Crane and active safety method, device and system thereof, and storage medium

Abstract

The present disclosure relates to a crane and its active safety method, device, system, and storage medium. The crane active safety method includes: acquiring data collected by a sensing device; performing multi-source fusion on the data collected by the sensing device; and executing safety protection operations during the crane hoisting operation based on the fused data. The safety protection operations include at least one of boom collision avoidance and load collision avoidance. The present disclosure can predict boom collisions and load collisions during crane hoisting operations in advance, thereby achieving active crane safety.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent engineering machinery, and in particular to a crane and an active safety method, device and system thereof, and a storage medium. Background Art

[0002] Safety is a fundamental requirement during crane operations and a prerequisite for all other functions. Active safety, which involves proactively implementing measures to intervene before a dangerous event occurs, is a crucial component of overall crane safety. As cranes become more intelligent, human-machine collaboration deepens, and intelligent assistance functions become increasingly prevalent, the future trend in safety technology will be driven by intelligent systems, rather than human autonomy, to ensure machine safety. Summary of the Invention

[0003] The inventors discovered through research that related crane safety solutions do not consider collision scenarios during boom movement, nor do they involve anti-collision detection of the hoisted load below the boom during the hoisting process.

[0004] In view of at least one of the above technical problems, the present disclosure provides a crane and its active safety method, device and system, and storage medium, which can predict in advance the collision of the boom and the collision of the hoisted load during the crane lifting operation, thereby achieving active safety of the crane.

[0005] According to one aspect of the present disclosure, there is provided a crane active safety method, comprising:

[0006] Acquiring data collected by a sensing device;

[0007] Perform multi-source fusion on the data collected by the sensing device;

[0008] Based on the fused data, a safety protection operation is performed during the crane hoisting operation, wherein the safety protection operation includes at least one of a boom anti-collision operation and a suspended object anti-collision operation.

[0009] In some embodiments of the present disclosure, performing safety protection operations during crane hoisting operations based on the fused data includes:

[0010] Predicting safety conditions during crane hoisting operations in advance based on the fused data, wherein the safety conditions include at least one of boom collision and load collision;

[0011] Perform corresponding security protection operations based on the predicted security status.

[0012] In some embodiments of the present disclosure, the sensing device is a multi-category sensor, and the sensing device includes at least one of a laser radar, a millimeter-wave radar, a visual sensor, a wire sensor, and an inclination sensor.

[0013] In some embodiments of the present disclosure, performing safety protection operations during a crane hoisting operation includes at least one of the following steps, wherein:

[0014] Perform boom anti-collision operations during crane boom raising;

[0015] Perform boom anti-collision operations during the crane boom lowering process;

[0016] Perform boom anti-collision operations during crane boom extension and retraction;

[0017] Perform load collision prevention operations during crane lifting operations.

[0018] In some embodiments of the present disclosure, performing the boom anti-collision operation during the crane boom raising process includes:

[0019] Calibrate the transformation relationship between the remote lidar coordinate system and the crane base coordinate system;

[0020] Determine the three-dimensional motion space of the boom in the laser radar coordinate system and eliminate the point cloud data of the boom in the laser radar;

[0021] Expand the three-dimensional motion space to obtain the expansion space;

[0022] Determining whether the number of coordinate points corresponding to the point cloud data in the expansion space is greater than a predetermined threshold;

[0023] When the number of coordinate points corresponding to the point cloud data in the expansion space is greater than a predetermined threshold, an early warning message is issued to warn in advance that a boom collision may occur during the crane lifting operation, and the crane's slewing proportional solenoid valve and variable-length lifting proportional solenoid valve are controlled to invalidate the boom lifting and vehicle slewing actions.

[0024] In some embodiments of the present disclosure, the sensing device includes at least one of a long-range laser radar, a wire sensor, and an inclination sensor.

[0025] In some embodiments of the present disclosure, the transformation relationship between the calibration remote laser radar coordinate system and the crane base coordinate system includes:

[0026] The origin of the crane base coordinate system is set at the center point of the boom's luffing. The plane formed by the first and second coordinate axes of the crane base coordinate system is parallel to the support plane of the crane during hoisting, and the projection of the boom on the support plane is the second coordinate axis of the crane base coordinate system.

[0027] Fix the remote laser radar on a section of the crane boom. The projection of the second coordinate axis of the remote laser radar coordinate system on the support plane is consistent with the direction of the second coordinate axis of the crane base coordinate system. When the boom is horizontal, the reverse direction of the third coordinate axis of the remote laser radar coordinate system is consistent with the direction of the third coordinate axis of the crane base coordinate system. The reverse direction of the first coordinate axis of the remote laser radar coordinate system is always consistent with the direction of the first coordinate axis of the crane base coordinate system.

[0028] The data from the inclination sensor is used to transform the coordinates between the remote lidar coordinate system and the crane base coordinate system.

[0029] In some embodiments of the present disclosure, determining the three-dimensional motion space of the boom in the lidar coordinate system includes: determining the three-dimensional motion space of the boom in the lidar coordinate system by introducing the arm length value of the crane boom.

[0030] In some embodiments of the present disclosure, the expanding the three-dimensional motion space includes: expanding the three-dimensional motion space in the direction of the first coordinate axis and the second coordinate axis of the long-range laser radar coordinate system.

[0031] In some embodiments of the present disclosure, the sensing device includes at least one of a millimeter wave radar and a wire sensor;

[0032] The boom anti-collision operation during the crane boom extension and retraction process includes:

[0033] Obtain information about obstacles in the boom extension direction and the distance between the obstacles in the boom extension direction and the minimum boom through millimeter wave radar;

[0034] When the distance between the obstacle in the boom extension direction and the minimum boom is less than a predetermined distance threshold, an early warning signal is issued, and the boom extension and retraction action is stopped by controlling the crane boom extension and retraction proportional solenoid valve.

[0035] In some embodiments of the present disclosure, performing a hoisted object anti-collision operation during a crane hoisting operation includes:

[0036] Calibrate the mutual transformation relationship between the short-range lidar coordinate system, the visual sensor coordinate system and the crane base coordinate system;

[0037] Set warning areas and safety areas in the working area according to the crane's luffing angle and boom length;

[0038] The point cloud data of the external environment is collected through the short-range laser radar, and the image information of the external environment is collected through the visual sensor;

[0039] Identify the location and spatial information of obstacles in the warning area and safety area;

[0040] If an obstacle is detected in the warning area, an alarm will be issued to remind the operator that there is an obstacle in the working area;

[0041] When an obstacle is detected in the safety area, the lifting operation is stopped by controlling the crane's slewing proportional solenoid valve, luffing proportional solenoid valve and winch proportional solenoid valve.

[0042] In some embodiments of the present disclosure, setting a warning area and a safety area in the working area according to the luffing angle and boom length of the crane includes:

[0043] A circular safety zone is set based on the crane's luffing angle and boom length. The center of the safety zone is the intersection of the crane's wire rope extension line and the ground, and the radius of the safety zone is the maximum radius allowed for lifting operations.

[0044] A rectangular warning area is set, wherein the warning area is centered on the center of the safety area, and the length and width of the warning area are both greater than the diameter of the safety area.

[0045] In some embodiments of the present disclosure, the identifying of the position and spatial information of obstacles in the warning area and the safety area includes:

[0046] The convolutional neural network model is trained through scene datasets, and target detection and semantic segmentation are performed based on deep learning algorithms. The location and spatial information of obstacles in warning areas and safety areas are obtained through the fusion of point cloud data and image information.

[0047] According to another aspect of the present disclosure, there is provided an active safety device for a crane, comprising:

[0048] A data acquisition module is configured to acquire data collected by the sensing device;

[0049] a data fusion module configured to perform multi-source fusion on the data collected by the sensing device;

[0050] The safety protection module is configured to perform safety protection operations during the crane lifting operation based on the fused data, wherein the safety protection operations include at least one of boom anti-collision operations and suspended object anti-collision operations.

[0051] In some embodiments of the present disclosure, the crane active safety device is used to perform operations to implement the crane active safety method as described in any of the above embodiments.

[0052] According to another aspect of the present disclosure, there is provided an active safety device for a crane, comprising:

[0053] a memory for storing instructions;

[0054] The processor is configured to execute the instructions so that the crane active safety device performs operations to implement the crane active safety method as described in any one of the above embodiments.

[0055] According to another aspect of the present disclosure, a crane active safety system is provided, comprising a sensing device, an actuator, and the crane active safety device according to any one of the above embodiments.

[0056] In some embodiments of the present disclosure, the perception device includes at least one of a laser radar, a millimeter-wave radar, a visual sensor, a wire sensor, and an inclination sensor; the laser radar includes at least one of a long-range laser radar and a short-range laser radar; the long-range laser radar includes a first long-range laser radar and a second long-range laser radar, wherein:

[0057] Long-range laser radars are used to detect obstacles that could cause the boom to collide with the boom's luffing and vehicle rotation during crane hoisting operations. The long-range laser radars are installed on one section of the crane boom, with the first long-range laser radar fixed to the upper plane of the boom section and the second long-range laser radar fixed to the lower plane of the boom section. The long-range laser radars are installed at a suitable angle so that the third coordinate axis of the laser radar is parallel to the boom. The long-range laser radars are fixed to the boom and move synchronously with the boom's luffing and rotation.

[0058] The short-range LiDAR is used to detect ground obstacles within the crane's lifting area that could cause the hook or the hoisted load to collide. The short-range LiDAR is fixed in a suitable position above the crane's operating room and moves synchronously with the rotation of the operating room.

[0059] In some embodiments of the present disclosure, the sensing device further includes at least one of a millimeter wave radar, a visual sensor, a wire sensor, and an inclination sensor, wherein:

[0060] Millimeter-wave radar is used to detect obstacles that may cause the crane boom to collide with the boom's telescopic movement during lifting operations. The millimeter-wave radar is installed at the front end of the crane's smallest boom.

[0061] The vision sensor is used to detect ground obstacles within the crane's lifting area that could cause the hook or the load to collide. The vision sensor is installed in a suitable position above the crane's operating room and fuses data with the short-range LiDAR to jointly detect the type and location of ground obstacles. The vision sensor moves synchronously with the rotation of the operating room.

[0062] Pull wire sensor, used to detect the telescopic length of the boom;

[0063] The tilt sensor is used to detect the luffing angle of the boom. Both the wire sensor and the tilt sensor are installed on one section of the crane boom.

[0064] According to another aspect of the present disclosure, a crane is provided, comprising the crane active safety device according to any one of the above embodiments, or comprising the crane active safety system according to any one of the above embodiments.

[0065] According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the active safety method for a crane as described in any of the above embodiments is implemented.

[0066] The present disclosure can predict in advance the collision of the boom and the hoisted load during the crane hoisting operation, thereby achieving active safety of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0068] Figure 1 Schematic diagram of some embodiments of the active safety system for cranes disclosed herein.

[0069] Figure 2 Schematic diagrams of other embodiments of the active safety system for cranes disclosed herein.

[0070] Figure 3 Schematic diagram of some embodiments of the sensing device of the crane active safety system disclosed in the present invention.

[0071] Figure 4 Schematic diagram of some embodiments of the active crane safety method disclosed herein.

[0072] Figure 5 Schematic diagram of the crane-based coordinate system in some embodiments of the present disclosure.

[0073] Figure 6 Schematic diagram of the laser radar coordinate system in some embodiments of the present disclosure.

[0074] Figure 7 Schematic diagram of lidar point cloud obstacle recognition in some embodiments of the present disclosure.

[0075] Figure 8 Schematic diagram of the operation of millimeter wave radar in some embodiments of the present disclosure.

[0076] Figure 9 Schematic diagram of anti-collision under the boom in some embodiments of the present disclosure.

[0077] Figure 10 Schematic diagrams of some embodiments of the active safety device for cranes disclosed herein.

[0078] Figure 11 Schematic diagram of the structure of other embodiments of the active safety device for crane disclosed in the present invention. DETAILED DESCRIPTION

[0079] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0080] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0081] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0082] Technologies, methods and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods and equipment should be considered part of the authorization specification.

[0083] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0084] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0085] Through research, the inventor believes that the active safety of cranes is a comprehensive concept, and the specific implementation of active safety technology should be based on specific construction scenarios. For example, the anti-collision warning during crane hoisting operations is a typical active safety scenario. Research on active safety technology of cranes has positive significance for all relevant parties. From the perspective of the host manufacturer, the active safety system is a typical intelligent high-value-added supporting system that can effectively enhance the market competitiveness of the product and improve the intelligence level of the control system of the entire industry. From the perspective of the operator, active safety technology can reduce the dependence on operating experience and share some of the safety functions originally dominated by people, thereby more effectively protecting their personal safety. From the perspective of the equipment owner or the construction party, active safety technology can reduce the accident rate at the construction site, which can not only reduce property losses, but also effectively avoid adverse social benefits.

[0086] Through research, the inventors found that in an operating system provided by a technical solution of the related technology, the first anti-collision system is used to prevent collisions between large vehicles during movement, and the second anti-collision system is used to prevent collisions between the sling and the container below it and the containers stacked in the yard during movement of the small vehicle. Both are walking collisions, but the related technology does not consider the collision scenarios during the movement of the boom.

[0087] Another related art solution provides a system and method primarily for obstacle identification and avoidance during travel, but does not address the anti-collision requirements of crane operations. Furthermore, neither of these two related art solutions addresses anti-collision detection of the hoisted load below the boom during lifting.

[0088] In view of at least one of the above technical problems, the present disclosure provides a crane and an active safety method, device and system thereof, and a storage medium. The present disclosure is described below through specific embodiments.

[0089] Figure 1 Schematic diagram of some embodiments of the crane active safety system disclosed in the present invention. Figure 1 As shown, the crane active safety system disclosed herein may include a sensing device 100, a crane active safety device 200, and an actuator 300, wherein:

[0090] The sensing device 100 is used to collect crane-related data.

[0091] In some embodiments of the present disclosure, the sensing device is a multi-category sensor.

[0092] In some embodiments of the present disclosure, the sensing device includes at least one of a laser radar, a millimeter wave radar, a visual sensor, a wire sensor, and an inclination sensor.

[0093] The crane active safety device 200 is used to perform multi-source fusion of data collected by the sensing device; based on the fused data, it performs safety protection operations during the crane lifting operation and instructs the actuator 300 to perform corresponding operations, wherein the safety protection operations include at least one of the boom anti-collision operation and the suspended object anti-collision operation.

[0094] In some embodiments of the present disclosure, the crane active safety device 200 is used to realize data collection, information exchange and control of the action of the actuator 300.

[0095] The present disclosure can implement a strategy for boom anti-collision and hoisted object anti-collision during a hoisting operation.

[0096] Figure 2 Schematic diagram of some other embodiments of the active safety system for cranes disclosed in the present invention. Figure 2 As shown, the crane active safety system disclosed herein may include a sensing device, a crane active safety device, and an actuator, wherein:

[0097] In some embodiments of the present disclosure, Figure 2 As shown, the perception device disclosed herein may include a laser radar 110, a millimeter wave radar 4, a visual sensor 5, a wire sensor 6, and an inclination sensor 7.

[0098] In some embodiments of the present disclosure, Figure 2 As shown, the crane active safety device of the present disclosure may include a first controller 210 and a second controller 220 .

[0099] In some embodiments of the present disclosure, Figure 2 As shown, the actuator disclosed herein may include a vehicle rotation proportional solenoid valve 310 , a boom cylinder proportional solenoid valve 320 , a boom extension proportional solenoid valve 330 , a winch raising and lowering proportional solenoid valve 340 , and the like.

[0100] In some embodiments of the present disclosure, Figure 2 As shown, the first controller 210 collects data from the laser radar 110, the millimeter wave radar 4, and the visual sensor 5, and the second controller 220 collects data from the wire sensor 6 and the tilt sensor 7. Data is exchanged between the first controller 210 and the second controller 220. The second controller 220 controls the actuators such as the vehicle rotation proportional solenoid valve 310, the boom cylinder proportional solenoid valve 320, the boom extension proportional solenoid valve 330, and the winch raising and lowering proportional solenoid valve 340.

[0101] Figure 3 Schematic diagram of some embodiments of the sensing device of the crane active safety system disclosed in the present invention. Figure 3As shown, the sensing device includes at least one of a laser radar, a millimeter wave radar 4, a visual sensor 5, a wire sensor 6, and a tilt sensor 7. The laser radar includes at least one of a long-range laser radar and a short-range laser radar 3. The long-range laser radar includes a first long-range laser radar 1 and a second long-range laser radar 2, wherein:

[0102] Long-range LiDAR is used to detect obstacles that may cause the boom to collide with the boom's luffing movement and the slewing movement of the upper carriage during crane lifting operations.

[0103] In some embodiments of the present disclosure, Figure 3 As shown, the long-range laser radar is installed on a boom section of the crane boom, the first long-range laser radar 1 is fixed on the upper plane of the boom section, and the second long-range laser radar 2 is fixed on the lower plane of the boom section.

[0104] In some embodiments of the present disclosure, the remote laser radar is installed at an appropriate angle so that its third coordinate axis is parallel to the boom. The remote laser radar is fixed to the boom and moves synchronously with the boom's amplitude and rotation. Therefore, during the laser radar's perception process, the boom's own point cloud data does not change position with the boom's amplitude and rotation.

[0105] The short-range laser radar 3 is used to detect ground obstacles in the crane lifting operation area that may cause the hook or the lifted load to collide, such as vehicles, people, materials, etc.

[0106] In some embodiments of the present disclosure, Figure 3 As shown in the figure, the short-range LiDAR is fixed in a suitable position above the crane operator's cab and moves synchronously with the operator's cab's rotation. Therefore, although the detection area changes with the rotation of the upper vehicle, it can always detect the area under the boom during hoisting operations.

[0107] In some embodiments of the present disclosure, Figure 3 As shown, the millimeter wave radar 4 is used to detect obstacles that may cause the boom to collide due to the boom extension and retraction movement during the crane lifting operation. The millimeter wave radar 4 is installed at the front end of the smallest arm of the crane boom.

[0108] In some embodiments of the present disclosure, Figure 3 As shown, visual sensor 5 is used to detect ground obstacles within the crane's lifting area, such as vehicles, personnel, and materials, that could cause collisions between the hook and the load being lifted. Visual sensor 5 is installed in a suitable position above the crane's operating room and fuses data with short-range lidar 3 to jointly detect the type and location of ground obstacles.

[0109] In some embodiments of the present disclosure, similar to the short-range laser radar 3, the visual sensor 5 moves synchronously with the rotation of the operating room; it can also always detect the hoisting operation area below the boom.

[0110] In some embodiments of the present disclosure, the wire sensor 6 is used to detect the telescopic length of the boom; the tilt sensor 7 is used to detect the amplitude change angle of the boom. Both the wire sensor 6 and the tilt sensor 7 are installed on a section of the crane boom.

[0111] The present disclosure proposes an active safety system for cranes based on multi-sensor fusion. It collects data through multiple types of sensors such as lidar, millimeter-wave radar, visual sensor, wire sensor, tilt sensor, etc., and then performs multi-source fusion. The control system predicts in advance the collision of the boom and the hoisted load during the crane lifting operation, thereby realizing the active safety of the crane and effectively improving the overall safety of the crane.

[0112] The active safety method and device for cranes disclosed herein are described below through specific embodiments.

[0113] Figure 4 Schematic diagrams of some embodiments of the active safety method for a crane disclosed herein. Preferably, the embodiments can be performed by the crane disclosed herein, the active safety system for a crane disclosed herein, or the active safety device for a crane disclosed herein. Figure 4 The method of the embodiment may include at least one of steps 1 to 3, wherein:

[0114] Step 1: Obtain data collected by the sensing device.

[0115] Step 2: Perform multi-source fusion on the data collected by the sensing device.

[0116] In some embodiments of the present disclosure, the sensing device is a multi-category sensor.

[0117] In some embodiments of the present disclosure, Figure 2 and Figure 3 As shown, the sensing device may include at least one of a laser radar, a millimeter wave radar, a visual sensor, a wire sensor and an inclination sensor.

[0118] Step 3: Perform safety protection operations during the crane hoisting operation based on the fused data, wherein the safety protection operations include at least one of boom anti-collision operations and suspended object anti-collision operations.

[0119] In some embodiments of the present disclosure, step 3 may include: predicting in advance the safety conditions during the crane lifting operation based on the fused data, wherein the safety conditions include at least one of a boom collision condition and a suspended object collision condition; and performing corresponding safety protection operations based on the predicted safety conditions.

[0120] In some embodiments of the present disclosure, step 3 may include at least one of steps 31 to 34, wherein:

[0121] Step 31: Performing an anti-collision operation on the boom during the crane boom lifting process.

[0122] In some embodiments of the present disclosure, in step 11, the sensing device includes at least one of a long-range laser radar, a wire sensor, and an inclination sensor.

[0123] In some embodiments of the present disclosure, step 31 may include at least one of steps 311 to 315, wherein:

[0124] Step 311: calibrate the transformation relationship between the remote laser radar coordinate system and the crane base coordinate system.

[0125] In some embodiments of the present disclosure, step 311 may include at least one of steps 3111 to 3113, wherein:

[0126] Figure 5 Schematic diagram of the crane base coordinate system in some embodiments of the present disclosure. Figure 5 As shown, step 3111 may include: setting the origin of the crane base coordinate system at the boom's amplitude change center point, the plane formed by the first coordinate axis (X axis) and the second coordinate axis (Y axis) of the crane base coordinate system is parallel to the support plane of the crane during lifting, and the projection of the boom on the support plane is the second coordinate axis (Y axis) of the crane base coordinate system.

[0127] Figure 6 Schematic diagram of the laser radar coordinate system in some embodiments of the present disclosure. Figure 6 As shown, step 3112 may include: fixing the remote laser radar on a boom section of the crane, the projection of the second coordinate axis (Yradar axis) of the remote laser radar coordinate system on the support plane is consistent with the direction of the second coordinate axis (Y axis) of the crane base coordinate system, the reverse direction of the third coordinate axis (Zradar axis) of the remote laser radar coordinate system is consistent with the direction of the third coordinate axis (Z axis) of the crane base coordinate system when the boom is horizontal, and the reverse direction of the first coordinate axis (Xradar axis) of the remote laser radar coordinate system is always consistent with the direction of the first coordinate axis (X axis) of the crane base coordinate system.

[0128] Step 3113: Perform coordinate transformation between the remote lidar coordinate system and the crane base coordinate system using the data from the tilt sensor.

[0129] Step 312: determine the three-dimensional motion space U of the boom in the laser radar coordinate system, and process U to eliminate the point cloud data of the boom in the laser radar.

[0130] Figure 7 Schematic diagram of laser radar point cloud obstacle recognition in some embodiments of the present disclosure. Figure 7 As shown in Figure 1, since the boom's point cloud data does not change position with boom amplitude adjustment or vehicle rotation, a constrained region exists within the LiDAR point cloud. In the LiDAR coordinate system, the x and y coordinates of the boom's point cloud data are constrained within a certain region δ, i.e., (x, y)∈δ.

[0131] In some embodiments of the present disclosure, step 312 may include: determining the three-dimensional motion space of the boom in the lidar coordinate system by introducing the boom length value of the crane boom.

[0132] In some embodiments of the present disclosure, step 312 may include: by introducing the arm length value of the crane boom, the three-dimensional motion space U of the boom in the lidar coordinate system can be obtained, and processing U can eliminate the point cloud data of the boom in the lidar, and the remaining point cloud data is the point cloud data of obstacles in the external environment.

[0133] Step 313: Expand the three-dimensional motion space U to obtain an expanded space U1.

[0134] In some embodiments of the present disclosure, step 313 may include: expanding the three-dimensional motion space U in the directions of the first coordinate axis (Xradar axis) and the second coordinate axis (Yradar axis) of the remote lidar coordinate system to obtain the expanded space U1.

[0135] Step 314 , determining whether the number of coordinate points corresponding to the point cloud data in the expansion space (ie, points satisfying (x, y, z)∈U1) is greater than a predetermined threshold M.

[0136] In step 315, when the number of coordinate points corresponding to the point cloud data in the expansion space is greater than the predetermined threshold value M, the control system issues a warning message to warn in advance that a boom collision may occur during the crane lifting operation, and controls the crane rotation proportional solenoid valve and the variable-luffing lifting proportional solenoid valve to invalidate the boom lifting and vehicle rotation actions.

[0137] Step 32: Performing an anti-collision operation on the boom during the crane boom's descent process.

[0138] In some embodiments of the present disclosure, the early warning of the crane boom drop is similar to the control strategy of the boom raising, except that the three-dimensional space of the boom is in an upper position in the radar point cloud area.

[0139] Step 33: Perform boom anti-collision operation during the crane boom extension and retraction process.

[0140] In some embodiments of the present disclosure, in step 33, the sensing device includes at least one of a millimeter wave radar and a wire sensor.

[0141] Figure 8 FIG. 1 is a schematic diagram of the operation of the millimeter wave radar in some embodiments of the present disclosure. Figure 8 As shown, step 33 may include: obtaining obstacle information in the boom extension direction and the distance relationship between the obstacle in the boom extension direction and the minimum arm of the boom through the millimeter wave radar; when the distance between the obstacle in the boom extension direction and the minimum arm of the boom is less than a predetermined distance threshold ρ, the control system (crane active safety device) issues a warning signal, and at the same time stops the telescopic action of the boom by controlling the telescopic proportional solenoid valve of the crane boom.

[0142] Step 34: performing a collision prevention operation for the hoisted object during the crane hoisting operation.

[0143] In some embodiments of the present disclosure, step 34 may include at least one of steps 341 to 345, wherein:

[0144] Step 341 : When the active safety system is running, first calibrate the mutual transformation relationship between the short-range laser radar coordinate system, the visual sensor coordinate system and the crane base coordinate system.

[0145] Step 342: Set a warning area and a safety area in the working area according to the luffing angle and boom length of the crane.

[0146] Figure 9 Schematic diagram of anti-collision under the boom in some embodiments of the present disclosure. Figure 9 As shown, step 342 may include: setting a warning area ROI in the working area according to the crane's luffing angle α and the boom length L 警告 and safe area ROI 安全 , where ROI is the region of interest.

[0147] In some embodiments of the present disclosure, Figure 9 As shown, step 342 may include at least one of step 3421 and step 3422, wherein:

[0148] Step 3421: Set a circular safety area ROI based on the crane's luffing angle α and boom length L. 安全 , where the center of the safety area is the intersection of the crane wire rope extension line and the ground O(x o ,y o ), safe area ROI 安全 The radius r o The maximum radius allowed for lifting operations.

[0149] In some embodiments of the present disclosure, the safe area ROI 安全 The radius r o It can be set to 5m, 10m, 15m, etc. according to the operating radius.

[0150] In some embodiments of the present disclosure, when the presence of obstacles such as people is detected in the safety zone, the hoisting operation of the crane should be stopped.

[0151] In some embodiments of the present disclosure, assuming that the length of the boom is L and the amplitude variation angle is α, the safety area is expressed in the crane-based coordinate system as shown in formula (1).

[0152]

[0153] Step 3422: Set the rectangular warning area ROI 警告 , where the warning area is the safe area ROI 安全 The warning area ROI is centered at the center of the circle 警告 The length and width are both larger than the safe area ROI 安全 diameter.

[0154] In some embodiments of the present disclosure, step 3422 may include: setting a rectangular warning area according to the monitoring range of the visual sensor and the short-range laser radar, and the warning area is O(x o ,y o ) is the center, the length and width are (W, V), and the area in the crane base coordinate system can be expressed as (x o ,y o , W, V). When obstacles such as people are detected in the warning area, a warning message should be issued.

[0155] Since in this disclosure, the center O(x o ,y o ) will not change with the rotation of the upper vehicle in the crane base coordinate system, but is only related to the length L of the boom and the angle α of the amplitude change. Therefore, the safety area ROI of this disclosure 安全 and warning area ROI 警告 The area under the boom where lifting operations are performed can be covered at all times.

[0156] Step 343: collect point cloud data of the external environment through short-range laser radar and collect image information of the external environment through visual sensors.

[0157] In some embodiments of the present disclosure, the short-range laser radar and the visual sensor are fixed above the operator's cabin of the crane and move synchronously with the rotation of the crane vehicle.

[0158] Step 344: Identify the warning area ROI 警告 and safe area ROI 安全 The location and spatial information of obstacles in the system.

[0159] In some embodiments of the present disclosure, step 344 may include: training a convolutional neural network model through a scene dataset, performing target detection and semantic segmentation based on a deep learning algorithm, and warning the region ROI by fusing point cloud data and image information. 警告 and safe area ROI 安全 The position and spatial information of the obstacles in the image, wherein the obstacles may be people, vehicles or other obstacles.

[0160] Step 345: in the warning area ROI 警告 When an obstacle is detected, an alarm will be issued to remind the operator that there is an obstacle in the working area.

[0161] Step 346: In the safe area ROI 安全 When an obstacle is detected, the lifting operation is stopped by controlling the crane's slewing proportional solenoid valve, luffing proportional solenoid valve and winch proportional solenoid valve.

[0162] The present disclosure proposes an active crane safety system and method based on multi-sensor fusion. Data is collected through multiple types of sensors such as lidar, millimeter-wave radar, visual sensor, wire sensor, tilt sensor, etc., and then multi-source data is fused. The control system actively realizes the boom anti-collision and hoisted object anti-collision functions during the crane lifting operation, thereby reducing the dependence on operating experience and more effectively ensuring the safety of people and equipment.

[0163] Figure 10 Schematic diagram of some embodiments of the active safety device for cranes disclosed in the present invention. Figure 10 As shown, the active safety device of the crane disclosed in the present invention (eg Figure 1 or Figure 2 The active safety device for a crane of the embodiment may include a data acquisition module 201, a data fusion module 202, and a safety protection module 203, wherein:

[0164] The data acquisition module 201 is configured to acquire data collected by the sensing device.

[0165] In some embodiments of the present disclosure, the sensing device may be a multi-category sensor, including at least one of a laser radar, a millimeter-wave radar, a visual sensor, a wire sensor, and an inclination sensor.

[0166] The data fusion module 202 is configured to perform multi-source fusion on the data collected by the sensing device.

[0167] The safety protection module 203 is configured to perform safety protection operations during the crane hoisting operation based on the fused data, wherein the safety protection operations include at least one of boom anti-collision operations and load anti-collision operations.

[0168] In some embodiments of the present disclosure, the safety protection module 203 can be configured to predict the safety conditions during the crane lifting operation in advance based on the fused data, wherein the safety conditions include at least one of the boom collision condition and the suspended object collision condition; and perform corresponding safety protection operations based on the predicted safety conditions.

[0169] In some embodiments of the present disclosure, the safety protection module 203, when performing safety protection operations during a crane lifting operation, can be configured to perform at least one of the following operations, including: performing an arm anti-collision operation during the crane arm raising process; performing an arm anti-collision operation during the crane arm lowering process; performing an arm anti-collision operation during the crane arm extension and retraction process; and performing a hoisted object anti-collision operation during the crane lifting operation.

[0170] In some embodiments of the present disclosure, the safety protection module 203, when performing a boom anti-collision operation during the lifting of the crane boom, can be configured to calibrate the transformation relationship between the remote lidar coordinate system and the crane base coordinate system; determine the three-dimensional motion space of the boom in the lidar coordinate system, and eliminate the point cloud data of the boom in the lidar; expand the three-dimensional motion space to obtain an expanded space; determine whether the number of coordinate points corresponding to the point cloud data in the expanded space is greater than a predetermined threshold; when the number of coordinate points corresponding to the point cloud data in the expanded space is greater than the predetermined threshold, issue an early warning message to warn in advance that a boom collision may occur during the crane lifting operation, and control the crane rotation proportional solenoid valve and the variable amplitude lifting proportional solenoid valve to invalidate the boom lifting and vehicle rotation actions.

[0171] In some embodiments of the present disclosure, when performing a boom anti-collision operation during a crane boom raising process, the sensing device includes at least one of a long-range laser radar, a wire sensor, and an inclination sensor.

[0172] In some embodiments of the present disclosure, the safety protection module 203, when calibrating the transformation relationship between the remote laser radar coordinate system and the crane base coordinate system, can be configured to set the origin of the crane base coordinate system at the boom's amplitude change center point, and the plane formed by the first coordinate axis and the second coordinate axis of the crane base coordinate system is parallel to the support plane of the crane during hoisting, and the projection of the boom on the support plane is the second coordinate axis of the crane base coordinate system; the remote laser radar is fixed on a section of the crane boom, and the projection of the second coordinate axis of the remote laser radar coordinate system on the support plane is consistent with the direction of the second coordinate axis of the crane base coordinate system, the reverse direction of the third coordinate axis of the remote laser radar coordinate system is consistent with the direction of the third coordinate axis of the crane base coordinate system when the boom is horizontal, and the reverse direction of the first coordinate axis of the remote laser radar coordinate system is always consistent with the direction of the first coordinate axis of the crane base coordinate system; coordinate transformation is performed between the remote laser radar coordinate system and the crane base coordinate system through data from the inclination sensor.

[0173] In some embodiments of the present disclosure, the safety protection module 203, when determining the three-dimensional motion space of the boom in the lidar coordinate system, can be configured to determine the three-dimensional motion space of the boom in the lidar coordinate system by introducing the arm length value of the crane boom.

[0174] In some embodiments of the present disclosure, the safety protection module 203, when expanding the three-dimensional motion space, can be configured to expand the three-dimensional motion space in the directions of the first coordinate axis and the second coordinate axis of the remote laser radar coordinate system.

[0175] In some embodiments of the present disclosure, when performing a boom anti-collision operation during the extension and retraction of the crane boom, the sensing device includes at least one of a millimeter wave radar and a wire sensor.

[0176] In some embodiments of the present disclosure, the safety protection module 203, when performing the boom anti-collision operation during the extension and retraction of the crane boom, can be configured to obtain obstacle information in the boom extension direction and the distance relationship between the obstacle in the boom extension direction and the minimum arm through a millimeter-wave radar; when the distance between the obstacle in the boom extension direction and the minimum arm is less than a predetermined distance threshold, an early warning signal is issued, and at the same time, the extension and retraction action of the boom is stopped by controlling the crane boom extension and retraction proportional solenoid valve.

[0177] In some embodiments of the present disclosure, the safety protection module 203, when performing anti-collision operations for hoisted objects during a crane hoisting operation, can be configured to calibrate the mutual transformation relationship between the short-range lidar coordinate system, the visual sensor coordinate system, and the crane base coordinate system; set a warning area and a safety area in the operating area according to the boom angle and boom length of the crane; collect point cloud data of the external environment through the short-range lidar, and collect image information of the external environment through the visual sensor; identify the position and spatial information of obstacles in the warning area and the safety area; when an obstacle is detected in the warning area, issue an alarm to remind the operator that there is an obstacle in the operating area; when an obstacle is detected in the safety area, stop the hoisting operation by controlling the crane's slewing proportional solenoid valve, boom proportional solenoid valve, and winch proportional solenoid valve.

[0178] In some embodiments of the present disclosure, the safety protection module 203, when setting the warning area and safety area in the working area according to the boom angle and boom length of the crane, can be configured to set a circular safety area according to the boom angle and boom length of the crane, wherein the center of the safety area is the intersection of the extension line of the crane wire rope and the ground, and the radius of the safety area is the maximum radius allowed for the lifting operation; and set a rectangular warning area, wherein the warning area is centered on the center of the safety area, and the length and width of the warning area are both greater than the diameter of the safety area.

[0179] In some embodiments of the present disclosure, the safety protection module 203, when identifying the position and spatial information of obstacles in the warning area and the safety area, can be configured to train a convolutional neural network model through a scene data set, perform target detection and semantic segmentation based on a deep learning algorithm, and identify the position and spatial information of obstacles in the warning area and the safety area through the fusion of point cloud data and image information.

[0180] In some embodiments of the present disclosure, the crane active safety device is used to implement any of the above embodiments (for example Figure 4-Figure 9 Operation of the active crane safety method described in any embodiment).

[0181] Figure 11 Schematic diagram of the structure of some other embodiments of the active safety device for crane disclosed in the present invention. Figure 11 As shown, the crane active safety device includes a memory 204 and a processor 205 .

[0182] The memory 204 is used to store instructions. The processor 205 is coupled to the memory 204. The processor 205 is configured to execute the above embodiments (for example, Figure 4-Figure 9 Any embodiment) involves the method.

[0183] like Figure 11 As shown, the crane active safety device further includes a communication interface 206 for exchanging information with other devices. Furthermore, the crane active safety device further includes a bus 207 through which the processor 205, the communication interface 206, and the memory 204 communicate with each other.

[0184] Memory 204 may include high-speed RAM memory or non-volatile memory, such as at least one disk storage device. Memory 204 may also be a memory array. Memory 204 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules.

[0185] In addition, the processor 205 may be a central processing unit (CPU), or may be an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0186] According to another aspect of the present disclosure, Figure 3 、 Figure 6 or Figure 9 As shown, a crane is provided, including any one of the above embodiments (for example Figure 10 or Figure 11 The active safety device for a crane as described in any one of the above embodiments (for example Figure 1 or Figure 2 The active safety system for a crane as described in the embodiment).

[0187] The present disclosure proposes an active crane safety system and method based on multi-sensor fusion. Data is collected through multiple types of sensors such as lidar, millimeter-wave radar, visual sensor, wire sensor, tilt sensor, etc., and then multi-source data is fused. The control system actively realizes the boom anti-collision and hoisted object anti-collision functions during the crane lifting operation, which can reduce the dependence on operating experience and more effectively ensure the safety of people and equipment.

[0188] According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the computer-readable storage medium implements any of the above embodiments (e.g. Figure 4-Figure 9 The active safety method for a crane as described in any embodiment).

[0189] In some embodiments of the present disclosure, the computer-readable storage medium may be a non-transitory computer-readable storage medium.

[0190] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, apparatus, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0191] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and 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.

[0192] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The function specified in one or more boxes.

[0193] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0194] The crane active safety device, data acquisition module, data fusion module, safety protection module, first controller and second controller described above can be implemented as a general-purpose processor, programmable logic controller (PLC), digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component or any appropriate combination thereof for performing the functions described in this application.

[0195] The present disclosure has been described in detail so far. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0196] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing the relevant hardware through a program, and the program may be stored in a non-transitory computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0197] The description of the present disclosure is provided for purposes of illustration and description and is not intended to be exhaustive or to limit the disclosure to the disclosed form. Many modifications and variations will be apparent to those skilled in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure and to enable those skilled in the art to understand the present disclosure and design various embodiments with various modifications suitable for specific applications.

Claims

1. A crane active safety method comprising: Acquiring data collected by a sensing device; Perform multi-source fusion on the data collected by the sensing device; Performing safety protection operations during the crane hoisting operation based on the fused data, wherein the safety protection operations include at least one of boom anti-collision operations and load anti-collision operations; The safety protection operations performed during the crane hoisting operation include: Perform boom anti-collision operations during crane boom raising; The performing of the boom anti-collision operation during the crane boom lifting process includes: Calibrate the transformation relationship between the remote lidar coordinate system and the crane base coordinate system; Determine the three-dimensional motion space of the boom in the laser radar coordinate system and eliminate the point cloud data of the boom in the laser radar; Expand the three-dimensional motion space to obtain the expansion space; Determining whether the number of coordinate points corresponding to the point cloud data in the expansion space is greater than a predetermined threshold; When the number of coordinate points corresponding to the point cloud data in the expansion space is greater than a predetermined threshold, an early warning message is issued to warn in advance that a boom collision may occur during the crane lifting operation, and the crane's slewing proportional solenoid valve and variable-length lifting proportional solenoid valve are controlled to invalidate the boom lifting and vehicle slewing actions.

2. The active crane safety method according to claim 1, wherein executing safety protection operations during crane hoisting operations based on the fused data comprises: Predicting safety conditions during crane hoisting operations in advance based on the fused data, wherein the safety conditions include at least one of boom collision and load collision; Perform corresponding security protection operations based on the predicted security status.

3. The active safety method for cranes according to claim 1 or 2, wherein: The sensing device is a multi-category sensor, and the sensing device includes at least one of a laser radar, a millimeter wave radar, a visual sensor, a wire sensor, and an inclination sensor.

4. The active safety method for cranes according to claim 1 or 2, wherein: The performing of safety protection operations during the crane hoisting operation includes at least one of the following steps, wherein: Perform boom anti-collision operations during the crane boom lowering process; Perform boom anti-collision operation during crane boom extension and retraction.

5. The active safety method for cranes according to claim 1 or 2, wherein: The sensing device includes at least one of a long-range laser radar, a wire sensor, and an inclination sensor; The transformation relationship between the calibration long-range laser radar coordinate system and the crane base coordinate system includes: The origin of the crane base coordinate system is set at the center point of the boom's luffing. The plane formed by the first and second coordinate axes of the crane base coordinate system is parallel to the support plane of the crane during hoisting, and the projection of the boom on the support plane is the second coordinate axis of the crane base coordinate system. Fix the remote laser radar on a section of the crane boom. The projection of the second coordinate axis of the remote laser radar coordinate system on the support plane is consistent with the direction of the second coordinate axis of the crane base coordinate system. When the boom is horizontal, the reverse direction of the third coordinate axis of the remote laser radar coordinate system is consistent with the direction of the third coordinate axis of the crane base coordinate system. The reverse direction of the first coordinate axis of the remote laser radar coordinate system is always consistent with the direction of the first coordinate axis of the crane base coordinate system. The data from the inclination sensor is used to transform the coordinates between the remote lidar coordinate system and the crane base coordinate system.

6. The active crane safety method according to claim 5, wherein: Determining the three-dimensional motion space of the boom in the laser radar coordinate system includes: determining the three-dimensional motion space of the boom in the laser radar coordinate system by introducing the boom length value of the crane boom; and / or, The expanding of the three-dimensional motion space includes: expanding the three-dimensional motion space in the direction of the first coordinate axis and the second coordinate axis of the long-range laser radar coordinate system.

7. The active safety method for cranes according to claim 4, wherein: The sensing device includes at least one of a millimeter wave radar and a wire sensor; The boom anti-collision operation during the crane boom extension and retraction process includes: Obtain information about obstacles in the boom extension direction and the distance between the obstacles in the boom extension direction and the minimum boom through millimeter wave radar; When the distance between the obstacle in the boom extension direction and the minimum boom is less than a predetermined distance threshold, an early warning signal is issued, and the boom extension and retraction action is stopped by controlling the crane boom extension and retraction proportional solenoid valve.

8. A crane active safety method comprising: Acquiring data collected by a sensing device; Perform multi-source fusion on the data collected by the sensing device; Performing safety protection operations during the crane hoisting operation based on the fused data, wherein the safety protection operations include at least one of boom anti-collision operations and load anti-collision operations; The safety protection operations performed during the crane hoisting operation include: Perform load collision prevention during crane lifting operations; The method of performing the anti-collision operation of the hoisted object during the crane hoisting operation includes: Calibrate the mutual transformation relationship between the short-range lidar coordinate system, the visual sensor coordinate system and the crane base coordinate system; Set warning areas and safety areas in the working area according to the crane's luffing angle and boom length; The point cloud data of the external environment is collected through the short-range laser radar, and the image information of the external environment is collected through the visual sensor; Identify the location and spatial information of obstacles in the warning area and safety area; If an obstacle is detected in the warning area, an alarm will be issued to remind the operator that there is an obstacle in the working area; When an obstacle is detected in the safety area, the lifting operation is stopped by controlling the crane's slewing proportional solenoid valve, luffing proportional solenoid valve and winch proportional solenoid valve.

9. The active safety method for cranes according to claim 8, wherein: The setting of warning areas and safety areas in the working area according to the luffing angle and boom length of the crane includes: A circular safety zone is set based on the crane's luffing angle and boom length. The center of the safety zone is the intersection of the crane's wire rope extension line and the ground, and the radius of the safety zone is the maximum radius allowed for lifting operations. A rectangular warning area is set, wherein the warning area is centered on the center of the safety area, and the length and width of the warning area are both greater than the diameter of the safety area.

10. The active safety method for cranes according to claim 8, wherein: The position and spatial information of obstacles in the warning area and the safety area are identified as follows: The convolutional neural network model is trained through scene datasets, and target detection and semantic segmentation are performed based on deep learning algorithms. The location and spatial information of obstacles in warning areas and safety areas are obtained through the fusion of point cloud data and image information.

11. An active safety device for a crane, comprising: A data acquisition module is configured to acquire data collected by the sensing device; a data fusion module configured to perform multi-source fusion on the data collected by the sensing device; a safety protection module configured to perform safety protection operations during the crane hoisting operation based on the fused data, wherein the safety protection operations include at least one of a boom anti-collision operation and a load anti-collision operation; Wherein, the safety protection module is configured to perform a boom anti-collision operation during the crane boom raising process when performing a safety protection operation during the crane lifting operation; Among them, the safety protection module, when performing the boom anti-collision operation during the lifting of the crane boom, is configured to calibrate the transformation relationship between the remote lidar coordinate system and the crane base coordinate system; determine the three-dimensional motion space of the boom in the lidar coordinate system, and eliminate the point cloud data of the boom in the lidar; expand the three-dimensional motion space to obtain an expanded space; judge whether the number of coordinate points corresponding to the point cloud data in the expanded space is greater than a predetermined threshold; when the number of coordinate points corresponding to the point cloud data in the expanded space is greater than the predetermined threshold, issue an early warning message to warn in advance that a boom collision may occur during the crane lifting operation, and control the crane's slewing proportional solenoid valve and the variable amplitude lifting proportional solenoid valve to invalidate the boom lifting and vehicle slewing actions.

12. An active safety device for a crane, comprising: A data acquisition module is configured to acquire data collected by the sensing device; a data fusion module configured to perform multi-source fusion on the data collected by the sensing device; a safety protection module configured to perform safety protection operations during the crane hoisting operation based on the fused data, wherein the safety protection operations include at least one of a boom anti-collision operation and a load anti-collision operation; Wherein, the safety protection module is configured to perform a hoisted object anti-collision operation during the crane hoisting operation when the safety protection operation is performed during the crane hoisting operation; Among them, the safety protection module is configured to calibrate the mutual transformation relationship between the short-range lidar coordinate system, the visual sensor coordinate system and the crane base coordinate system when performing the anti-collision operation of the hoisted objects during the crane hoisting operation; set the warning area and the safety area in the working area according to the boom angle and boom length of the crane; collect point cloud data of the external environment through the short-range lidar, and collect image information of the external environment through the visual sensor; identify the position and spatial information of obstacles in the warning area and the safety area; when an obstacle is detected in the warning area, an alarm is issued to remind the operator that there is an obstacle in the working area; when an obstacle is detected in the safety area, the hoisting operation is stopped by controlling the crane's slewing proportional solenoid valve, boom proportional solenoid valve and winch proportional solenoid valve.

13. An active safety device for a crane, comprising: a memory for storing instructions; The processor is configured to execute the instructions so that the crane active safety device performs operations to implement the crane active safety method according to any one of claims 1 to 10.

14. An active safety system for a crane, comprising a sensing device, an actuator, and the active safety device for a crane according to any one of claims 11 to 13.

15. The crane active safety system according to claim 14, wherein: The sensing device includes at least one of a laser radar, a millimeter wave radar, a visual sensor, a wire sensor, and an inclination sensor; the laser radar includes at least one of a long-range laser radar and a short-range laser radar; the long-range laser radar includes a first long-range laser radar and a second long-range laser radar, wherein: Long-range laser radars are used to detect obstacles that could cause the boom to collide with the boom's luffing and vehicle rotation during crane hoisting operations. The long-range laser radars are installed on one section of the crane boom, with the first long-range laser radar fixed to the upper plane of the boom section and the second long-range laser radar fixed to the lower plane of the boom section. The long-range laser radars are installed at a suitable angle so that the third coordinate axis of the laser radar is parallel to the boom. The long-range laser radars are fixed to the boom and move synchronously with the boom's luffing and rotation. The short-range LiDAR is used to detect ground obstacles within the crane's lifting area that could cause the hook or the hoisted load to collide. The short-range LiDAR is fixed in a suitable position above the crane's operating room and moves synchronously with the rotation of the operating room.

16. The crane active safety system according to claim 15, wherein: The sensing device further includes at least one of a millimeter wave radar, a visual sensor, a wire sensor, and an inclination sensor, wherein: Millimeter-wave radar is used to detect obstacles that may cause the crane boom to collide with the boom's telescopic movement during lifting operations. The millimeter-wave radar is installed at the front end of the crane's smallest boom. The vision sensor is used to detect ground obstacles within the crane's lifting area that could cause the hook or the load to collide. The vision sensor is installed in a suitable position above the crane's operating room and fuses data with the short-range LiDAR to jointly detect the type and location of ground obstacles. The vision sensor moves synchronously with the rotation of the operating room. Pull wire sensor, used to detect the telescopic length of the boom; The tilt sensor is used to detect the luffing angle of the boom. Both the wire sensor and the tilt sensor are installed on one section of the crane boom.

17. A crane comprising the crane active safety device according to any one of claims 11 to 13, or comprising the crane active safety system according to any one of claims 14 to 16.

18. A computer-readable storage medium, wherein: The computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the active safety method for a crane according to any one of claims 1 to 10 is implemented.

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