Intelligent travelling avoidance system of crane and avoidance method of intelligent travelling avoidance system

Abstract

The invention relates to the technical field of cranes, in particular to an intelligent traveling avoidance system of a crane and an avoidance method.The intelligent traveling avoidance system comprises a traveling crane body electrical system, a position ranging system, a PLC control cabinet system and a man-machine interface system, an alarm system is applied to a crane mechanism, and the traveling crane body electrical system comprises a crane cart mechanism and a crane trolley mechanism; the PLC control cabinet system is a safety control cabinet, the alarm system is composed of an audible and visual alarm, and the position distance measuring system is composed of a laser sensor and a UWB distance measuring sensor. According to the intelligent traveling avoidance system of the crane and the avoidance method of the intelligent traveling avoidance system, a sensor structure for distance measurement is mounted on the traveling mechanism of the crane, and an intelligent PLC control system is mounted, so that the crane can accurately and safely decelerate and brake in front of an obstacle, the crane can intelligently avoid, and the safety of the crane is improved. Safety accidents are prevented, and the safety of industrial production is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to an intelligent avoidance system and avoidance method for a crane. Background Art

[0002] A crane refers to a multi-action lifting machinery that can vertically lift and horizontally move heavy objects within a certain range. It is evolved from a crawler crane. The crawler and walking frame parts of the walking mechanism are changed into a chassis with tires, which overcomes the disadvantage that the crawler plates of crawler cranes cause damage to the road surface. It belongs to material handling machinery. One type of crane is commonly used in industrial rooms, called a bridge crane. A bridge crane is a lifting equipment that is horizontally mounted above workshops, warehouses and material yards to lift materials. Because its two ends are located on tall concrete columns or metal supports, it is shaped like a bridge. The bridge of the bridge crane runs longitudinally along the tracks laid on the elevated structures on both sides, so that the space under the bridge can be fully utilized to lift materials without being hindered by ground equipment. It is the most widely used and largest type of lifting machinery.

[0003] During the use of current industrial bridge cranes, a traveling structure is installed on the crane portal span, and the crane moves within the specified track. However, the traveling mechanism of current industrial bridge cranes lacks an avoidance alarm function. When the crane is driving and the traveling structure reaches in front of an obstacle, the crane cannot make emergency avoidance and issue an alarm. As a result, the crane may collide with the obstacle, resulting in a major accident. In addition, there is no alarm reminder function, and the staff cannot be reminded in time before the crane has an accident. If an accident occurs, the staff who have not received the alarm information are easily affected by the accident, resulting in serious consequences. Summary of the invention

[0004] The object of the present invention is to provide a crane intelligent avoidance system and avoidance method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a crane intelligent avoidance system, comprising a crane body electrical system, a position distance measurement system, a PLC control cabinet system, a human-machine interface system, and an alarm system applied to a crane mechanism, wherein the crane body electrical system is a crane trolley mechanism and a crane trolley mechanism, the PLC control cabinet system is a safety control cabinet, the alarm system is composed of an audible and visual alarm, and the position distance measurement system is composed of a laser sensor and a UWB distance measurement sensor;

[0006] The crane is composed of a crane trolley mechanism, a crane trolley mechanism and a crane portal span. There are obstacles on the travel route of the crane. The crane trolley mechanism and the crane trolley mechanism are both equipped with safety control cabinets. The crane trolley mechanism is installed with a UWB ranging sensor, and the trolley mechanism is installed with a laser sensor. The UWB ranging sensor and the laser sensor are both connected to a driving sound and light alarm. The two driving sound and light alarms are respectively installed on the crane trolley mechanism and the crane trolley mechanism. The obstacle is installed with a fixed sound and light alarm mechanism.

[0007] In a further embodiment, the safety control cabinet is built with a master control PLC, the master control PLC is connected to a switch, and the switch is connected to a human-machine interface system. The switch is mainly responsible for collecting real-time position signals of the crane trolley mechanism and the crane car mechanism, and performing program logic operations according to actual conditions on site. When the driving position reaches the deceleration and stop position, the control outputs a deceleration stop signal and an alarm signal, and utilizes the intelligent control of the master control PLC to achieve automatic and efficient safe avoidance of the crane mechanism, thereby improving the safe use of the crane.

[0008] In a further embodiment, the human-machine interface system is composed of a human-machine interactive touch display screen and an audible and visual alarm, which is used to display the real-time position of the crane trolley mechanism and the crane car mechanism, as well as the status of the control output, and can also set obstacle avoidance parameters. The audible and visual alarm is used to remind the staff who control the crane, so as to facilitate manual real-time monitoring of the crane's operating status.

[0009] In a further embodiment, the alarm system further comprises: a driving wireless transmission module and a fixed wireless transmission module, which enable better coordination between the control, ranging and alarm systems through wireless transmission;

[0010] The driving wireless transmission module is installed in the driving sound and light alarm of the crane trolley mechanism and the crane trolley mechanism, and the fixed wireless transmission module is installed in the sound and light alarm mechanism of the obstacle. The use of sound and light alarm can improve the effectiveness of the alarm, so that the staff can better identify the alarm information;

[0011] The alarm system mainly reminds the operator of the working status of the avoidance system and operates the vehicle safely.

[0012] In a further embodiment, the laser sensor and the UWB ranging sensor of the position ranging system are respectively connected to the PLC control cabinet system;

[0013] The UWB distance measurement sensor is specifically a trolley UWB distance measurement sensor, which is used for distance measurement of the crane trolley mechanism. The pulse distance measurement can improve the accuracy and stability of the UWB distance measurement sensor.

[0014] The laser sensor is specifically a trolley laser ranging sensor, which is used for distance measurement of the crane trolley mechanism. A reflector is installed on the laser sensor to improve the recognition range and accuracy of the laser sensor.

[0015] The calculation formula of braking distance is as follows:

[0016]

[0017] Wherein F is the distance required for braking, s is the initial speed, m is the time, and v is the acceleration. In the deceleration motion, the acceleration is a negative value representing deceleration, the initial speed is a non-zero value or a zero value, representing the start of motion from rest, and the time is the duration of the motion. Therefore, by determining the deceleration and time, and then substituting them into the above formula, the distance required for the deceleration motion can be obtained, thereby setting the safe deceleration distance for the crane to avoid driving. The distance between the crane mechanism and the obstacle can be set as the safe driving section and the deceleration avoidance section. The connection position of the two sections is the safe driving threshold of the crane mechanism. When the crane mechanism detects that the distance to the obstacle is less than the threshold, the crane mechanism starts the avoidance deceleration program. Conversely, when the distance between the crane mechanism and the obstacle is greater than the threshold, the crane mechanism can drive in a safe position to ensure driving safety.

[0018] In a further embodiment, the types of obstacles are obstacle houses, equipment office auxiliary rooms and blanking lines.

[0019] A method for intelligent avoidance of crane travel, wherein a distance measuring sensor positioning system is added to the crane trolley mechanism and the crane car mechanism at the crane mechanism site to monitor the travel of each traveling mechanism of the crane in real time and accurately locate the travel, and the real-time position of each mechanism is collected through a newly added PLC control cabinet system;

[0020] The real-time position of the equipment can be viewed on the touch screen of the human-machine interface system, and the position of ground obstacles can be set. When the crane reaches the set obstacle position, the system will conduct safety avoidance warning, deceleration and parking control for the entire crane to ensure the safety of crane use.

[0021] In a further embodiment, when the crane trolley mechanism and the crane trolley mechanism run to the set obstacle position, the system will detect whether the crane trolley mechanism has reached the obstacle position, whether the crane trolley mechanism position has reached the obstacle position, and if the obstacle position conditions of the crane trolley mechanism and the crane trolley mechanism are met at the same time, the system will determine whether to slow down and stop, and the system only controls the actions of the crane trolley mechanism and the crane trolley mechanism. Through the distance measuring sensors on the crane, obstacles can be accurately identified to prevent collision accidents and ensure the safe use of the crane.

[0022] In a further embodiment, the use status of the alarm system includes:

[0023] The crane trolley mechanism reaches the set obstacle position. If the crane trolley mechanism reaches the set obstacle position, the system will alarm, and the trolley mechanism will slow down and stop.

[0024] The crane trolley mechanism reaches the set obstacle position, and the crane trolley mechanism is not at the obstacle position, and the system does not make any alarm or action;

[0025] The position of the crane trolley mechanism reaches the set obstacle position, and the crane carriage mechanism is not at the obstacle position, and the system does not make any alarm or action;

[0026] When the vehicle slows down and stops, the avoidance function of the vehicle is activated, and the alarm system installed on the corresponding obstacle will send out an audible and visual alarm to remind the operator to pay attention to safety.

[0027] In a further embodiment, the sound and light alarm installed on the vehicle, when the distance between the vehicle and the obstacle is shortened to a position where avoidance is required, the vehicle avoidance is initiated, and the sound and light alarm emits corresponding voice and sound and light reminders. When a system failure occurs, the sound and light alarm emits a system failure voice to remind the avoidance function failure, and can remind the staff through the sound and light alarm whether the system is running normally and whether a failure occurs and needs to be stopped for inspection;

[0028] The sound and light alarm is also installed above the obstacle. When the vehicle starts the avoidance function, the sound and light alarm on the obstacle house will display a red light to remind the operator to avoid the obstacle. When no vehicle is approaching, the sound and light alarm will display a green light. Through the sound and light alarm, the staff can be reminded of the current usage status of the crane to ensure the safety of the staff.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention installs a new PLC control cabinet system on the crane's driving mechanism, and the PLC control cabinet system is connected to the vehicle body electrical system to automatically control the crane's driving, thereby realizing the deceleration and parking of the crane's large and small vehicle mechanisms during the crane's driving process, realizing intelligent avoidance during the crane's driving and moving process, and ensuring the safety of the crane mechanism;

[0031] 2. In the present invention, the deceleration and start and stop of the crane driving are realized by the control system. In order to complete the automatic identification, the UWB ranging sensor and the laser sensor for identification are arranged on the crane driving mechanism, so that the crane driving mechanism can accurately identify the distance and position of obstacles in the driving direction, and then feedback to the PLC control cabinet system and the vehicle body electrical system, and then the control system decelerates and stops the crane to achieve the avoidance of the crane and ensure the safety of the crane driving;

[0032] 3. The present invention sets an alarm system at the crane, control system and obstacle position. When the crane moves in front of an obstacle, the alarm system is used to remind the operator of the real-time working status of the crane avoidance system to ensure the operator's safe operation of the crane. The above-mentioned alarm system is divided into two parts, one part is installed on the crane, and the other part is installed above the obstacle. The alarm signal above the obstacle is transmitted to the top of the obstacle through the crane wireless module to determine the distance between the crane and the obstacle. The two use wireless transmission to facilitate the viewing of the real-time working status of the crane and the avoidance system, thereby improving the safety of the crane use process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the crane avoidance system of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the PLC control cabinet system of the present invention;

[0035] Figure 3 It is a flow chart of the crane avoidance system of the present invention. DETAILED DESCRIPTION

[0036] The following will be described clearly and completely in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Embodiment 1

[0038] See also Figure 1-2The present embodiment provides a crane driving intelligent avoidance system, including a driving body electrical system, a position distance measurement system, a PLC control cabinet system, a human-machine interface system, and an alarm system applied to a crane mechanism. The driving body electrical system is a crane trolley mechanism and a crane car mechanism. The PLC control cabinet system is a safety control cabinet. The PLC control cabinet system is equipped with relays and circuit breakers to ensure the safe use of the system. The relays and circuit breakers are connected in a DI / DO manner to realize digital input and output. The alarm system is composed of an audible and visual alarm. The position distance measurement system is composed of a laser sensor and a UWB distance measurement sensor. The intelligent and automated position distance measurement system is used to enable the crane mechanism to accurately identify the distance to the obstacle. Subsequently, the PLC control cabinet system and the driving body electrical system are used to decelerate and stop the crane mechanism to complete the avoidance of the crane mechanism. In addition, the alarm system can remind the staff in real time during the avoidance process of the crane mechanism to ensure the safety of the staff and reduce the occurrence of accidents.

[0039] The crane consists of a crane trolley mechanism, a crane trolley mechanism and a crane portal span. There are obstacles on the crane's route. The crane trolley mechanism and the crane trolley mechanism are both equipped with safety control cabinets. The crane trolley mechanism is equipped with a UWB ranging sensor, and the trolley mechanism is equipped with a laser sensor. The UWB ranging sensor and the laser sensor are both connected to a driving sound and light alarm. The two driving sound and light alarms are respectively installed on the crane trolley mechanism and the crane trolley mechanism. The obstacle is equipped with a fixed sound and light alarm mechanism. By monitoring the distance between the crane mechanism and the obstacle, and then using the PLC control cabinet system, the crane can be automatically decelerated and stopped, thereby preventing the crane from having a collision accident and ensuring the safety of the crane.

[0040] A PLC control cabinet system for control is installed on the crane trolley mechanism and the crane car mechanism of the crane mechanism. The PLC control cabinet system adopts a master control PLC to realize automatic control of the crane driving. The crane driving deceleration and parking of the crane driving during the driving process of the crane mechanism ensures intelligent avoidance during the movement of the crane driving and ensures the safe use of the crane mechanism. The UWB ranging sensor and the laser sensor are connected to the driving sound and light alarm. The two driving sound and light alarms are respectively installed on the crane trolley mechanism and the crane car mechanism. The obstacle is installed with a fixed sound and light alarm mechanism. Sound and light alarms are set on the crane trolley mechanism and the crane car mechanism, and fixed sound and light alarm mechanisms are installed on the obstacles. When the crane trolley mechanism and the crane car mechanism of the crane mechanism are close to the obstacle, timely sound and light alarms can be given to remind the staff so that the staff can work and operate safely.

[0041] Embodiment 2

[0042] See also Figure 1-2 , further improved on the basis of embodiment 1.

[0043] The safety control cabinet is equipped with a master control PLC, which is connected to a switch. The switch and the master control PLC are connected using the PROFINET communication protocol, which is a factory automation communication standard based on industrial Ethernet. It includes multi-protocol I / O module systems and controllers such as Turck, as well as the entire data exchange between PROFINET main controllers. PROFINET has the advantages of strong compatibility, high-speed performance, high flexibility, strong reliability, easy integration, high security and easy operation and maintenance. It can make the communication of the master control PLC stable and reliable, and ensure the stable operation of the avoidance system. The switch is connected to the human-machine interface system, and the switch and the human-machine interface system communicate through the TCP / IP protocol. The TCP / IP protocol has the characteristics of wide compatibility, good expansibility and stable reliability, etc., which provides the avoidance system with better adaptation to the use of different devices, and has good guarantee effects on the expansion range and stability. It is mainly responsible for collecting the real-time position signals of the crane trolley mechanism and the crane car mechanism, and performing program logic operations according to the actual situation on site. When the driving position reaches the deceleration and stop position, the control outputs the deceleration stop signal and the alarm signal, and uses the intelligent PLC control to provide the crane with more intelligent, accurate and safe control and use, thereby improving the safety and stability of the crane.

[0044] Among them, the human-machine interface system is composed of a human-machine interactive touch display screen and an audible and visual alarm, which is used to display the real-time position of the crane trolley mechanism and the crane car mechanism, as well as the status of the control output. It can also set the obstacle avoidance parameters. The human-machine interactive touch display screen is used to display the real-time position of the large and small car mechanisms, as well as the status of the control output. Manually, the obstacle avoidance parameters can be set through the human-machine interactive touch display screen. The audible and visual alarm is used to remind the staff who control the crane. The human-machine interface system is connected to the master control PLC. It is an interactive terminal used by the staff to control the crane. Through the intelligent touch and alarm mechanism, it can improve the convenience and safety of the staff's operation.

[0045] Among them, the alarm system also includes: a driving wireless transmission module and a fixed wireless transmission module. The driving wireless transmission module is installed in the driving sound and light alarm of the crane trolley mechanism and the crane trolley mechanism. The fixed wireless transmission module is installed in the sound and light alarm mechanism of the obstacle. The alarm system mainly reminds the operator to avoid the working status of the system and operate the driving safely. By using wireless transmission, the conditions of each link in the crane driving process can be transmitted to each early warning alarm system by wireless transmission, and the corresponding light and sound are emitted through the sound and light alarm, which is used for the staff to judge the real-time use of the crane and improve the safety of industrial production.

[0046] Among them, the laser sensor and UWB distance measurement sensor of the position distance measurement system are connected to the PLC control cabinet system respectively. By connecting the PLC control cabinet system with the UWB distance measurement sensor and the laser sensor, the distance detection data can be received and fed back in time, thus improving the safety of crane use avoidance.

[0047] The UWB distance measurement sensor is specifically a trolley pulse UWB distance measurement sensor, which is used for distance measurement of the crane trolley mechanism. The pulse UWB distance measurement sensor is more accurate, and the pulse distance measurement has high accuracy, reaching the millimeter or sub-millimeter level, which is more accurate than other distance measurement technologies. In addition, the pulse distance measurement has little impact on environmental conditions during the distance measurement process. It has strong reliability and stability, and is not easily affected by factors such as temperature, humidity, and light. It can effectively improve the accuracy of obstacle distance recognition during the crane driving process;

[0048] The laser sensor is specifically a trolley laser UWB ranging sensor, which is used to measure the distance of the crane trolley mechanism. A reflector is installed on the laser sensor. Installing a reflector on the laser sensor can effectively improve the emission and receiving range of the laser sensor, so that the laser sensor can more accurately identify the distance between the crane and the obstacle.

[0049] The calculation formula of braking distance is as follows:

[0050]

[0051] Where F is the distance required for braking, s is the initial speed, m is the time, and v is the acceleration. In the deceleration motion, the acceleration is a negative value representing deceleration, the initial speed is a non-zero value or a zero value, representing the start of motion from rest, and the time is the duration of the motion. Therefore, by determining the deceleration and time, and then substituting them into the above formula, the distance required for the deceleration motion can be obtained, thereby setting the safe deceleration distance for the crane to avoid driving, that is, the distance between the crane mechanism and the obstacle can be set as the safe driving section and the deceleration avoidance section, and the connection position of the two sections is the safe driving threshold of the crane mechanism;

[0052] When the crane mechanism detects that the distance to the obstacle is less than a threshold, the crane mechanism starts the avoidance and deceleration program. When the crane mechanism detects that the distance to the obstacle is greater than a threshold, it means that the crane mechanism is in a safe driving position and can be used safely.

[0053] Among them, the types of obstacles include obstacle houses, equipment office auxiliary buildings and material blanking lines. Obstacles are some fixed buildings or cables set inside the industrial plant before and after the crane's driving direction. When the crane reaches the front of the obstacle, it needs to slow down and stop. The avoidance system uses distance monitoring to prevent the crane from colliding with obstacles and ensure the safe use of the crane.

[0054] Embodiment 3

[0055] See also Figure 3 , further improved on the basis of Example 1:

[0056] The crane mechanism site adds a distance sensor positioning system to the crane trolley mechanism and the crane car mechanism to monitor the travel of each traveling mechanism in real time and accurately locate it, and collect the real-time position of each mechanism through the newly added PLC control cabinet system;

[0057] The real-time position of the equipment can be viewed on the touch screen of the human-machine interface system, and the position of ground obstacles can be set. When the vehicle reaches the set obstacle position, the system will conduct safety avoidance warning, deceleration and parking control for the entire vehicle.

[0058] When the crane trolley mechanism and the crane trolley mechanism run to the set obstacle position, the system will detect whether the crane trolley mechanism has reached the obstacle position, whether the crane trolley mechanism position has reached the obstacle position, and if the obstacle position conditions of the crane trolley mechanism and the crane trolley mechanism are met at the same time, the system will determine whether to slow down and stop, and the system only controls the actions of the crane trolley mechanism and the crane trolley mechanism.

[0059] Among them, the usage status of the alarm system includes:

[0060] When the crane trolley mechanism reaches the set obstacle position, if the crane trolley mechanism reaches the set obstacle position, the system will alarm, and the trolley mechanism will slow down and stop;

[0061] The crane trolley mechanism reaches the set obstacle position, but the crane trolley mechanism is not at the obstacle position, and the system does not make any alarm or action;

[0062] The crane trolley mechanism reaches the set obstacle position, but the crane carriage mechanism is not at the obstacle position, and the system does not make any alarm or action;

[0063] When the vehicle slows down and stops, the avoidance function of the vehicle is activated, and the alarm system installed on the corresponding obstacle will send out an audible and visual alarm to remind the operator to pay attention to safety.

[0064] The sound and light alarm installed on the driving vehicle starts the driving avoidance when the distance between the driving vehicle and the obstacle is shortened to the position that needs to be avoided, and the sound and light alarm emits corresponding voice and sound and light reminders. When the system fails, the sound and light alarm emits a system failure voice to remind the avoidance function failure. A sound and light alarm is also installed above the obstacle. When the driving vehicle starts the avoidance function, the sound and light alarm on the obstacle house will display a red light to remind the operator to pay attention to avoid the obstacle. When no driving vehicle is approaching, the sound and light alarm displays a green light. Through a variety of sound and light alarm signals, it is convenient for the staff to identify the use status of the crane mechanism and whether the crane mechanism is safe to operate, thereby improving the safety of the crane mechanism and reducing the occurrence of accidents.

[0065] The present invention provides an intelligent avoidance system for crane driving and an avoidance method thereof. When the system is in operation, the avoidance object will not move, and the position of the avoidance object can be manually input into the system. A UWB distance measuring sensor is provided on the crane trolley mechanism to measure the position of the driving vehicle. A laser sensor is provided on the crane trolley mechanism to measure the driving position of the trolley. Then, a PLC control cabinet system installed on the crane trolley mechanism and the crane trolley mechanism calculates and controls the crane mechanism to stop when the driving vehicle reaches a certain area. The alarm system is an audible and visual alarm installed on the crane trolley mechanism and the crane trolley mechanism to respectively alarm the deceleration and stopping of the driving process. The fault alarm system of the crane mechanism also includes an alarm indicator light installed on the roof of the obstacle to warn the operator. The warning light on the roof of the obstacle can communicate with the controllers on the crane trolley mechanism and the crane trolley mechanism through a wireless module to realize automatic control.

[0066] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A crane intelligent avoidance system, including a crane electrical system, a position distance measurement system, a PLC control cabinet system, a human-machine interface system, and an alarm system, applied to a crane mechanism, characterized in that: The electrical system of the crane body is a crane trolley mechanism and a crane car mechanism, the PLC control cabinet system is a safety control cabinet, the alarm system is composed of an audible and visual alarm, and the position ranging system is composed of a laser sensor and a UWB ranging sensor; The crane is composed of a crane trolley mechanism, a crane trolley mechanism and a crane portal span. There are obstacles on the travel route of the crane. The crane trolley mechanism and the crane trolley mechanism are both equipped with safety control cabinets. The crane trolley mechanism is installed with a UWB ranging sensor, and the trolley mechanism is installed with a laser sensor. The UWB ranging sensor and the laser sensor are both connected to a driving sound and light alarm. The two driving sound and light alarms are respectively installed on the crane trolley mechanism and the crane trolley mechanism. The obstacle is installed with a fixed sound and light alarm mechanism.

2. The intelligent avoidance system for crane driving according to claim 1 is characterized in that: The safety control cabinet is equipped with a master control PLC, which is connected to a switch, and the switch is connected to the human-machine interface system. The switch is mainly responsible for collecting real-time position signals of the crane trolley mechanism and the crane car mechanism, and performing program logic operations according to actual conditions on site. When the driving position reaches the deceleration and stop position, the control outputs a deceleration stop signal and an alarm signal.

3. The intelligent avoidance system for crane driving according to claim 1 is characterized in that: The human-machine interface system consists of a human-machine interactive touch display screen and an audible and visual alarm, which is used to display the real-time position of the crane trolley mechanism and the crane car mechanism, as well as the status of the control output, and can also set obstacle avoidance parameters. The audible and visual alarm is used to remind the staff controlling the crane.

4. The intelligent avoidance system for crane driving according to claim 1 is characterized in that: The alarm system also includes a driving wireless transmission module and a fixed wireless transmission module; The driving wireless transmission module is installed in the driving sound and light alarm of the crane trolley mechanism and the crane trolley mechanism, and the fixed wireless transmission module is installed in the sound and light alarm mechanism of the obstacle; The alarm system mainly reminds the operator of the working status of the avoidance system and operates the vehicle safely.

5. The intelligent crane avoidance system according to claim 1 is characterized in that: The laser sensor and UWB distance measurement sensor of the position distance measurement system are respectively connected to the PLC control cabinet system; The UWB distance measuring sensor is specifically a trolley pulse UWB distance measuring sensor, which is used for distance measurement of the crane trolley mechanism; The laser sensor is specifically a trolley laser UWB distance measurement sensor, which is used for distance measurement of the crane trolley mechanism, and a reflector is installed on the laser sensor; The calculation formula of braking distance is as follows: Among them, F is the distance required for braking, s is the initial speed, m is the time, and v is the acceleration. In the deceleration motion, the acceleration is a negative value representing deceleration, the initial speed is a non-zero value or zero value, representing the start of movement from rest, and time is the duration of the movement. Therefore, by determining the deceleration and time, and then substituting them into the above formula, the distance required for the deceleration motion can be obtained, thereby setting the safe deceleration distance for crane driving avoidance, that is, the distance between the crane mechanism and the obstacle can be set as the safe driving section and the deceleration avoidance section, and the connection position of the two sections is the safe driving threshold of the crane mechanism.

6. The intelligent crane avoidance system according to claim 1, characterized in that: The types of obstacles are one or more of obstacle houses, equipment office auxiliary rooms and blanking lines.

7. A method for intelligent avoidance of a crane, applied to the intelligent avoidance system of a crane as claimed in any one of claims 1 to 6, characterized in that: A UWB ranging sensor positioning system is added to the crane trolley mechanism and the crane car mechanism at the crane mechanism site to monitor the travel of each traveling mechanism in real time and accurately locate the travel, and the real-time position of each mechanism is collected through a newly added PLC control cabinet system; The real-time position of the equipment can be viewed on the touch screen of the human-machine interface system, and the position of ground obstacles can be set. When the vehicle reaches the set obstacle position, the system will conduct safety avoidance warning, deceleration and parking control for the entire vehicle.

8. The intelligent avoidance method for crane driving according to claim 7 is characterized in that: When the crane trolley mechanism and the crane trolley mechanism run to the set obstacle position, the system will detect whether the crane trolley mechanism has reached the obstacle position, whether the crane trolley mechanism position has reached the obstacle position, and if the obstacle position conditions of the crane trolley mechanism and the crane trolley mechanism are met at the same time, the system will determine whether to slow down and stop, and the system only controls the actions of the crane trolley mechanism and the crane trolley mechanism.

9. The intelligent avoidance method for crane driving according to claim 8 is characterized in that: The use status of the alarm system includes: The crane trolley mechanism reaches the set obstacle position. If the crane trolley mechanism reaches the set obstacle position, the system will alarm, and the trolley mechanism will slow down and stop. The crane trolley mechanism reaches the set obstacle position, and the crane trolley mechanism is not at the obstacle position, and the system does not make any alarm or action; The position of the crane trolley mechanism reaches the set obstacle position, and the crane carriage mechanism is not at the obstacle position, and the system does not make any alarm or action; When the vehicle slows down and stops, the avoidance function of the vehicle is activated, and the alarm system installed on the corresponding obstacle will send out an audible and visual alarm to remind the operator to pay attention to safety.

10. The intelligent avoidance method for crane driving according to claim 7, characterized in that: The sound and light alarm installed on the crane mechanism driving, when the distance between the driving vehicle and the obstacle is shortened to the position where avoidance is required, the driving avoidance is started, and the sound and light alarm emits corresponding voice and sound and light reminders. When the system fails, the sound and light alarm emits a system failure voice to remind the avoidance function failure; The sound and light alarm is also installed above the obstacle. When the vehicle starts the avoidance function, the sound and light alarm on the obstacle house will display a red light to remind the operator to avoid the obstacle. When no vehicle is approaching, the sound and light alarm will display a green light.

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