Crane and obstacle avoidance control system and method thereof

Abstract

The invention relates to the technical field of engineering machinery, and discloses a crane and an obstacle avoidance control system and method thereof. The obstacle avoidance control system comprises a detection module, a first acquisition module and a control module; the detection module is used for detecting the state of an obstacle in the advancing direction of the crane and the distance between the obstacle and the crane; the first acquisition module is used for acquiring the extension length, the pitching angle and the rotation angle of the boom; and the control module is electrically connected with the detection module and the first acquisition module, and is used for calculating the driving path of the crane according to the extension length, the pitching angle, the rotation angle and the shape of the boom and the distance between the obstacle and the crane. According to the method, the driving path of the crane in the state of avoiding the obstacle is calculated on the basis of the real-time attitude of the boom, obstacle distance detection and other information, so that the driving safety of the crane is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering machinery, and specifically relates to a crane and an obstacle avoidance control system and method thereof. Background Art

[0002] With the continuous improvement of the performance of tire cranes, the requirements for the flexibility and safety of tire crane driving and operation are getting higher and higher. The tire crane chassis driving mechanism widely used on tire cranes today has the defect of not installing functions such as driving obstacle or dangerous road condition detection. With the continuous advancement of science and technology, sensors (such as lidar) for obstacle or dangerous road condition detection based on computer, microelectronics, integrated circuits, sensors and other technologies have begun to appear and gradually become one of the important components of modern cars. Cars equipped with these sensors can greatly improve driving safety, improve driving experience, avoid traffic accidents, and ensure operational stability. However, tire cranes have the characteristics of heavy weight and complex steering mechanism. At present, there is no automatic obstacle avoidance technology developed for cranes to adapt to these characteristics. Summary of the invention

[0003] The purpose of the present application is to provide a crane and an obstacle avoidance control system and method thereof, so as to realize automatic obstacle avoidance of the crane during driving and improve driving safety.

[0004] In order to achieve the above-mentioned object, the present application provides, on one hand, an obstacle avoidance control system for a crane, the crane comprising a slewing mechanism and a boom mounted on the slewing mechanism, the obstacle avoidance control system comprising:

[0005] A detection module, used to detect the state of obstacles in the travel direction of the crane and the distance between the obstacles and the crane;

[0006] The first acquisition module is used to acquire the extension length, pitch angle and rotation angle of the boom;

[0007] The control module is electrically connected to the detection module and the first acquisition module. The control module is used to calculate the travel path of the crane according to the extension length, pitch angle, rotation angle, shape of the boom, state information of the obstacle, and the distance between the obstacle and the crane.

[0008] In some embodiments, the crane includes a chassis, a slewing mechanism mounted on the chassis, and a boom mounted on the slewing mechanism, and the detection module includes:

[0009] Distance sensor, used to measure the distance between the chassis and obstacles;

[0010] A first laser radar, which is installed in front of the chassis and is used to detect the position and shape of obstacles in the direction of travel of the crane;

[0011] The second laser radar is installed at the rear of the chassis or on the boom and is used to detect the position and shape of obstacles in the backward direction of the crane.

[0012] In some embodiments, the first acquisition module includes:

[0013] The boom extension length detection member is used to measure the boom extension length and send an extension length signal;

[0014] A boom pitch angle detection component is used to measure the boom pitch angle and send a pitch angle signal;

[0015] The arm swing angle detection component is used to measure the swing angle of the arm and send a swing angle signal;

[0016] The control module is further configured to:

[0017] The position of the boom is obtained according to the extension length signal, the pitch angle signal, the rotation angle signal and the shape of the boom.

[0018] In some embodiments, the obstacle avoidance control system further includes a second acquisition module electrically connected to the control module, and the second acquisition module includes:

[0019] A first angle detection component, used for detecting a steering angle of a front wheel and sending a first steering angle signal;

[0020] A second angle detection component, used for detecting the steering angle of the rear wheels and sending a second steering angle signal;

[0021] The control module is further configured to:

[0022] It is determined whether the crane is traveling according to the driving path according to the first steering angle signal and the second steering angle signal.

[0023] A second aspect of the present application provides an obstacle avoidance control method for a crane, which is applied to the obstacle avoidance control system as described above. The obstacle avoidance control method comprises the steps of:

[0024] Obtain the real-time posture data of the crane and the real-time distance between the obstacle and the crane;

[0025] Calculate the crane's travel path based on real-time posture data and real-time distance;

[0026] Control the crane to travel along the travel path.

[0027] In some embodiments, the obstacle avoidance control method further includes the steps of:

[0028] During the crane's travel, the position of the boom can be acquired in real time;

[0029] When the position of the boom changes, the travel path is corrected;

[0030] Control the crane to travel according to the corrected travel path.

[0031] In some embodiments, the step of calculating the travel path of the crane according to the real-time posture data and the real-time distance includes:

[0032] Get the target point coordinates and origin coordinates of the crane;

[0033] When an obstacle is detected, the coordinates of the intermediate turning point after the crane avoids the obstacle are calculated based on the real-time posture data and real-time distance;

[0034] Connect the origin coordinates, target point coordinates, and intermediate turning point coordinates and draw a driving path.

[0035] In some embodiments, when the position of the boom does not change, the coordinates of the intermediate turning point can be obtained by the following calculation formula:

[0036] b(x2)=x1+x11*k11+k12;

[0037] b(y2)=y1-y11*k21+k22;

[0038] Among them, b(x2) is the horizontal coordinate of the middle turning point, b(y2) is the vertical coordinate of the middle turning point; x11 is the shortest distance between the crane and the obstacle in the x direction before the position of the boom changes; y11 is the shortest distance between the crane and the obstacle in the y direction before the position of the boom changes; k12 and k22 are correction coefficients.

[0039] In some embodiments, when the position of the boom changes, the coordinates of the intermediate turning point can be obtained by the following calculation formula:

[0040] b′(x2′)=b(x2)+k61*L1*cosβ+k62*L1*cosγ+k63

[0041] b′(y2′)=b(y2)+k71*L1*cosβ+k72*L1*cosγ+k73

[0042] Among them, b′(x2′) is the horizontal coordinate of the middle turning point after the boom position changes, b′(y2′) is the vertical coordinate of the middle turning point after the boom position changes; β is the rotation angle of the boom; γ is the pitch angle of the boom; L1 is the extension length of the boom; k61, k62, k63, k71, k72, k73 are correction coefficients; b(x2) is the horizontal coordinate of the middle turning point before the boom position changes; b(y2) is the vertical coordinate of the middle turning point before the boom position changes.

[0043] In some embodiments, the step of controlling the crane to travel according to the travel path includes:

[0044] Obtain the front wheel steering angle and rear wheel steering angle of the crane in real time;

[0045] Determine whether the front wheel steering angle and the rear wheel steering angle are turned according to the driving path;

[0046] When the front wheel steering angle and the rear wheel steering angle deviate from the driving path, the steering angles of the front and rear wheels are adjusted.

[0047] A third aspect of the present application provides a crane, comprising the obstacle avoidance control system as described above.

[0048] Through the above technical solution, a detection module, a first acquisition module and a control module are set on the crane; the detection module is used to detect the state of obstacles in the forward direction of the crane and the distance between the obstacles and the crane; the first acquisition module is used to collect the extension length, pitch angle and rotation angle of the boom; the control module is electrically connected to the detection module and the first acquisition module, and the control module is used to calculate the travel path of the crane according to the extension length, pitch angle, rotation angle, shape of the boom and the distance between the obstacle and the crane. This application calculates the travel path of the crane in the state of avoiding obstacles based on information such as the real-time posture of the boom and obstacle distance detection, thereby achieving obstacle avoidance during the crane's travel and improving the travel safety of the crane.

[0049] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0051] Figure 1 A schematic diagram of the structure of the crane of this application;

[0052] Figure 2 This is a schematic diagram of calculating the driving path in the first embodiment of the present application;

[0053] Figure 3 This is a schematic diagram of calculating the driving path in the second embodiment of the present application.

[0054] Description of Reference Numerals

[0055] 100, chassis; 302, boom pitch angle detection component; 101, slewing mechanism; 303, boom slewing angle detection component; 102, boom; 401, first angle detection component; 502, first laser radar; 402, second angle detection component; 503, second laser radar; 500, voice prompt module; 200, control module; 600, obstacle; 301, boom extension length detection component. DETAILED DESCRIPTION

[0056] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0057] The crane and its obstacle avoidance control system and method according to the present application are described below with reference to the accompanying drawings.

[0058] like Figure 1 As shown, the present application provides an obstacle avoidance control system for a crane, which includes a detection module, a first acquisition module and a control module 200; the detection module is used to detect the state of an obstacle 600 in the traveling direction of the crane and the distance between the obstacle 600 and the crane; the first acquisition module is used to acquire real-time posture data of the boom, such as extension length, pitch angle, rotation angle and shape information; the control module 200 is electrically connected to the detection module and the first acquisition module, and the control module 200 is used to calculate the traveling path of the crane according to the real-time posture data of the boom, the state information of the obstacle 600 and the distance between the obstacle 600 and the crane.

[0059] The present application calculates the driving path of the crane while avoiding the obstacle 600 based on the real-time posture data of the boom (such as the extension length, rotation angle or pitch angle of the boom 102 and other information) and the distance detection of the obstacle 600, thereby achieving obstacle avoidance during the driving of the crane and improving the driving safety of the crane.

[0060] When planning the driving path, the detection module is used to obtain the state of the obstacle 600 in the driving direction of the crane (such as the shape, size and position information of the obstacle 600, etc.) and send the obstacle 600 state information signal, and at the same time, the distance between the obstacle 600 and the opposite ends of the crane is obtained and the distance signal is sent; the real-time posture data of the boom is collected by the first acquisition module and the real-time posture data signal is sent, the control module 200 receives the real-time posture data signal, the obstacle 600 information signal and the distance signal between the two, and plans the driving path of the crane during the obstacle avoidance driving process according to the three data signals, thereby realizing automatic obstacle avoidance.

[0061] In some embodiments, the crane includes a chassis 100, a slewing mechanism 101 installed on the chassis 100, and a boom 102 installed on the slewing mechanism 101, and the detection module includes a ranging sensor, a first laser radar 502, and a second laser radar 503; the ranging sensor is used to measure the distance between the chassis 100 and the obstacle 600; the first laser radar 502 is installed in front of the chassis 100 and is used to detect the position and shape of the obstacle 600 in the forward direction of the crane; the second laser radar 503 is installed at the rear of the chassis 100 or on the boom 102 and is used to detect the position and shape of the obstacle 600 in the backward direction of the crane.

[0062] Among them, the first laser radar 502 and the second laser radar 503 are both based on the working principle of the emission, propagation, reflection and reception of the laser beam to obtain the shape and position of the obstacle 600, and the driving trajectory of the crane is designed according to the shape, size and position of the obstacle 600 to prevent the crane from colliding with the obstacle 600 during driving. Specifically, when the crane is driving forward, the distance between the front end of the chassis 100 and the rear end of the obstacle 600 is measured by the ranging sensor, and the first laser radar 502 obtains the position and shape of the obstacle 600 in front of the crane. When the crane is driving backward, the distance between the rear end of the chassis 100 and the front end of the obstacle 600 is measured by the ranging sensor, and the second laser radar 503 obtains the position and shape of the obstacle 600 behind the crane. This application plans the driving path of the crane by combining the position and shape of the obstacle 600 with the posture data of the crane boom 102.

[0063] In some embodiments, the crane includes a slewing mechanism 101 and a boom 102 installed on the slewing mechanism 101, and the first acquisition module includes a boom extension length detection component, a boom pitch angle detection component 302, and a boom rotation angle detection component 303; wherein, the boom extension length detection component 301 is installed at the front end of the boom 102, the boom pitch angle detection component 302 is installed on the side of the boom 102, and the boom rotation angle detection component 303 is installed at one end of the boom 102 facing the slewing mechanism 101. The boom extension length detection component 301 is used to measure the extension length of the boom 102 and send an extension length signal; the boom pitch angle detection component 302 is used to measure the pitch angle of the boom 102 and send a pitch angle signal; the boom rotation angle detection component 303 is used to measure the rotation angle of the boom 102 and send a rotation angle signal; the control module 200 is further configured to: obtain the position of the boom 102 according to the extension length signal, the pitch angle signal, the rotation angle signal and the shape of the boom 102.

[0064] Among them, the boom extension length detection component can be an encoder, which measures the extension length of the boom 102, and collects the position data of the boom 102 through the extension length of the boom 102 and the shape of the boom 102; the boom pitch angle detection component 302 is a pitch angle sensor, which is used to measure the pitch angle of the boom 102 during swinging, and collects the position data of the boom 102 through the pitch angle of the boom 102 and the shape of the boom 102; the boom rotation angle detection component 303 is a rotation angle sensor. Since the rotation mechanism 101 may drive the boom 102 to rotate during the driving process of the crane, the rotation angle sensor is used to measure the rotation angle of the boom 102, and collects the position data of the boom 102 through the rotation angle and the shape of the boom 102.

[0065] In some embodiments, the obstacle avoidance control system further includes a second acquisition module electrically connected to the control module 200, the second acquisition module including a first angle detection element 401 and a second angle detection element 402; the first angle detection element 401 is used to detect the steering angle of the front wheel and send a first steering angle signal; the second angle detection element 402 is used to detect the steering angle of the rear wheel and send a second steering angle signal; the control module 200 is further configured as follows:

[0066] It is determined whether the crane is traveling according to the driving path according to the first steering angle signal and the second steering angle signal.

[0067] Among them, the first angle detection component 401 is a front wheel steering angle sensor, and the second angle detection component 402 is a rear wheel steering angle sensor. When the crane is in the process of avoiding obstacles, after the driving path is planned, the control module 200 controls the engine of the crane to provide driving power to the front and rear wheels to start driving; the front wheel steering angle data obtained by the front wheel steering angle sensor and the rear wheel steering angle data obtained by the rear wheel steering angle sensor are compared with the coordinates of the corresponding points on the driving path in the control module 200, so as to determine whether the driving of the front and rear wheels is on the planned driving path, so as to improve the obstacle avoidance accuracy of the crane during driving.

[0068] In addition, the obstacle avoidance control system also includes a voice prompt module 500 that is communicatively connected to the control module 200. The voice prompt module 500 can receive the signal processed by the control module 200 and then give an alarm to the driver. For example, when it is determined that the first steering angle and the second steering angle are not in accordance with the obstacle avoidance driving path, an alarm is required to warn the driver that the current driving path of the crane has deviated from the obstacle avoidance driving path and there is a risk of colliding with the obstacle 600. The driver can make corresponding handling according to the actual situation.

[0069] A second aspect of the present application provides an obstacle avoidance control method for a crane, which is applied to the obstacle avoidance control system as described above. The obstacle avoidance control method comprises the steps of:

[0070] Acquire the real-time posture data of the crane and the real-time distance between the obstacle 600 and the crane;

[0071] Calculate the crane's travel path based on real-time posture data and real-time distance;

[0072] Control the crane to travel along the travel path.

[0073] When the crane is working, it is first necessary to power on the crane. If there is no abnormality in the self-check, the driver starts the vehicle to prepare for the lifting operation. When the crane's boom 102 hook lifts the cargo and prepares to transfer it to the destination, the laser radar installed on the chassis 100 and the boom 102 of the crane monitors the distance to the obstacle 600 in the forward direction in real time. Combined with the current driving conditions (driving speed, steering angle, etc.), it assists in calculating the driving path to reduce the risk of collision with the obstacle 600.

[0074] In some embodiments, the obstacle avoidance control method further includes the steps of:

[0075] During the travel of the crane, the position of the boom 102 is obtained in real time;

[0076] When the position of the boom 102 changes, the travel path is corrected;

[0077] Control the crane to travel according to the corrected travel path.

[0078] Since the obstacle avoidance process will be affected to a certain extent when the position of the boom 102 changes, the change in the driving path after the position of the boom 102 changes needs to be considered in the obstacle avoidance process, so that the boom 102 of the crane can achieve a good obstacle avoidance effect no matter what state it is in. Specifically, during the driving process of the crane, the position information of the boom 102 is obtained in real time. When it is detected that the position of the boom 102 has changed, the original driving path needs to be corrected, and then the crane is controlled to drive according to the corrected path, so as to achieve the purpose of obstacle avoidance.

[0079] In some embodiments, the step of calculating the travel path of the crane according to the real-time posture data and the real-time distance includes:

[0080] Get the target point coordinates and origin coordinates of the crane;

[0081] When an obstacle 600 is detected, the coordinates of the intermediate turning point after the crane avoids the obstacle 600 are calculated according to the real-time posture data and the real-time distance;

[0082] Connect the origin coordinates, target point coordinates, and intermediate turning point coordinates and draw a driving path.

[0083] When obtaining the driving path, first obtain the target point coordinates and original coordinates of the crane, wherein the target point coordinates can be input into the control module 200 by the operator, and the original coordinates can be obtained by the control module 200; when the existence of an obstacle 600 is detected, the coordinates of the intermediate turning point of the path required for obstacle avoidance are calculated based on the real-time posture data of the boom 102 and the real-time distance between the obstacle 600 and the crane; finally, the origin coordinates, the target point coordinates, and the intermediate turning point coordinates are connected to form a driving path.

[0084] like Figure 2 As shown, in the first embodiment, when the position of the boom 102 does not change, the coordinates of the intermediate turning point can be obtained by the following calculation formula:

[0085] b(x2)=x1+x11*k11+k12;

[0086] b(y2)=y1-y11*k21+k22;

[0087] Among them, b(x2) is the horizontal coordinate of the middle turning point, b(y2) is the vertical coordinate of the middle turning point; x11 is the shortest distance between the crane and the obstacle 600 in the x direction before the position of the boom 102 changes; y11 is the shortest distance between the crane and the obstacle 600 in the y direction before the position of the boom 102 changes; k12 and k22 are correction coefficients.

[0088] In this embodiment, when the position of the boom 102 does not change, it means that the boom 102 does not perform any action at this time, and the position of the middle turning point of the driving path is related to the shortest distance between the crane and the obstacle 600. When calculating, the crane and the obstacle 600 are set as a point in the three-dimensional coordinate space, and the coordinate value of the middle turning point can be calculated accordingly by obtaining the shortest distance between the crane and the obstacle 600 in the x direction and the y direction respectively.

[0089] At present, the obstacle avoidance system in the prior art only considers factors such as steering and braking, but does not consider the influence of factors such as the extension length, rotation angle, and pitch angle of the crane boom 102, which has certain safety hazards. Figure 3 As shown, in the second embodiment, when the position of the boom 102 changes, the coordinates of the unchanged intermediate turning point need to be corrected. Then, the coordinates of the intermediate turning point can be obtained by the following calculation formula:

[0090] b′(x2′)=b(x2)+k61*L1*cosβ+k62*L1*cosγ+k63

[0091] b′(y2′)=b(y2)+k71*L1*cosβ+k72*L1*cosγ+k73

[0092] Among them, b′(x2′) is the horizontal coordinate of the middle turning point after the position of the boom 102 changes, b′(y2′) is the vertical coordinate of the middle turning point after the position of the boom 102 changes; β is the rotation angle of the boom 102; γ is the pitch angle of the boom 102; L1 is the extension length of the boom 102; k61, k62, k63, k71, k72, k73 are correction coefficients; b(x2) is the horizontal coordinate of the middle turning point before the position of the boom 102 changes; b(y2) is the vertical coordinate of the middle turning point before the position of the boom 102 changes.

[0093] It should be noted that k11 and k12 are related to the safe distance between the crane and the obstacle in the x direction before the crane changes its posture, among which K11 is generally set to 1 (can also be deleted), and K12 is the safe distance; K21 and k22 are related to the safe distance between the crane and the obstacle in the y direction before the crane changes its posture, among which K21 is generally set to 1 (can also be deleted), and K22 is the safe distance; K61, k62, and k63 are related to the safe distance between the crane and the obstacle in the x direction after the crane changes its posture, among which K61 and K62 are generally set to 1 (can also be deleted), and K63 is the safe distance; K71, k72, and k73 are related to the safe distance between the crane and the obstacle in the y direction after the crane changes its posture, among which K71 and K72 are generally set to 1 (can also be deleted), and K73 is the safe distance.

[0094] In this embodiment, when the position of the boom 102 changes, it means that the boom 102 has a related action at this time, and the position of the middle turning point of the driving path is related to the closest distance between the crane and the obstacle 600 and the position information of the boom 102. During calculation, the crane and the obstacle 600 are set as a point in the three-dimensional coordinate space, and the coordinate value of the corrected middle turning point can be calculated based on the coordinates of the original middle turning point by obtaining the pitch angle, extension length, rotation angle, etc. of the boom 102.

[0095] In some embodiments, the step of controlling the crane to travel according to the travel path includes:

[0096] Obtain the front wheel steering angle and rear wheel steering angle of the crane in real time;

[0097] Determine whether the front wheel steering angle and the rear wheel steering angle are turned according to the driving path;

[0098] When the front wheel steering angle and the rear wheel steering angle deviate from the driving path, the steering angles of the front and rear wheels are adjusted.

[0099] In addition, in order to make the adjusted front and rear wheels move in accordance with the planned path, the crane's travel speed needs to be reduced during the adjustment process to prevent safety hazards caused by excessive speed when adjusting the steering angles of the front and rear wheels.

[0100] The third aspect of the present application provides a crane, which includes the obstacle avoidance control system described above. Since the crane adopts all embodiments of the obstacle avoidance control system described above, it has all the beneficial effects brought by the obstacle avoidance control system described above, which will not be described in detail here.

[0101] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0102] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0104] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An obstacle avoidance control system for a crane, characterized in that: The crane comprises a slewing mechanism (101) and a boom (102) mounted on the slewing mechanism (101), and the obstacle avoidance control system comprises: A detection module, used for detecting the state of an obstacle (600) in the travel direction of the crane and the distance between the obstacle (600) and the crane; A first collection module, used for collecting the extension length, pitch angle and rotation angle of the boom (102); A control module (200) is electrically connected to the detection module and the first acquisition module, and the control module (200) is used to calculate the travel path of the crane based on the extension length of the boom (102), the pitch angle, the rotation angle, the shape, the state information of the obstacle (600), and the distance between the obstacle (600) and the crane.

2. The obstacle avoidance control system of a crane according to claim 1, characterized in that: The crane comprises a chassis (100), a slewing mechanism (101) mounted on the chassis (100), and a boom (102) mounted on the slewing mechanism (101), and the detection module comprises: a distance measuring sensor, used for measuring the distance between the chassis (100) and the obstacle (600); A first laser radar (502) is installed in front of the chassis (100) and is used to detect the position and shape of an obstacle (600) in the traveling direction of the crane; The second laser radar (503) is installed at the rear of the chassis (100) or on the boom (102) and is used to detect the position and shape of the obstacle (600) in the backward direction of the crane.

3. The obstacle avoidance control system of a crane according to claim 1, characterized in that: The first acquisition module includes: A boom extension length detection member (301) for measuring the extension length of the boom (102) and sending an extension length signal; A boom pitch angle detection component (302) for measuring the pitch angle of the boom (102) and sending a pitch angle signal; An arm rotation angle detection member (303) is used to measure the rotation angle of the arm (102) and send a rotation angle signal; The control module (200) is further configured to: The position of the boom (102) is acquired according to the extension length signal, the pitch angle signal, the rotation angle signal and the shape of the boom (102).

4. The obstacle avoidance control system of a crane according to claim 1, characterized in that: The obstacle avoidance control system further comprises a second acquisition module electrically connected to the control module (200), the second acquisition module comprising: A first angle detection element (401), used for detecting the steering angle of the front wheel and sending a first steering angle signal; A second angle detection element (402) is used to detect the steering angle of the rear wheel and send a second steering angle signal; The control module (200) is further configured to: It is determined whether the crane is traveling according to a driving path according to the first steering angle signal and the second steering angle signal.

5. An obstacle avoidance control method for a crane, characterized in that: Applied to the obstacle avoidance control system according to any one of claims 1 to 4, the obstacle avoidance control method comprises the steps of: Acquiring real-time posture data of the crane and a real-time distance between the obstacle (600) and the crane; Calculating a travel path of the crane according to the real-time posture data and the real-time distance; The crane is controlled to travel along the travel path.

6. The obstacle avoidance control method for a crane according to claim 5, characterized in that: The obstacle avoidance control method further comprises the steps of: During the travel of the crane, the position of the boom (102) is acquired in real time; When the position of the arm (102) changes, the travel path is corrected; The crane is controlled to travel according to the corrected travel path.

7. The obstacle avoidance control method for a crane according to claim 5, characterized in that: The step of calculating the travel path of the crane according to the real-time posture data and the real-time distance comprises: Obtaining the target point coordinates and the origin coordinates of the crane; When an obstacle (600) is detected, the coordinates of the intermediate turning point after the crane avoids the obstacle (600) are calculated according to the real-time posture data and the real-time distance; The origin coordinates, the target point coordinates, and the intermediate turning point coordinates are connected and drawn to form the driving path.

8. The obstacle avoidance control method for a crane according to claim 7, characterized in that: When the position of the arm (102) does not change, the coordinates of the intermediate turning point can be obtained by the following calculation formula: b(x2)=x1+x11*k11+k12 b(y2)=y1-y11*k21+k22 Wherein, b(x2) is the horizontal coordinate of the intermediate turning point, b(y2) is the vertical coordinate of the intermediate turning point; x11 is the shortest distance between the crane and the obstacle (600) in the x direction before the position of the boom (102) changes; y11 is the shortest distance between the crane and the obstacle (600) in the y direction before the position of the boom (102) changes; k11, k12, k21, k22 are correction coefficients.

9. The obstacle avoidance control method for a crane according to claim 8, characterized in that: When the position of the arm (102) changes, the coordinates of the intermediate turning point can be obtained by the following calculation formula: b′(x2′)=b(x2)+k61*L1*cosβ+k62*L1*cosγ+k63 b′(y2′)=b(y2)+k71*L1*cosβ+k72*L1*cosγ+k73 Wherein, b′(x2′) is the horizontal coordinate of the middle turning point after the position of the boom (102) changes, and b′(y2′) is the vertical coordinate of the middle turning point after the position of the boom (102) changes; β is the rotation angle of the boom (102); γ is the pitch angle of the boom (102); L1 is the extension length of the boom (102); k61, k62, k63, k71, k72, k73 are correction coefficients; b(x2) is the horizontal coordinate of the middle turning point before the position of the boom (102) changes; and b(y2) is the vertical coordinate of the middle turning point before the position of the boom (102) changes.

10. The obstacle avoidance control method for a crane according to claim 5, characterized in that: The step of controlling the crane to travel along the travel path comprises: Acquire the front wheel steering angle and the rear wheel steering angle of the crane in real time; determining whether the front wheel steering angle and the rear wheel steering angle are turned according to the driving path; When the front wheel steering angle and the rear wheel steering angle deviate from the driving path, the steering angles of the front wheels and the rear wheels are adjusted.

11. A crane, characterized in that: The crane comprises an obstacle avoidance control system according to any one of claims 1 to 4.

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