, for example, a camera or other image acquisition device.

[0046] The laser radar 250 is configured, for example, to collect position information of each point on the overhead surface.

[0047] The millimeter wave radar 270 is configured, for example, to collect the distance between a preset point and a preset surface in the vertical direction, wherein the preset point is the projection point of the connection between the tower crane's hoist rope and the tower crane's hook on the top view in the vertical direction, and the preset surface is the lower surface of the tower crane's luffing trolley or the lower surface of the tower crane's arm tip. Collecting the distance between the preset point and the preset surface in the vertical direction can also be achieved by, for example, laser radar, ultrasonic radar, limiter and other equipment, that is, it is not limited to using the millimeter wave radar 270 to realize the function of collecting the distance between the preset point and the preset surface in the vertical direction.

[0048] Specifically, the image acquisition device 230, the laser radar 250 and the millimeter wave radar 270 are, for example, all installed on a preset surface, and the detection surface of the image acquisition device 230, the detection surface of the laser radar 250 and the detection surface of the millimeter wave radar 270 are, for example, all arranged vertically downward.

[0049] Specifically, the detection distance of the laser radar 250 and the detection distance of the millimeter wave radar 270 are both greater than or equal to 100 meters, for example.

[0050] Specifically, the controller 210 is connected to the image acquisition device 230, the millimeter wave radar 250 and the laser radar signal 270 respectively by wired or wireless means. The wired means include but are not limited to CAN bus, optical fiber, etc., and the wireless means include but are not limited to 4G, 5G, WiFi, etc.

[0051] like Figure 3 As shown, in an embodiment of the present invention, a tower crane 300 is provided, including: a control device 310.

[0052] The control device 310 is, for example, the control device 200 for a tower crane according to any one of the aforementioned embodiments. The specific functions and details of the control device 310 can be referred to the relevant description of the aforementioned embodiments, which will not be repeated here.

[0053] The control method 100 for a tower crane, the control device 200 for a tower crane, and the tower crane 300 according to an embodiment of the present invention are described in detail below in conjunction with an application example. The specific contents of the example of the present invention are as follows:

[0054] like Figure 4The figure is a schematic diagram of an application scenario of a control device for a tower crane provided by an example of the present invention. A camera, a laser radar and a millimeter-wave radar are installed below the luffing trolley, for example, on the lower surface of the trolley. The detection surfaces of the camera, the laser radar and the millimeter-wave radar are all arranged vertically downward and are respectively connected to the on-board controller of the tower crane (not shown in the figure). The installation positions of the camera, the laser radar and the millimeter-wave radar are not limited to Figure 4 The left-right relationship setting in the figure is not limited to the laser radar being set on the left side of the camera and the millimeter-wave radar being set on the right side of the camera, as long as the camera, the laser radar and the millimeter-wave radar are all set on the lower surface of the variable-length trolley.

[0055] like Figure 4 As shown in the figure, dotted area 1 is the camera detection range, dotted area 2 is the laser radar detection range, and dotted area 3 is the millimeter wave radar detection range. The distance between the projection point of the connection between the suspension rope and the suspension hook in the vertical direction on the top view surface and the lower surface of the luffing trolley in the vertical direction is, for example, h.

[0056] The effective detection distance of cameras, lidar and millimeter-wave radar can reach 100 meters, for example. By fusing the various information collected by cameras, lidar and millimeter-wave radar, the contour information of the suspended object can be accurately and quickly identified, such as the horizontal distance between each point on the outer contour of the top-down surface and the preset point and the collision safety distance.

[0057] The laser radar continuously scans above the hanging object to obtain real-time point cloud information of the top view of the hanging object. The camera continuously collects images of the top view of the hanging object above the hanging object. The millimeter wave radar continuously obtains the distance between the projection point of the connection point of the hanging rope and the hook in the vertical direction on the top view and the lower surface of the variable-length trolley in the vertical direction. The real-time data information collected by the laser radar, camera and millimeter wave radar will be transmitted to the on-board controller in the driver's cab of the tower crane by wired or wireless means for processing. For example, the image processing method based on the convolutional neural network is used to extract features of the image of the top view of the hanging object collected by the camera to obtain the image feature information of the top view, and then the image feature information is fused with the real-time point cloud information of the top view of the hanging object obtained by the laser radar scanning to obtain the pixel coordinates of the points on the top view, and then the distance between the pixel coordinates of the points on the top view and the lower surface of the variable-length trolley in the vertical direction and the following formula is calculated to obtain the distance between each point on the outer contour of the top view and the preset point in the horizontal direction.

[0058]

[0059] Wherein, Rn is the distance information between the nth point on the outer contour and the preset point in the horizontal direction, α is the correction coefficient, (xn,yn) is the pixel coordinate of the nth point on the outer contour, (x0,y0) is the pixel coordinate of the preset point, and h is the distance between the preset point and the lower surface of the variable-length trolley in the vertical direction. The correction coefficient can be determined by experiment, and specifically, for example, it can be any value between 5 and 20. The units of Rn and h are, for example, meters.

[0060] The collision safety distance can be further determined based on the horizontal distance between each point on the outer contour and the preset point, which can be used to formulate collision avoidance and path planning strategies in the future. Figure 4 As shown, if the outer contour of the top-view surface of the hanging object in the example of the present invention is a pentagon, and if the distances between the five vertices of the pentagon and the preset point in the horizontal direction are R1, R2, R3, R4, and R5 respectively, then the maximum value among R1, R2, R3, R4, and R5 is the maximum value among the distances between the points on the outer contour of the top-view surface and the preset point in the horizontal direction, that is, the maximum value among R1, R2, R3, R4, and R5 will be determined as the collision safety distance.

[0061] The example of the present invention uses a camera, a laser radar and a millimeter-wave radar to make up for each other's shortcomings, and can accurately obtain the contour information of the hanging object in a complex environment and a long distance. The on-board controller of the tower crane obtains the hanging object information collected by the camera, the laser radar and the millimeter-wave radar by wired or wireless means, and the hanging object information is fused and analyzed to obtain the accurate and real-time contour information of the hanging object, which is helpful for the anti-collision and path planning system to accurately and real-time adjust the anti-collision and path planning strategies according to the accurate and real-time contour information of the hanging object, so as to achieve more accurate and more real-time anti-collision and path planning effects. It can overcome the defects of the prior art that the height of the hanging object is not considered, and the scanning angle is on the side, and it is difficult to obtain the accurate contour size of the hanging object, and overcome the defects that the existing anti-collision technology and path planning scheme can only roughly estimate the contour size of the hanging object, and do not consider the change of the contour of the hanging object in real time.

[0062] In summary, the embodiments of the present invention can achieve some or all of the following technical effects through the above technical solutions:

[0063] (1) More accurate contour information can be obtained, which improves the stability of subsequent anti-collision and path planning. It can also realize automatic recognition of the contour information of suspended objects at long distances and in multiple environments, overcoming the defects of existing solutions that are difficult to obtain accurate contour information of suspended objects due to image recognition and lidar fusion technology, failure to consider the height of the suspended objects, and scanning angles at the side.

[0064] (2) The changes in the contour of the hanging object can be monitored in real time, and the collision avoidance and path planning effects can be optimized, overcoming the defects of the existing collision avoidance technology and path planning scheme that can only roughly estimate the size of the contour of the hanging object and do not consider the changes in the contour of the hanging object in real time.

[0065] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0066] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0067] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0068] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0069] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0070] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0071] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0072] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0073] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A control method for a tower crane, characterized in that: include: Acquire image information of a top-view surface of a hoisted object of the tower crane, position information of each point on the top-view surface, and a distance between a preset point and a preset surface in a vertical direction, wherein the preset point is a projection point of a connection point between a hoisting rope of the tower crane and a hook of the tower crane on the top-view surface in a vertical direction, and the preset surface is a lower surface of a luffing trolley of the tower crane or a lower surface of a boom tip of the tower crane; Determine the pixel coordinates of each point on the top-view surface according to the image information and the position information; Determine the distance between each point on the outer contour of the top-view surface and the preset point in the horizontal direction according to the pixel coordinates and the distance between the preset point and the preset surface in the vertical direction; as well as The collision safety distance is determined according to the distance between each point on the outer contour and the preset point in the horizontal direction.

2. The control method according to claim 1, characterized in that: The determining, according to the pixel coordinates and the distance between the preset point and the preset surface in the vertical direction, the distance between each point on the outer contour of the top-view surface and the preset point in the horizontal direction comprises: The distance between each point on the outer contour and the preset point in the horizontal direction is determined according to the following formula: Among them, Rn is the distance information between the nth point on the outer contour and the preset point in the horizontal direction, α is the correction coefficient, (xn,yn) is the pixel coordinates of the nth point on the outer contour, (x0,y0) is the pixel coordinates of the preset point, and h is the distance between the preset point and the preset surface in the vertical direction.

3. The control method according to claim 2, characterized in that: The correction coefficient has a value range of 5-20.

4. The control method according to claim 1, characterized in that: The step of determining the collision safety distance according to the distance between each point on the outer contour and the preset point in the horizontal direction includes: The maximum value of the distances between each point on the outer contour and the preset point in the horizontal direction is used as the collision safety distance.

5. A controller, characterized in that: The method is configured to execute the control method for a tower crane according to any one of claims 1 to 4.

6. A control device for a tower crane, characterized in that: include: An image acquisition device configured to acquire image information of a top view of a hanging object of the tower crane; A laser radar is configured to collect position information of each point on the overhead surface; a millimeter wave radar configured to collect a distance between a preset point and a preset surface in a vertical direction, wherein the preset point is a projection point of a connection between a suspension rope of the tower crane and a suspension hook of the tower crane on the top-view surface in a vertical direction, and the preset surface is a lower surface of a luffing trolley of the tower crane or a lower surface of a boom tip of the tower crane; and A controller according to claim 5.

7. The control device according to claim 6, characterized in that: The image acquisition device, the laser radar and the millimeter wave radar are all installed on the preset surface, and the detection surface of the image acquisition device, the detection surface of the laser radar and the detection surface of the millimeter wave radar are all arranged vertically downward.

8. The control device according to claim 6, characterized in that: The detection distance of the laser radar and the detection distance of the millimeter wave radar are both greater than or equal to 100 meters.

9. The control device according to claim 6, characterized in that: The controller is connected to the image acquisition device, the millimeter wave radar and the laser radar signal respectively through a wired or wireless manner.

10. A tower crane, characterized in that: The invention comprises a control device for a tower crane according to any one of claims 6-9.

Images