Crane boom system lateral displacement detection method, system and device and medium

Abstract

The invention discloses a lateral displacement detection method, system and device of a crane boom system and a medium, relates to the field of cranes, and aims to improve the accuracy of lateral displacement detection of the crane boom system. The method comprises the following steps: acquiring a first coordinate of the root of a boom of the crane; acquiring a second coordinate of the top of the boom of the crane; and according to the first coordinate and the second coordinate, calculating the distance of the top of the cantilever crane deviating from the root of the cantilever crane in the lateral direction. According to the lateral displacement detection method for the crane boom system provided by the technical scheme, the length of the boom does not need to be measured, the inclination angle of the boom does not need to be measured, the lateral offset distance of the crane boom can be directly calculated according to the coordinates of the top and the root of the boom, the measurement is more direct, and the measurement precision is higher.

Description

Technical Field

[0001] The present invention relates to the field of cranes, and in particular to a method, system, device and medium for detecting lateral displacement of a crane boom system. Background Art

[0002] With the development of crawler crane technology, the lifting capacity, operating height and operating radius of crawler cranes have been improved, and the lateral stability problem of crawler crane boom systems has become increasingly prominent.

[0003] Due to the stress characteristics of the crawler crane boom, the boom's ability to resist bending and instability in the rotating plane is weaker, making the lateral stability of the crawler crane boom system's influence on the overall stability of the crane increasingly prominent.

[0004] The inventors have found that there are at least the following problems in the prior art: the industry is committed to studying the lateral stability of the crawler crane boom system, but there is currently no effective solution. Summary of the invention

[0005] The present invention provides a method, system, device and medium for detecting lateral displacement of a crane boom system, so as to improve the accuracy of detecting lateral displacement of the crane boom system.

[0006] An embodiment of the present invention provides a method for detecting lateral displacement of a crane boom system, comprising the following steps:

[0007] Obtain the first coordinate of the boom root of the crane;

[0008] Obtaining a second coordinate of the top of the boom of the crane;

[0009] The distance in the lateral direction of the boom top away from the boom root is calculated according to the first coordinate and the second coordinate.

[0010] In some embodiments, a first coordinate locator is used to detect a first coordinate of the root of the boom, wherein the first coordinate locator is installed at the root of the boom.

[0011] In some embodiments, a second coordinate locator is used to detect a second coordinate of the top of the boom, wherein the second coordinate locator is installed on the top of the boom.

[0012] In some embodiments, the crane boom system lateral displacement detection method further includes the following steps:

[0013] Determine whether the distance in the lateral direction that the top of the boom deviates from the base of the boom is greater than a first alarm threshold;

[0014] If the distance is greater than the first alarm threshold, the crane sends a first alarm signal.

[0015] In some embodiments, the crane boom system lateral displacement detection method further includes the following steps:

[0016] If the distance is less than or equal to the first alarm threshold, determining whether the distance is greater than a second alarm threshold;

[0017] If the distance is greater than a second alarm threshold, the crane sends a second alarm signal.

[0018] In some embodiments, if the distance is less than or equal to the second alarm threshold, the crane sends a safety signal to prompt that the crane is currently in a safe working environment.

[0019] The embodiment of the present invention further provides a crane boom system lateral displacement detection system, comprising:

[0020] A crane, comprising a boom, wherein the boom comprises a top portion and a root portion;

[0021] A first coordinate locator installed at the boom root, the first coordinate locator being configured to obtain a first coordinate of the boom root of the crane; and

[0022] A second coordinate locator is installed on the top of the boom, and the second coordinate locator is configured to obtain a second coordinate of the top of the boom of the crane.

[0023] In some embodiments, the crane boom system lateral displacement detection system further includes:

[0024] a signal receiver, connected to the first coordinate locator and the second coordinate locator via wireless communication;

[0025] a data processing device, which is in communication with the signal receiver to receive the first coordinate and the second coordinate transmitted by the signal receiver; the data processing device is configured to calculate the distance that the top of the boom deviates from the root of the boom in the lateral direction according to the first coordinate and the second coordinate; and

[0026] An alarm device is communicatively connected with the data processing device to send out one of a first alarm signal, a second alarm signal and a safety signal according to the relationship between the distance and the first alarm threshold and the second alarm threshold.

[0027] The embodiment of the present invention further provides a crane boom system lateral displacement detection device, comprising:

[0028] Memory; and

[0029] A processor coupled to the memory, the processor being configured to execute a method for detecting lateral displacement of a crane boom system as provided by any technical solution of the present invention based on instructions stored in the memory.

[0030] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for detecting lateral displacement of a crane boom system as provided by any technical solution of the present invention.

[0031] The lateral displacement detection method of the crane boom system provided by the above technical solution does not need to measure the boom length or the inclination angle of the boom. The lateral offset distance of the crane boom can be directly calculated based on the coordinates of the top and root of the boom. The measurement is more direct and has higher measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 A schematic diagram of a lateral displacement detection system for a crane boom system provided in an embodiment of the present invention.

[0034] Figure 2 A schematic diagram of the coordinates of the boom root and boom top of a crane boom system lateral displacement detection system provided in an embodiment of the present invention.

[0035] Figure 3 A schematic diagram of a method for detecting lateral displacement of a crane boom system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] Combine the following Figure 1 to Figure 3 The technical solution provided by the present invention is described in more detail. The description of the exemplary embodiments is merely illustrative and is by no means intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and the numerical values ​​described in these embodiments should be interpreted as being merely exemplary and not limiting.

[0037] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also including other elements.

[0038] In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediate device, or may not be directly connected to the other devices but have an intermediate device.

[0039] All terms used in the present disclosure, including technical terms or scientific terms, have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0040] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment are considered part of the specification.

[0041] The dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. In the drawings, the same reference numerals are attached to common structural elements or structural elements of the same type, and their repeated descriptions are appropriately omitted.

[0042] In the description of the specific embodiments below, for the convenience of explanation, Figure 1 An XYZ coordinate system is established in the figure, where both the X direction and the Y direction are in the horizontal plane, and the Y direction is the projection of the boom in the horizontal plane. The X direction and the Y direction are perpendicular. The Z direction is along the height direction of the boom, the Z direction is in the vertical plane, and the Z direction is perpendicular to both the X direction and the Y direction. The origin of the XYZ coordinate system can be the position of the first coordinate locator at the root of the boom.

[0043] The inventor has found through research that: there is currently a solution in the industry that detects the lateral displacement of the boom by calculating the boom length and deflection angle, but for large-sized booms, the boom is very long. In the process of measuring the length and deflection angle of the vehicle boom, a small measurement error will cause the final lateral displacement to be far from the actual value. The technical solution provided by the embodiment of the present invention can effectively improve the measurement accuracy of the lateral displacement.

[0044] Figure 1A schematic diagram of a lateral displacement detection system for a crane boom system provided in an embodiment of the present invention. Figure 2 A schematic diagram of the coordinates of the boom root and boom top of a crane boom system lateral displacement detection system provided in an embodiment of the present invention.

[0045] See also Figure 1 and Figure 2 The embodiment of the present invention further provides a lateral displacement detection system for a crane boom system, comprising a crane, a first coordinate locator, and a second coordinate locator. The crane comprises a boom, and the boom comprises a top and a root. The first coordinate locator is installed at the root of the boom, and the first coordinate locator is configured to obtain a first coordinate of the root of the boom of the crane. The second coordinate locator is installed at the top of the boom, and the second coordinate locator is configured to obtain a second coordinate of the top of the boom of the crane.

[0046] The first coordinate locator and the second coordinate locator can be specifically an articulated arm measuring machine. The articulated arm measuring machine can realize three-coordinate measurement with high precision and easy operation. The articulated arm measuring machine can rotate infinitely and is equipped with a wireless communication system. It can be installed at the top and root of the boom to measure the coordinates of the top of the boom and the coordinates of the root of the boom, and transmit the measured coordinates of the top of the boom and the coordinates of the bottom of the boom to the signal receiver wirelessly.

[0047] The first coordinate locator and the second coordinate locator are located in the same coordinate system. The coordinate values ​​measured by the first coordinate locator and the second coordinate locator are calculated to obtain the deviation between the base and the top of the boom. The coordinates of the base of the boom detected by the first coordinate locator are (0,0,0), and the coordinates of the base of the boom detected by the second coordinate locator are (X1,Y1,Z1). Since the value of X at the base of the boom is 0, the difference in the X direction between the base and the top of the boom is X1. Then the absolute value of X1 is the deviation between the base and the top of the boom in the lateral direction.

[0048] Continue to see Figure 1 and Figure 2 In some embodiments, the crane boom system lateral displacement detection system further includes a signal receiver, a data processing device and an alarm device.

[0049] The signal receiver is connected to the first coordinate locator and the second coordinate locator by wireless communication. The signal receiver can be a wireless signal receiver, and the signal receiver can be arranged in or near the cab of the crane.

[0050] The data processing device is connected in communication with the signal receiver to receive the first coordinate and the second coordinate transmitted by the signal receiver. The data processing device is configured to calculate the distance that the top of the boom deviates from the base of the boom in the lateral direction according to the first coordinate and the second coordinate. The data processing device calculates the first coordinate and the second coordinate. According to the above introduction to the coordinate system, the coordinate in the X direction corresponds to the distance of the lateral deviation of the boom. The X value of the first coordinate is subtracted from the X value of the second coordinate. The absolute value of the difference between the two is the distance of the lateral deviation of the boom.

[0051] The alarm device is communicatively connected with the data processing device to send out one of a first alarm signal, a second alarm signal and a safety signal according to the relationship between the distance and the first alarm threshold and the second alarm threshold.

[0052] Specific examples of alarm devices include sound and light alarms, intelligent voice sound and light warning lights, multi-function alarm lighthouses, wireless sound and light alarm systems, etc.

[0053] The sound and light alarm integrates the sound alarm and light alarm functions. When the alarm condition is triggered, it can emit a loud alarm sound and flashing strong light at the same time. The intelligent voice sound and light warning light adds a voice prompt function on the basis of the sound and light alarm.

[0054] The intelligent voice sound and light warning light has a built-in voice chip, which can record various alarm voice contents in advance or set through software. For example, in some dangerous construction sites, in addition to emitting strong sound and light signals, the intelligent voice sound and light warning light will also issue voice prompts to make the alarm information clearer. Its light color and flashing mode can also be customized according to different alarm scenarios, such as yellow flashing for warning, red flashing for danger, etc. The intelligent voice sound and light warning light can provide richer alarm information, and the voice content can inform people in detail about the type of danger and countermeasures according to the specific situation.

[0055] The multifunctional alarm lighthouse can set up multiple light sources at different heights, and the color and brightness of the light source can be adjusted. In addition to the light alarm, it is also equipped with a high-power speaker that can emit a sound alarm that can be heard from a long distance. The multifunctional alarm lighthouse can emit light signals of different colors (such as green for safety, red for emergency stop, etc.) and different modes (such as continuous light, fast flashing, etc.) according to different levels of operational danger, and at the same time cooperate with corresponding sound signals, such as whistle sounds, broadcast sounds, etc. The multifunctional alarm lighthouse has a wide coverage area, and its powerful sound and light alarm function can serve as a warning in a large area. Moreover, its versatility allows it to be flexibly configured according to complex processes and safety requirements, adapt to different alarm rules and signal transmission requirements, and ensure the safety monitoring and alarm of cranes in complex environments.

[0056] The wireless sound and light alarm system consists of wireless sensors, wireless sound and light alarms, etc. When the wireless sensor detects that the lateral offset distance of the boom is too large (i.e., exceeding the first alarm threshold described later, or exceeding the second alarm threshold but not exceeding the first alarm threshold), it will send a signal to the wireless sound and light alarm through wireless communication technology (such as Wi-Fi, Zigbee, Bluetooth, etc.), causing it to emit sound and light alarm signals. The wireless sound and light alarm system is more flexible to install and can be easily installed in various places, especially suitable for structures such as booms that are not convenient for wiring.

[0057] Figure 3 Schematic diagram of a method for detecting lateral displacement of a crane boom system provided by an embodiment of the present invention. Figure 3 The embodiment of the present invention provides a method for detecting the lateral displacement of a crane boom system, which can be implemented by using the crane boom system lateral displacement detection system introduced above. The method for detecting the lateral displacement of a crane boom system specifically includes the following steps:

[0058] Step S100, obtaining the first coordinate of the boom root of the crane.

[0059] In step S100, a first coordinate locator is used to detect a first coordinate of the base of the boom, wherein the first coordinate locator is installed at the base of the boom.

[0060] The first coordinate positioning instrument can be an articulated arm measuring machine. The articulated arm measuring machine can realize XYZ three-coordinate measurement with high precision and easy operation. The articulated arm measuring machine can rotate infinitely and is equipped with a wireless communication system. It can be installed at the top and root of the boom to measure the coordinates of the top of the boom and the coordinates of the root of the boom, and transmit the measured coordinates of the top of the boom and the coordinates of the bottom of the boom to the signal receiver wirelessly.

[0061] Step S200, obtaining the second coordinate of the top of the crane boom.

[0062] In step S200, a second coordinate locator is used to detect a second coordinate of the top of the boom, wherein the second coordinate locator is installed on the top of the boom.

[0063] The second coordinate locator can also be an articulated arm measuring machine. The articulated arm measuring machine can realize XYZ three-coordinate measurement with high precision and easy operation. The articulated arm measuring machine can rotate infinitely and is equipped with a wireless communication system. It can be installed at the top and root of the boom to measure the coordinates of the top of the boom and the coordinates of the root of the boom, and transmit the measured coordinates of the top of the boom and the coordinates of the bottom of the boom to the signal receiver wirelessly.

[0064] Step S300: Calculate the distance in the lateral direction that the top of the boom deviates from the base of the boom according to the first coordinate and the second coordinate.

[0065] In the above step S300, a data processing device may be used to calculate the distance that the top of the boom deviates from the base of the boom in the lateral direction. The lateral direction here refers to the X direction.

[0066] Continue to see Figure 3 In some embodiments, the crane boom system lateral displacement detection method further includes the following steps:

[0067] Step S400, determining whether the distance that the top of the boom deviates from the base of the boom in the lateral direction is greater than a first alarm threshold.

[0068] The alarm can be realized by using an alarm device. The alarm device can be an audible and visual alarm, an intelligent voice audible and visual warning light, a multi-function alarm lighthouse, a wireless audible and visual alarm system, etc. For details, please refer to the above description, which will not be repeated here.

[0069] Step S500: If the distance is greater than the first alarm threshold, the crane sends a first alarm signal.

[0070] The first alarm signal includes a light signal and an audio signal: the warning light flashes red and the buzzer sounds long. When the crane sends out the first alarm signal, it means that the lateral displacement of the boom is large and the crane is in an unsafe situation. The winch of the crane is tightened and stops working.

[0071] In some embodiments, the crane boom system lateral displacement detection method further includes the following step S600: if the distance is less than or equal to the first alarm threshold, determining whether the distance is greater than a second alarm threshold.

[0072] Step S700: If the distance is greater than a second alarm threshold, the crane sends a second alarm signal.

[0073] The second alarm signal is different from the first alarm signal. The second alarm signal uses both light and sound signals: the warning light flashes yellow and the buzzer sounds intermittently. When the crane sends out the second alarm signal, it means that the lateral displacement of the boom is relatively large and the crane is not stable. It is necessary to check the working condition of the crane.

[0074] In some embodiments, the crane boom system lateral displacement detection method further includes the following step S800: In some embodiments, if the distance is less than or equal to the second alarm threshold, the crane sends a safety signal to indicate that the crane is currently in a safe operating environment. The safety signal also uses both light and sound signals: the warning light is always green and the buzzer does not alarm. The crane sends a safety signal, indicating that the crane is in a safe state and can work normally with safety first.

[0075] The lateral displacement detection method of the crane boom system provided by the above technical solution does not need to measure the boom length or the inclination angle of the boom. The lateral offset distance of the crane boom can be directly calculated based on the coordinates of the top and root of the boom. The measurement is more direct and has higher measurement accuracy.

[0076] An embodiment of the present invention provides a crane boom system lateral displacement detection device, including a memory and a processor coupled to the memory, wherein the processor is configured to execute the crane boom system lateral displacement detection method in any one of the aforementioned embodiments based on instructions stored in the memory.

[0077] The memory may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs.

[0078] Some embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for detecting lateral displacement of a crane boom system in any of the above embodiments is implemented.

[0079] The processor described herein may include a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0080] Storage media can be any available media that can be accessed by a computer. As an example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. As used herein, disks and discs include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and blue-ray discs, wherein disks often reproduce data magnetically, and discs reproduce data optically with lasers. The above combination should also be included in the scope of computer-readable media.

[0081] Those skilled in the art will appreciate that the method embodiments of the present disclosure may be provided as methods, systems, 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. Moreover, 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 disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] 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 invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes 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 generate 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.

[0083] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0084] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0085] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the protection content of the present invention. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0086] In the description of the present invention, each technical feature may be combined with other technical features where feasible.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting lateral displacement of a crane boom system, characterized in that: The following steps are involved: Obtain the first coordinate of the boom root of the crane; Obtaining a second coordinate of the top of the boom of the crane; The distance in the lateral direction of the boom top away from the boom root is calculated according to the first coordinate and the second coordinate.

2. The method for detecting lateral displacement of a crane boom system according to claim 1, characterized in that: A first coordinate locator is used to detect a first coordinate of the boom root, wherein the first coordinate locator is installed at the boom root.

3. The method for detecting lateral displacement of a crane boom system according to claim 1, characterized in that: A second coordinate locator is used to detect a second coordinate of the top of the boom, wherein the second coordinate locator is installed on the top of the boom.

4. The method for detecting lateral displacement of a crane boom system according to claim 1, characterized in that: The following steps are also included: Determine whether the distance in the lateral direction that the top of the boom deviates from the base of the boom is greater than a first alarm threshold; If the distance is greater than the first alarm threshold, the crane sends a first alarm signal.

5. The method for detecting lateral displacement of a crane boom system according to claim 4, characterized in that: The following steps are also included: If the distance is less than or equal to the first alarm threshold, determining whether the distance is greater than a second alarm threshold; If the distance is greater than a second alarm threshold, the crane sends a second alarm signal.

6. The method for detecting lateral displacement of a crane boom system according to claim 5, characterized in that: If the distance is less than or equal to the second alarm threshold, the crane sends a safety signal to prompt that the crane is currently in a safe operating environment.

7. A crane boom system lateral displacement detection system, characterized in that: include: A crane, comprising a boom, wherein the boom comprises a top portion and a root portion; A first coordinate locator installed at the boom root, wherein the first coordinate locator is configured to obtain a first coordinate of the boom root of the crane; as well as A second coordinate locator is installed on the top of the boom, and the second coordinate locator is configured to obtain a second coordinate of the top of the boom of the crane.

8. The crane boom system lateral displacement detection system according to claim 7, characterized in that: Also includes: a signal receiver, connected to the first coordinate locator and the second coordinate locator via wireless communication; a data processing device, connected in communication with the signal receiver to receive the first coordinate and the second coordinate transmitted by the signal receiver; the data processing device is configured to calculate the distance of the boom top from the boom root in the lateral direction according to the first coordinate and the second coordinate; as well as An alarm device is communicatively connected with the data processing device to send out one of a first alarm signal, a second alarm signal and a safety signal according to the relationship between the distance and the first alarm threshold and the second alarm threshold.

9. A crane boom system lateral displacement detection device, characterized in that: include: Memory; and A processor coupled to the memory, wherein the processor is configured to execute the crane boom system lateral displacement detection method according to any one of claims 1 to 6 based on instructions stored in the memory.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, a method for detecting lateral displacement of a crane boom system as claimed in any one of claims 1 to 6 is implemented.

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