Crane and obstacle avoidance control system and method thereof

Abstract

The present application relates to the technical field of engineering machinery and discloses a crane and its obstacle avoidance control system and method. The obstacle avoidance control system includes a detection module, a first acquisition module, and a control module. The detection module is used to detect the state of obstacles in the crane's forward direction and the distance between the obstacles and the crane. The first acquisition module is used to acquire 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. The control module is used to calculate the crane's travel path based on the extension length, pitch angle, rotation angle, shape of the boom, and the distance between the obstacle and the crane. The present application improves the crane's travel safety by calculating the crane's travel path while avoiding obstacles based on information such as the boom's real-time posture and obstacle distance detection.

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] As the performance of tire-tire cranes continues to improve, the requirements for their maneuverability and safety are becoming increasingly stringent. The chassis mechanisms currently used on tire-tire cranes lack features such as obstacle or hazardous road condition detection. With the continuous advancement of technology, obstacle and hazardous road condition detection sensors (such as LiDAR), based on computer, microelectronics, integrated circuit, and sensor technologies, have begun to emerge and are becoming a key component of modern automobiles. Vehicles equipped with these sensors can significantly improve driving safety, enhance the driving experience, prevent traffic accidents, and ensure operational stability. However, tire-tire cranes are heavy and have complex steering mechanisms, and currently no automatic obstacle avoidance technology has been developed specifically for these cranes. Summary of the Invention

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

[0004] To achieve the above objectives, 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 direction of travel 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 based on the extension length, pitch angle, rotation angle, shape of the boom, status 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 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] Boom extension length detection component, used to measure the extension length of the boom and send an extension length signal;

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

[0015] Boom rotation angle detection component, used to measure the boom rotation angle and send a rotation 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, the second acquisition module including:

[0019] a first angle detection component, configured to detect a steering angle of the front wheels and send a first steering angle signal;

[0020] a second angle detection component, for detecting a 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 moving 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 described above. The obstacle avoidance control method comprises the following steps:

[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 move 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 is 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 based on 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] Where 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 boom position changes; y11 is the shortest distance between the crane and the obstacle in the y direction before the boom position 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 intermediate turning point after the boom position changes, and b′(y2′) is the vertical coordinate of the intermediate 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, and k73 are correction coefficients; b(x2) is the horizontal coordinate of the intermediate turning point before the boom position changes; b(y2) is the vertical coordinate of the intermediate 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 turning in accordance with 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, which includes 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 provided on the crane; the detection module is used to detect the state of obstacles in the crane's forward direction 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 crane's travel path based on the extension length, pitch angle, rotation angle, shape of the boom, and the distance between the obstacle and the crane. This application calculates the crane's travel path while avoiding obstacles based on information such as the boom's real-time posture and obstacle distance detection, thereby achieving obstacle avoidance during the crane's travel and improving the crane's travel safety.

[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 those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without inventive work. In the drawings:

[0051] Figure 1 A schematic structural diagram 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 following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended 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 direction of travel of the crane and the distance between the obstacle 600 and the crane; the first acquisition module is used to collect real-time posture data of the boom, such as extension length, pitch angle, rotation angle and shape; 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 travel path of the crane based on 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 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 obtains the status of the obstacle 600 in the driving direction of the crane (such as the shape, size and position information of the obstacle 600) and sends the obstacle 600 status information signal. 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 first acquisition module collects the real-time posture data of the boom and sends the real-time posture data signal. 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 process based on 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 behind 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] Both the first laser radar 502 and the second laser radar 503 use the principle of laser beam emission, propagation, reflection, and reception to determine the shape and position of obstacle 600. The crane's trajectory is designed based on the shape, size, and position of obstacle 600 to prevent collision with obstacle 600 during travel. Specifically, when the crane is traveling forward, the first laser radar 502 uses a ranging sensor to measure the distance between the front end of the chassis 100 and the rear end of obstacle 600 to determine the position and shape of obstacle 600 in front of the crane. When the crane is traveling backward, the second laser radar 503 uses a ranging sensor to measure the distance between the rear end of the chassis 100 and the front end of obstacle 600 to determine the position and shape of obstacle 600 behind the crane. This application uses the position and shape of obstacle 600, combined with the posture data of the crane boom 102, to plan the crane's travel path.

[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 the 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 by combining the extension length of the boom 102 with 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 by combining the pitch angle of the boom 102 with 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 travel of the crane, a rotation angle sensor is used to measure the rotation angle of the boom 102, and collects the position data of the boom 102 by combining the rotation angle with 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 wheels and send a first steering angle signal; the second angle detection element 402 is used to detect the steering angle of the rear wheels and send a second steering angle signal; the control module 200 is further configured to:

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

[0067] The first angle detection element 401 is a front wheel steering angle sensor, and the second angle detection element 402 is a rear wheel steering angle sensor. When the crane is avoiding obstacles and a driving path is planned, the control module 200 controls the crane's engine to provide driving power to the front and rear wheels to initiate driving. The control module 200 compares 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 with the coordinates of corresponding points on the driving path. This determines whether the front and rear wheels are on the planned driving path, thereby improving the crane's obstacle avoidance accuracy during driving.

[0068] The obstacle avoidance control system also includes a voice prompt module 500 in communication with the control module 200. The voice prompt module 500 receives signals processed by the control module 200 and then issues an alarm to the driver. For example, if it is determined that the first and second steering angles do not conform to the obstacle avoidance path, an alarm is issued to warn the driver that the crane's current path has deviated from the obstacle avoidance path and there is a risk of collision with an obstacle 600. The driver can then take appropriate action based on 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 described above. The obstacle avoidance control method comprises the following steps:

[0070] Acquire 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 move along the travel path.

[0073] To operate a crane, the crane must first be powered on. If no abnormalities are detected during self-test, the driver starts the vehicle and prepares for the lifting operation. As the crane's boom 102 hooks up cargo for transport to its destination, a LiDAR sensor mounted on the crane's chassis 100 and boom 102 monitors the distance to an obstacle 600 in its forward direction in real time. This sensor, combined with current driving conditions (speed, steering angle, etc.), assists in route calculation, minimizing the risk of collision with obstacle 600.

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

[0075] During the crane's travel, the position of the boom 102 is acquired 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] Because changes in the position of the boom 102 can affect the obstacle avoidance process, the change in the travel path caused by the boom 102's position change must be considered during the obstacle avoidance process. This ensures that the crane's boom 102 can achieve effective obstacle avoidance regardless of its state. Specifically, during the crane's travel, the boom 102's position information is acquired in real time. When a change in the boom 102's position is detected, the original travel path is corrected, and the crane is then controlled to travel along the corrected path to achieve the goal of obstacle avoidance.

[0079] In some embodiments, the step of calculating the travel path of the crane based on 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 based on 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, the target point coordinates and original coordinates of the crane are first obtained, 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 presence 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, target point coordinates, and intermediate turning point coordinates are connected to form the 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] Wherein, 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 boom 102 remains unchanged, indicating that boom 102 is not performing any movement, the location of the intermediate turning point in the travel path is related to the minimum distance between the crane and obstacle 600. During calculation, the crane and obstacle 600 are positioned as a single point in three-dimensional coordinate space. By obtaining the shortest distance between the crane and obstacle 600 in the x- and y-directions, the coordinates of the intermediate turning point can be calculated accordingly.

[0089] At present, the obstacle avoidance system in the prior art only considers factors such as steering and braking, and does not consider the influence of factors such as the extension length, rotation angle, and pitch angle of the crane's boom 102, which has certain safety hazards. Figure 3 As shown, in the second embodiment, when the position of the arm 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, 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, and 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. 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. 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. 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. K71 and K72 are generally set to 1 (can also be deleted), and K73 is the safe distance.

[0094] In this embodiment, changes in the position of the boom 102 indicate a related movement of the boom 102. The location of the intermediate turning point in the travel path is related to the closest distance between the crane and the obstacle 600, as well as the position of the boom 102. During calculation, the crane and the obstacle 600 are positioned as a single point in a three-dimensional coordinate space. By obtaining the pitch angle, extension length, and slew angle of the boom 102, the coordinates of the revised intermediate turning point can be calculated based on the original coordinates of the intermediate turning point.

[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 turning in accordance with 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 according to 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] A third aspect of the present application provides a crane comprising 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 about by the obstacle avoidance control system described above, which will not be described in detail here.

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

[0102] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on 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" 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of 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 this 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, for detecting the state of an obstacle (600) in the traveling direction of the crane and the real-time distance between the obstacle (600) and the crane; A first acquisition module, used for acquiring the extension length, pitch angle and rotation angle of the boom (102); a control module (200) electrically connected to the detection module and the first acquisition module, the control module (200) being used to calculate the travel path of the crane based on the extension length of the boom (102), the pitch angle, the slewing angle, the shape, the state information of the obstacle (600), and the real-time distance between the obstacle (600) and the crane, wherein the real-time posture data includes the extension length, pitch angle, slewing angle, and shape of the boom; The step of calculating the travel path of the crane according to the real-time posture data and the real-time distance includes: Obtaining the target point coordinates and origin coordinates of the crane; When an obstacle (600) is detected, the coordinates of an intermediate turning point after the crane avoids the obstacle (600) are calculated based on the real-time posture data and the real-time distance; Connect the origin coordinates, the target point coordinates, and the intermediate turning point coordinates to form the driving path; 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, 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.

2. The obstacle avoidance control system for 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 to measure the distance between the chassis (100) and the obstacle (600); a first laser radar (502) installed in front of the chassis (100) and used to detect the position and shape of an obstacle (600) in the direction of travel of the crane; A 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 an obstacle (600) in the backward direction of the crane.

3. The obstacle avoidance control system for a crane according to claim 1, characterized in that: The first acquisition module includes: The arm extension length detection member (301) is used to measure the extension length of the arm (102) and Sending extension length signal; A boom pitch angle detection component (302) is used to measure the pitch angle of the boom (102) and send 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 for 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 component (401) is used to detect the steering angle of the front wheel and send a first steering angle signal; A second angle detection component (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: Whether the crane is traveling according to a travel path is determined according to the first steering angle signal and the second steering angle signal.

5. A crane obstacle avoidance control method, 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 the 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 includes: Obtaining the target point coordinates and origin coordinates of the crane; When an obstacle (600) is detected, the coordinates of an intermediate turning point after the crane avoids the obstacle (600) are calculated based on 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 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, 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.

10. The obstacle avoidance control method for a crane according to claim 5, characterized in that: The step of controlling the crane to travel according to the travel path includes: Acquiring 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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