Anti-collision detection method for construction of substation equipment crane

Abstract

The application discloses a kind of substation equipment crane construction anti-collision detection methods, belong to electric power equipment construction field.The present application is used in the process of substation crane construction, detect the position relationship of sling / sling hook and boom and substation equipment, prevent the collision of sling / sling hook and boom in the process of substation crane construction in rotation to substation equipment.The present application establishes the mathematical model of the space straight line, rotating plane and projection plane of crane boom, sling and sling hook by multi-point high-precision positioning technology, and the numerical comparison of the coordinates and height of substation equipment is carried out, and finally the platform visualization is displayed, solve the collision problem in the moving process of boom, sling, sling hook in substation construction site, improve the safety of substation crane construction.

Description

Technical Field

[0001] This invention relates to the field of power equipment construction, and in particular to a method for collision prevention detection of cranes used in substation equipment construction. Background Technology

[0002] Substations are an important part of the power system. As operating time and electricity demand change, substations need to be inspected and expanded. Cranes are used for lifting work during the inspection and expansion process.

[0003] Currently, during substation hoisting operations, the distances between the top of the crane and the substation equipment, as well as the distances between the slings, the load, the boom, the crane body, and the substation equipment, are mostly determined manually.

[0004] A more advanced method involves installing high-precision positioning equipment on the crane's basket. Based on UAV oblique photography or laser point cloud technology, a 3D model of the substation is created to obtain the spatial coordinates of the substation equipment. Euler's formula is then used to calculate the spatial distance between the high-precision equipment at the top of the crane and the substation equipment, thus obtaining the distance between the top of the crane or the basket and the substation equipment. This technology solves the problem of quantifying the distance between the crane height and the substation equipment; however, during lifting operations, the distances between the slings, boom, and substation equipment cannot be measured. Summary of the Invention

[0005] This invention provides a collision prevention detection method for cranes used in substation construction, which solves the collision problem during the movement of crane booms, slings, and hooks at substation construction sites and improves the safety of crane construction in substations.

[0006] The technical solution provided by this invention is as follows:

[0007] A method for collision avoidance detection of cranes used in substation equipment construction, the method comprising:

[0008] S10: Obtain the three-dimensional spatial coordinates of each point of the substation equipment;

[0009] S20: Install a three-dimensional spatial positioning device at the hook of the construction crane, at the top of the boom, and at the intersection of the boom and the crane.

[0010] S30: Establish a spatial rectangular coordinate system with the intersection of the boom and the crane as the origin, the vertical direction as the Z-axis, and the horizontal plane as the XOY plane. Convert the positioning information of each three-dimensional spatial positioning device into three-dimensional spatial coordinates according to the established spatial rectangular coordinate system.

[0011] S40: Establish the spatial straight line equation of the boom based on the three-dimensional spatial coordinates of the top of the boom and the intersection of the boom and the crane; establish the spatial straight line equation of the sling based on the three-dimensional spatial coordinates of the hook and the top of the boom.

[0012] S50: Based on the linear equation of the boom space, calculate the equation of the boom rotation plane when the boom rotates around the Z-axis; based on the linear equation of the sling space, calculate the equation of the sling rotation plane when the boom rotates around the Z-axis.

[0013] S60: Based on the plane equation of the boom rotation and the three-dimensional spatial coordinates of each point of the substation equipment, determine whether there is a risk of collision between the boom and the substation equipment;

[0014] S70: Based on the equation of the plane of rotation of the sling, the maximum horizontal dimension of the hook, and the three-dimensional spatial coordinates of each point of the substation equipment, determine whether there is a risk of collision between the sling and the hook and the substation equipment.

[0015] Furthermore, the expression for the spatial linear equation of the boom is as follows;

[0016]

[0017] Where (x1, y1, z1) are the three-dimensional spatial coordinates of the top of the boom;

[0018] The expression for the spatial straight line equation of the suspension cable is as follows;

[0019]

[0020] Where (x2, y2, z2) are the three-dimensional spatial coordinates of the hook.

[0021] Furthermore, the expression for the plane equation of the boom's rotation is as follows:

[0022]

[0023] The equation of the plane of rotation of the sling is expressed as follows:

[0024]

[0025] Furthermore, S60 includes:

[0026] S61: Calculate the projection of the outermost outermost part of the boom rotation plane equation onto the XOY plane to obtain the boom projection equation;

[0027] S62: Determine whether the projection of the three-dimensional spatial coordinates (b1, b2, b3) of each point of the substation equipment onto the XOY plane falls inside the projection equation of the boom. If the projection of the three-dimensional spatial coordinates of all points of the substation equipment onto the XOY plane does not fall inside the projection equation of the boom, determine that there is no risk of collision between the boom and the substation equipment; otherwise, proceed to the next step.

[0028] S63: Substitute (b1, b2) of the three-dimensional spatial coordinates of the substation equipment whose projection falls inside the projection equation of the boom into the spatial straight line equation of the boom to calculate the Z coordinate value. When the Z coordinate value is less than b3, it is determined that there is a risk of collision between the boom and the substation equipment; otherwise, it is determined that there is no risk of collision between the boom and the substation equipment.

[0029] Furthermore, the expression for the projection of the outermost edge of the boom rotation plane equation onto the XOY plane is:

[0030] x 2 +y 2 =x1 2 +y1 2

[0031] When b1 2 +b2 2 The value is less than x1 2 +y1 2 At that time, the three-dimensional spatial coordinates (b1, b2, b3) of the substation equipment points are projected onto the XOY plane and fall inside the projection equation of the boom.

[0032] Furthermore, S70 includes:

[0033] S71: Calculate the projection of the equation of the plane of rotation of the sling onto the XOY plane to obtain the projection equation of the sling;

[0034] S72: Calculate the maximum and minimum radii of the hook's trajectory based on the sling projection equation and the maximum horizontal dimension of the hook;

[0035] S73: Determine whether the projection of the three-dimensional spatial coordinates (b1, b2, b3) of each point of the substation equipment onto the XOY plane falls within the hook movement space between the maximum and minimum radii of the hook movement trajectory. If the projection of the three-dimensional spatial coordinates of all points of the substation equipment onto the XOY plane does not fall within the hook movement space, determine that there is no risk of collision between the sling, the hook, and the substation equipment; otherwise, proceed to the next step.

[0036] S74: Compare b3 and z2 in the three-dimensional spatial coordinates of the point of the substation equipment whose projection falls within the movement space of the hook. If z2 is less than b3, it is determined that there is a risk of collision between the sling and hook and the substation equipment; otherwise, it is determined that there is no risk of collision between the sling and hook and the substation equipment.

[0037] Furthermore, the expression for the projection of the equation of the plane of rotation of the sling onto the XOY plane is:

[0038] x 2 +y 2 =x2 2 +y2 2

[0039] The maximum radius and the minimum radius of the hook movement trajectory are R + L / 2 and R - L / 2 respectively, where L is the maximum horizontal dimension of the hook;

[0040] When (R - L / 2) < d < (R + L / 2), the projection of the three-dimensional space coordinates (b1, b2, b3) of the points of the substation equipment on the XOY plane falls within the hook movement space.

[0041] Further, the S10 includes:

[0042] Obtaining the three-dimensional space coordinates of each point of the substation equipment through the substation construction drawings; or, establishing a three-dimensional model of the substation equipment and determining the three-dimensional space coordinates of each point of the substation equipment according to the three-dimensional model.

[0043] Further, a three-dimensional space positioning device is provided in the middle section of the boom of the construction crane.

[0044] Further, the method further includes:

[0045] S80: Establishing a three-dimensional model of the construction crane, loading the three-dimensional model of the construction crane and the substation equipment on the server, and displaying the boom rotation plane and the sling rotation plane in real time, and giving a prompt when there is a risk of collision between the boom / sling and the hook and the substation equipment.

[0046] The present invention has the following beneficial effects:

[0047] The present invention is used to detect the positional relationship between the sling / hook and the boom and the substation equipment during the construction of the substation crane, and prevent the sling / hook and the boom from colliding with the substation equipment during the rotation process in the construction of the substation crane. The present invention establishes a mathematical model of the space straight line, rotation plane and projection plane of the crane boom, sling and hook through the multi-point high-precision positioning technology, makes a numerical comparison with the coordinates and height of the substation equipment, and finally performs platform visualization display, solving the collision problem during the movement of the boom, sling and hook at the substation construction site, and improving the safety of the substation crane construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a flowchart of the anti-collision detection method for the substation equipment crane construction of the present invention;

[0049] Figure 2 is a schematic diagram of the construction crane and the three-dimensional space positioning device provided thereon;

[0050] Figure 3 is a schematic diagram of the boom rotation plane and its projection on the XOY plane;

[0051] Figure 4 This is a schematic diagram of the plane of rotation of the sling and its projection onto the XOY plane. Detailed Implementation

[0052] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0053] This invention provides a method for collision avoidance detection of cranes used in substation equipment construction, such as... Figure 1-4 As shown, the method includes:

[0054] S10: Obtain the three-dimensional spatial coordinates of each point of the substation equipment.

[0055] This step requires creating models of all substation equipment within the substation and determining the 3D spatial coordinates of each point on the model. This can be done by drawing the model using substation construction drawings to obtain the coordinate and height information of the substation equipment, thus obtaining the 3D spatial coordinates of each point. Alternatively, a 3D model of the substation equipment can be created using BIM 3D modeling, 3D laser point cloud scanning equipment, etc., and the coordinate and height information of the substation equipment can be determined based on the 3D model, thus obtaining the 3D spatial coordinates of each point.

[0056] When selecting points for substation equipment, it should be ensured that the selected points represent the outermost contour of the equipment. For smaller substation equipment, fewer points can be selected. For larger substation equipment, it is necessary to add edge coordinate information. For ease of calculation, a circle can be drawn based on the maximum distance from the center point of the substation equipment to its edge, and the edge coordinates of the substation equipment can be calculated accordingly.

[0057] S20: Before crane operation, a three-dimensional spatial positioning device 2 shall be installed at the hook of the construction crane 1 (denoted as point N), the top of the boom (denoted as point M), and the intersection of the boom and the crane (denoted as point O). For example... Figure 2 As shown.

[0058] The three-dimensional spatial positioning device in this invention is a high-precision positioning device with wireless communication capabilities, capable of transmitting positioning and altitude information to a server. For example, an RTK positioning device can be used, which outputs high-precision latitude and longitude coordinates and altitude information, which are then transmitted to the server via wireless communication.

[0059] As an alternative, a three-dimensional spatial positioning device can also be installed in the middle section of the boom of the construction crane as a data redundancy for correction and verification.

[0060] S30: Establish a spatial rectangular coordinate system with the intersection of the boom and the crane as the origin, the vertical direction as the Z-axis, and the horizontal plane as the XOY plane. Convert the positioning information of each three-dimensional spatial positioning device 2 into three-dimensional spatial coordinates according to the established spatial rectangular coordinate system.

[0061] A spatial rectangular coordinate system is established with point O as the origin and the horizontal plane passing through point O as the XOY plane. The positive Z-axis of the spatial rectangular coordinate system is the vertical direction, and the X-axis and Y-axis can be set as needed. For example, the positive X-axis can be defined as perpendicular to the paper and pointing outwards, and the Y-axis can be determined according to the right-hand rule.

[0062] After establishing a spatial rectangular coordinate system, the server performs coordinate transformation, which converts the high-precision latitude and longitude coordinates and altitude information output by the RTK positioning device into three-dimensional spatial coordinates.

[0063] The origin is the point where the boom and crane intersect, with three-dimensional spatial coordinates O(0, 0, 0). Assume the three-dimensional spatial coordinates of the boom tip are M(x1, y1, z1), and the hook is N(x2, y2, z2). If a three-dimensional spatial positioning device exists in the middle of the boom, its three-dimensional spatial coordinates are assumed to be P(x3, y3, z3).

[0064] S40: Establish the straight line equation of the boom space (i.e., the straight line equation of OM) based on the three-dimensional spatial coordinates of the top of the boom and the intersection of the boom and the crane, and establish the straight line equation of the sling space (i.e., the straight line equation of MN) based on the three-dimensional spatial coordinates of the hook and the top of the boom.

[0065] The expression for the linear equation of the boom in space is as follows;

[0066]

[0067] The equation of the straight line in the space of the suspension cable is expressed as follows;

[0068]

[0069] S50: Based on the linear equation of the boom space, calculate the boom rotation plane equation when the boom rotates around the Z-axis; based on the linear equation of the sling space, calculate the sling rotation plane equation when the boom rotates around the Z-axis.

[0070] The calculation process for the plane equation of boom rotation is as follows:

[0071] Suppose that P0(x, y, z) is any point on the plane of boom rotation, and the point on the corresponding straight line equation of the boom space is (x0, y0, z0). Since the distance from the point on the straight line of the boom space to the Z-axis remains unchanged when the straight line of the boom space rotates around the Z-axis, i.e., z = z0.

[0072] Then x 2 +y2 =x0 2 +y0 2 And P0 is a point on the line OM, satisfying

[0073] but Substitute x 2 +y 2 =x0 2 +y0 2 The equation of the plane of rotation of the boom is obtained as follows:

[0074]

[0075] The calculation process for the equation of the plane of rotation of the sling is as follows:

[0076] Suppose Q(x, y, z) is any point on the plane of cable rotation, and its corresponding point on the equation of the straight line in cable space is (x4, y4, z4). Since the distance from the point on the straight line in cable space to the Z-axis remains unchanged when the straight line rotates around the Z-axis, i.e., z = z4.

[0077] Then x 2 +y 2 =x4 2 +y4 2 And Q is a point on the line MN, satisfying

[0078] but Substitute x 2 +y 2 =x4 2 +y4 2 The equation of the plane of rotation of the suspension cable is obtained as follows:

[0079]

[0080] S60: Based on the plane equation of the boom rotation and the three-dimensional spatial coordinates of each point of the substation equipment, determine whether there is a risk of collision between the boom and the substation equipment.

[0081] Once the equation of the boom's rotation plane is obtained, the positional relationship between each point of the substation equipment and the equation of the boom's rotation plane can be determined, and the risk of collision between the boom and the substation equipment can be determined by the positional relationship.

[0082] In one example, the specific implementation of this step may include:

[0083] S61: Calculate the projection of the outermost outermost part of the boom rotation plane equation onto the XOY plane to obtain the boom projection equation.

[0084] From the above, the equation of the plane of rotation of the boom is:

[0085]

[0086] like Figure 3 As shown, the outermost edge of the boom's rotation plane is the circle formed by the uppermost point M(x1, y1, z1). Substituting z = z1 into the above equation, we can obtain the expression for the projection of the outermost edge of the boom's rotation plane onto the XOY plane as x 2 +y 2 =x1 2 +y1 2 Its radius is A circle.

[0087] S62: Determine whether the projections of the three-dimensional spatial coordinates (b1, b2, b3) of each point of the substation equipment onto the XOY plane fall within the projection equation of the boom. If the projections of the three-dimensional spatial coordinates of all points of the substation equipment onto the XOY plane do not fall within the projection equation of the boom, determine that there is no risk of collision between the boom and the substation equipment; otherwise, proceed to the next step.

[0088] Where (b1, b2, b3) is projected onto the XOY plane as (b1, b2), when b1 2 +b2 2 The value is less than x1 2 +y1 2 At that time, the three-dimensional spatial coordinates (b1, b2, b3) of the substation equipment points are projected onto the XOY plane and fall inside the projection equation of the boom.

[0089] S63: Substitute the (b1, b2) of the three-dimensional spatial coordinates of the substation equipment whose projection falls inside the projection equation of the boom into the spatial straight line equation OM of the boom to calculate the Z coordinate value. When the Z coordinate value is less than b3, it is determined that there is a risk of collision between the boom and the substation equipment; otherwise, it is determined that there is no risk of collision between the boom and the substation equipment.

[0090] S70: Based on the equation of the plane of rotation of the sling, the maximum horizontal dimension of the hook, and the three-dimensional spatial coordinates of each point of the substation equipment, determine whether there is a risk of collision between the sling and the hook and the substation equipment.

[0091] In one example, the specific implementation of this step may include:

[0092] S71: Calculate the projection of the sling rotation plane equation onto the XOY plane to obtain the sling projection equation.

[0093] From the above, the equation of the plane of rotation of the sling is:

[0094]

[0095] like Figure 4As shown, when projected onto the XOY plane, z = 0, z1 = z2, and the expression of the projection of the sling rotation plane equation onto the XOY plane is: x 2 +y 2 =x2 2 +y2 2 , which is a circle with a radius of .

[0096] S72: Calculate the maximum radius and minimum radius of the hook movement trajectory based on the sling projection equation and the maximum horizontal dimension of the hook.

[0097] Among them, the maximum radius and minimum radius of the hook movement trajectory are R + L / 2 and R - L / 2 respectively, L is the maximum horizontal dimension of the hook, as Figure 4 shown.

[0098] S73: Determine whether the projection of the three-dimensional space coordinates (b1, b2, b3) of each point of the substation equipment onto the XOY plane falls within the hook movement space between the maximum radius and minimum radius of the hook movement trajectory. When the projections of the three-dimensional space coordinates of all points of the substation equipment onto the XOY plane do not fall within the hook movement space, it is determined that there is no collision risk between the sling, the hook and the substation equipment; otherwise, proceed to the next step.

[0099] Among them, the projection of (b1, b2, b3) onto the XOY plane is (b1, b2). When (R - L / 2) < d < (R + L / 2), the projection of the three-dimensional space coordinates (b1, b2, b3) of the point of the substation equipment onto the XOY plane falls within the hook movement space,

[0100] S74: Compare b3 in the three-dimensional space coordinates of the points of the substation equipment whose projections fall within the hook movement space with z2. When z2 is less than b3, it is determined that there is a collision risk between the sling, the hook and the substation equipment; otherwise, it is determined that there is no collision risk between the sling, the hook and the substation equipment.

[0101] Since the hook of the crane will rise during the working process, when the projection (b1, b2) of (b1, b2, b3) onto the XOY plane falls within the hook movement space, the height of the hook also needs to be considered. Compare the hook Z-axis coordinate z2 with b3. When b3 < z2, there is no collision risk; when b3 > z2, there is a collision risk.

[0102] As an improvement, the method of the present invention may further include:

[0103] S80: Create a 3D model of the construction crane, load the 3D model of the construction crane and substation equipment on the server, and display the boom rotation plane and sling rotation plane in real time. When there is a risk of collision between the boom / sling and hook and the substation equipment, a warning will be given.

[0104] The established 3D model of the construction crane includes the crane's boom rotation and lifting movements. During the detection process, the server loads the 3D model of the construction crane and the substation equipment model, and simulates the crane's lifting and rotation states according to the position changes of the RTK positioning equipment, displaying the rotation surfaces of the crane boom and slings. When a collision risk occurs, the substation equipment model at risk of collision flashes, and the crane model displays "Boom Collision Risk," "Sling Collision Risk," or "Hook Collision Risk," along with corresponding voice prompts, reminding platform monitoring personnel to take appropriate actions to avoid collisions during on-site construction work.

[0105] This invention is used to detect the positional relationship between the slings / hooks and the boom and substation equipment during substation crane construction, preventing collisions with substation equipment during crane rotation. The invention utilizes multi-point high-precision positioning technology to establish a mathematical model of the crane boom, slings, and hook in space along straight lines, planes of rotation, and projection planes. This model is then numerically compared with the coordinates and height of the substation equipment, and finally visualized on a platform. This solves the collision problem during boom, sling, and hook movement at substation construction sites, improving the safety of substation crane construction.

[0106] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for collision avoidance detection of cranes used in substation equipment construction, characterized in that, The method includes: S10: Obtain the three-dimensional spatial coordinates of each point of the substation equipment; S20: Install a three-dimensional spatial positioning device at the hook of the construction crane, at the top of the boom, and at the intersection of the boom and the crane. S30: Establish a spatial rectangular coordinate system with the intersection of the boom and the crane as the origin, the vertical direction as the Z-axis, and the horizontal plane as the XOY plane. Convert the positioning information of each three-dimensional spatial positioning device into three-dimensional spatial coordinates according to the established spatial rectangular coordinate system. S40: Establish the spatial straight line equation of the boom based on the three-dimensional spatial coordinates of the top of the boom and the intersection of the boom and the crane; establish the spatial straight line equation of the sling based on the three-dimensional spatial coordinates of the hook and the top of the boom. S50: Based on the linear equation of the boom space, calculate the equation of the boom rotation plane when the boom rotates around the Z-axis; based on the linear equation of the sling space, calculate the equation of the sling rotation plane when the boom rotates around the Z-axis. S60: Based on the plane equation of the boom rotation and the three-dimensional spatial coordinates of each point of the substation equipment, determine whether there is a risk of collision between the boom and the substation equipment; S70: Based on the equation of the plane of rotation of the sling, the maximum horizontal dimension of the hook, and the three-dimensional spatial coordinates of each point of the substation equipment, determine whether there is a risk of collision between the sling and the hook and the substation equipment; The expression for the spatial linear equation of the boom is as follows: Where (x1, y1, z1) are the three-dimensional spatial coordinates of the top of the boom; The equation for the straight line in the space of the suspension cable is expressed as follows: Where (x2, y2, z2) are the three-dimensional spatial coordinates of the hook; The equation for the plane of rotation of the boom is expressed as follows: The equation of the plane of rotation of the sling is expressed as follows: The S60 includes: S61: Calculate the projection of the outermost outermost part of the boom rotation plane equation onto the XOY plane to obtain the boom projection equation; S62: Determine whether the projection of the three-dimensional spatial coordinates (b1, b2, b3) of each point of the substation equipment onto the XOY plane falls inside the projection equation of the boom. If the projection of the three-dimensional spatial coordinates of all points of the substation equipment onto the XOY plane does not fall inside the projection equation of the boom, determine that there is no risk of collision between the boom and the substation equipment; otherwise, proceed to the next step. S63: Substitute (b1, b2) of the three-dimensional spatial coordinates of the substation equipment whose projection falls inside the projection equation of the boom into the spatial straight line equation of the boom to calculate the Z coordinate value. When the Z coordinate value is less than b3, it is determined that there is a risk of collision between the boom and the substation equipment; otherwise, it is determined that there is no risk of collision between the boom and the substation equipment. The S70 includes: S71: Calculate the projection of the equation of the plane of rotation of the sling onto the XOY plane to obtain the projection equation of the sling; S72: Calculate the maximum and minimum radii of the hook's trajectory based on the sling projection equation and the maximum horizontal dimension of the hook; S73: Determine whether the projection of the three-dimensional spatial coordinates (b1, b2, b3) of each point of the substation equipment onto the XOY plane falls within the hook movement space between the maximum and minimum radii of the hook movement trajectory. If the projection of the three-dimensional spatial coordinates of all points of the substation equipment onto the XOY plane does not fall within the hook movement space, determine that there is no risk of collision between the sling, the hook, and the substation equipment; otherwise, proceed to the next step. S74: Compare b3 and z2 in the three-dimensional spatial coordinates of the point of the substation equipment whose projection falls within the movement space of the hook. If z2 is less than b3, it is determined that there is a risk of collision between the sling and hook and the substation equipment; otherwise, it is determined that there is no risk of collision between the sling and hook and the substation equipment. The expression for the projection of the outermost outermost part of the boom's rotation plane equation onto the XOY plane is: when The value is less than At that time, the three-dimensional spatial coordinates (b1, b2, b3) of the substation equipment points are projected onto the XOY plane and fall inside the projection equation of the boom. The expression for the projection of the equation of the plane of rotation of the suspension cable onto the XOY plane is: The maximum and minimum radii of the hook's motion trajectory are R+L / 2 and RL / 2, respectively. L is the maximum horizontal dimension of the hook; When (R - L / 2) < d < (R + L / 2), the projection of the three-dimensional space coordinates (b1, b2, b3) of the points of the substation equipment on the XOY plane falls within the movement space of the lifting hook. .

2. The method for collision prevention detection of substation equipment cranes according to claim 1, characterized in that, S10 includes: Obtain the three-dimensional spatial coordinates of each point of the substation equipment from the substation construction drawings; or, establish a three-dimensional model of the substation equipment and determine the three-dimensional spatial coordinates of each point of the substation equipment based on the three-dimensional model.

3. The method for preventing collisions during the construction of substation equipment cranes according to claim 2, characterized in that, A three-dimensional spatial positioning device is installed in the middle section of the boom of the construction crane.

4. The method for preventing collisions during the construction of substation equipment cranes according to claim 2, characterized in that, The method further includes: S80: Create a 3D model of the construction crane, load the 3D model of the construction crane and substation equipment on the server, and display the boom rotation plane and sling rotation plane in real time. When there is a risk of collision between the boom / sling and hook and the substation equipment, a warning will be given.

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