Multi-dimensional crane avoidance system

Abstract

A multi-dimensional crane avoidance system disclosed by the present invention comprises a data acquisition module and a collision risk determination module connected with the data acquisition module, and the data acquisition module is configured to be used for acquiring cart position data of a multi-dimensional crane and winch height data of a high-dimensional crane. And the collision risk judgment module judges the collision risk according to the information transmitted by the data acquisition module and confirms the type of the collision risk according to a set judgment rule. According to the multi-dimensional crane avoidance system, the operation safety can be improved, collision accidents are avoided, the crane avoidance operation can be reasonably arranged, the operation efficiency is improved, and the safety risk is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of cranes, and in particular, relates to a multi-dimensional crane avoidance system. Background Art

[0002] A crane refers to an electromechanical equipment used for vertical lifting or vertical lifting and horizontal movement of heavy objects. It is widely used in the metal smelting industry, mainly in important work places such as finished product delivery, scrap iron preparation, scrap iron loading, and molten iron loading.

[0003] During actual use, there are situations where cranes in high and low spatial dimensions operate crosswise in a limited space. At this stage, safety measures mainly rely on the operator's naked eye judgment, feeling, experience, and communication on the same-channel walkie-talkie for safe avoidance, which poses a great safety risk. When the operator's attention is distracted or insufficient, the ability to judge spatial obstacles is reduced, and the risk of collision increases. The simple civil air defense operation mode cannot meet the modern fast-paced, high-standard, and strict production mode. The walkie-talkies of cranes of the same span all use the same frequency, and there are disadvantages such as other intercoms being used to communicate with the machine and being unable to communicate or being interrupted during the communication process. As a result, communication is not smooth and effective operation avoidance cannot be performed.

[0004] For example, the patent document with publication number CN115321366A discloses a multi-tower crane avoidance method, avoidance device and storage medium, which adopts the method of determining a reference tower base, obtaining the reference tower crane parameters to establish a three-dimensional coordinate system; obtaining the second tower crane parameters of the avoidance tower crane to perform operation analysis in the three-dimensional coordinate system, and analyzing the collision risk of tower cranes of different heights in space in advance. Because the base points of the reference tower base and the avoidance tower base are fixed, it is not suitable for the occasion where the base points of the multi-dimensional space move with each other;

[0005] For example, the patent document with publication number CN114229700A discloses an automatic avoidance tower crane and its working method, which uses a 360° camera installed on the top to detect the surroundings to achieve the avoidance function. The use place is limited. When the light is insufficient, dust and steam are large, the camera captures unclear images and cannot achieve effective avoidance.

[0006] For example, the patent document with publication number CN114380199A discloses a control method and device for an overhead crane, which obtains the task pool of the overhead crane and performs operation avoidance according to the task pool level. This method is suitable for avoiding adjacent overhead cranes on the same horizontal line, but does not meet the requirements of simultaneous operation of multi-dimensional overhead cranes.

[0007] For example, the patent document with authorization announcement number CN212769481U discloses a multi-crane avoidance safety device, in which the remote control of one crane can achieve safe avoidance of other cranes to the crane itself, but the operation efficiency is low. At the same time, due to the limited field of view of the operator, it cannot be used for multi-dimensional crane operation avoidance.

[0008] For example, the patent document with publication number CN113800400A discloses a crane safety avoidance system, which obtains crane position data through Gray busbars, sends real-time position information to a controller, and the controller determines the distance between the trolleys of two adjacent cranes based on the real-time position information of the trolley and performs avoidance. The implementation cost is relatively high, and it only involves the avoidance of adjacent overhead cranes on the same horizontal line, and does not involve the simultaneous operation of cranes in multiple dimensions. Summary of the invention

[0009] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a multi-dimensional crane avoidance system, the purpose of which is to improve operational safety and avoid collision accidents.

[0010] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a multi-dimensional crane avoidance system, including a data acquisition module and a collision risk judgment module connected to the data acquisition module, the data acquisition module is configured to obtain the trolley position data of multi-dimensional cranes and the hoisting height data of high-dimensional cranes, the collision risk judgment module judges the collision risk according to the information transmitted by the data acquisition module, and confirms the collision risk type according to the set judgment rules.

[0011] The data acquisition module includes a first positioning base station, a second positioning base station, a first vehicle-mounted base station arranged on a high-dimensional crane, and a second vehicle-mounted base station arranged on a low-dimensional crane.

[0012] A main roll encoder is installed on the main roll of the high-dimensional crane, and a secondary roll encoder is installed on the secondary roll of the high-dimensional crane. Data communication is performed with the PLC through the switch to read the height data of the main and secondary rolls of the high-dimensional crane. The first vehicle-mounted base station is configured for wireless data transmission and reception. The first vehicle-mounted terminal performs data communication with the first positioning base station and the second positioning base station through the first vehicle-mounted base station to determine the position data of the high-dimensional crane trolley.

[0013] A first display and a first voice system are provided on the high-dimensional crane, and the first display and the first voice system are connected to the collision risk determination module. The collision risk determination module includes an industrial computer, and the industrial computer exchanges data with the PLC through a switch.

[0014] The second vehicle-mounted base station is configured for wireless data transmission and reception. The second vehicle-mounted terminal communicates data with the first positioning base station and the second positioning base station through the second vehicle-mounted base station to determine low-dimensional crane trolley position data.

[0015] A second display and a second voice system are arranged on the low-dimensional crane, and the second display and the second voice system are connected to the second vehicle-mounted terminal.

[0016] The collision risk types are divided into three types, namely, operations without collision risk, operations with collision risk and operations with unavoidable collision risk. When the multi-dimensional cranes are operating, the collision risk determination module confirms the collision risk type based on the trolley position data of the multi-dimensional cranes, the hoisting height data of the high-dimensional cranes and the current production process flow.

[0017] When the hoisting heights of the main reel and auxiliary reel of the high-dimensional crane are both greater than the set height value of the low-dimensional crane, the collision risk judgment module determines that the current collision risk type is a collision-free risk operation, and the high-dimensional crane and the low-dimensional crane can operate normally.

[0018] When the hoisting height of the main reel or auxiliary reel of the high-dimensional crane is less than or equal to the set height value of the low-dimensional crane, and the difference in trolley position data between the high-dimensional crane and the low-dimensional crane is less than the set safety value, the collision risk judgment module determines that the current collision risk type is an operation with collision risk.

[0019] The multi-dimensional crane avoidance system of the present invention can improve operational safety, avoid the occurrence of collision accidents, and can reasonably arrange crane avoidance operations to improve operating efficiency and avoid safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] This specification includes the following drawings, which show the following contents:

[0021] Figure 1 It is a schematic diagram of the layout of the vehicle-mounted base station and the positioning base station;

[0022] Figure 2 It is a schematic diagram of the system hardware composition;

[0023] Figure 3 It is a schematic diagram of another part of the system hardware;

[0024] Figure 4 It is a schematic diagram of the two-dimensional crane moving toward the same plane;

[0025] Figure 5 It is a schematic diagram of the movement of the rear crane towards the front crane in the same plane;

[0026] The markings in the figure are:

[0027] 11. High-dimensional crane; 12. Low-dimensional crane; 13. First vehicle-mounted base station; 14. Second vehicle-mounted base station; 15. First positioning base station; 16. Second positioning base station; 21. Main volume encoder; 22. Sub-volume encoder; 23. Switch; 24. PLC; 25. First vehicle-mounted terminal; 26. Industrial computer; 27. First display; 28. First voice system; 31. Second vehicle-mounted terminal; 32. Second display; 33. Second voice system; 34. Rear crane; 35. Front crane. DETAILED DESCRIPTION

[0028] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention and facilitating their implementation.

[0029] It should be noted that, in the following embodiments, the “first” and “second” mentioned do not represent an absolute distinction in structure and / or function, nor do they represent a sequential order of execution, but are merely for the convenience of description.

[0030] The present invention provides a multi-dimensional crane avoidance system, comprising a data acquisition module and a collision risk determination module connected to the data acquisition module, wherein the data acquisition module is configured to acquire the trolley position data of the multi-dimensional crane and the hoisting height data of the high-dimensional crane, and the collision risk determination module determines the collision risk according to the information transmitted by the data acquisition module, and confirms the collision risk type according to the set determination rules. The multi-dimensional crane includes a low-dimensional crane and a high-dimensional crane.

[0031] Specifically, the multi-dimensional crane avoidance system of the present invention obtains the trolley position data of the two-dimensional crane and the main and auxiliary winch height data of the high-dimensional crane, realizes data transmission through the positioning base stations at both ends, and integrates the two-dimensional cranes into a plane control to meet the set threshold, forming a visual impact of the collision and equipped with a voice alarm reminder to warn the operator to operate with caution and work safely; the avoidance operation is divided into three modes, operation without collision risk, operation with collision risk and unavoidable collision risk, and avoidance is performed according to their respective modes, and the production task pool is obtained according to the process flow to reasonably arrange the crane avoidance operation, improve the operation efficiency and avoid safety risks.

[0032] The multi-dimensional crane avoidance system of the present invention includes a vehicle-mounted base station, a positioning base station, a vehicle-mounted terminal, an encoder, a PLC, an industrial computer, a voice alarm system, etc. The trolley position data of the multi-dimensional crane and the hoisting height data of the high-dimensional crane are exchanged through the positioning base stations at both ends, and the two-dimensional cranes are integrated into one plane for control. When the hoisting height data of the high-dimensional crane and the trolley position data of the two-dimensional crane meet the set threshold, the display set in the operation room shows that the two-dimensional cranes gradually run to one plane, forming a visual impact of the collision and equipped with a voice alarm reminder, warning the operator to operate cautiously and safely.

[0033] like Figure 1 As shown, the data acquisition module includes a first positioning base station 15, a second positioning base station 16, a first vehicle-mounted base station 13 arranged on the high-dimensional crane 11, and a second vehicle-mounted base station 14 arranged on the low-dimensional crane 12. The data exchange between the high-dimensional crane 11 and the low-dimensional crane 12 is completed through the first positioning base station 15 and the second positioning base station 16 installed at both ends.

[0034] like Figure 2 As shown, a main roll encoder 21 is installed on the main roll of the high-dimensional crane 11, and a secondary roll encoder 22 is installed on the secondary roll of the high-dimensional crane 11. Data communication is performed with PLC24 through the switch 23 to read the height data of the main roll and the secondary roll of the high-dimensional crane 11. The first vehicle-mounted base station 13 is configured for wireless data transmission and reception. The first vehicle-mounted terminal 25 arranged on the high-dimensional crane 11 performs data communication with the first positioning base station 15 and the second positioning base station 16 through the first vehicle-mounted base station 13 to determine the trolley position data of the high-dimensional crane 11.

[0035] like Figure 2 As shown, a first display 27 and a first voice system 28 are provided on the high-dimensional crane. The first display 27 is used to display the images of the high-dimensional crane and the low-dimensional crane on the same plane. The first display 27 and the first voice system 28 are connected to a collision risk determination module. The collision risk determination module includes an industrial computer 26, a switch 23 and a PLC 24. The industrial computer 26 exchanges data with the PLC 24 via the switch 23. The switch 23 is connected to the PLC 24 and the industrial computer 26. The switch 23 is also connected to the main roll encoder 21 and the sub-roll encoder 22. The industrial computer 26 is connected to the first display 27 and the first voice system 28. The first display 27 and the first voice system 28 are provided in front of the operating room of the high-dimensional crane 11.

[0036] like Figure 3As shown, a second display 32 and a second voice system 33 are provided on the low-dimensional crane 12. The second display 32 is used to display the images of the high-dimensional crane and the low-dimensional crane on the same plane. The second vehicle-mounted base station 14 is configured for wireless data transmission and reception. The second vehicle-mounted terminal 31 provided on the low-dimensional crane 12 communicates data with the first positioning base station 15 and the second positioning base station 16 through the second vehicle-mounted base station 14 to determine the trolley position data of the low-dimensional crane 12. The second vehicle-mounted terminal 31 is connected to the second display 32 and the second voice system 33, and the second display 32 and the second voice system 33 are provided in front of the operating room of the low-dimensional crane 12.

[0037] like Figure 4 As shown, when the system determines that there is a risk of collision and the two cranes are moving towards each other, the first display 27 and the second display 32 display this picture, and the two-dimensional cranes run to the same plane as indicated by the arrows, and the running speed is proportional to the running speed of the two-dimensional cranes; when the distance between the two-dimensional crane trolleys is less than the minimum distance L4 (combined with the on-site crane braking distance setting), the two cranes form a collision picture on the same plane to warn the operator to work safely.

[0038] There are three types of collision risks, namely, operations without collision risk, operations with collision risk, and operations with unavoidable collision risk. When multi-dimensional cranes are operating, the collision risk determination module confirms the collision risk type based on the trolley position data of multi-dimensional cranes, the hoisting height data of high-dimensional cranes, and the current production process flow. The following schemes all take two-dimensional cranes in a steel plant as an example. The low-dimensional crane is responsible for preparing scrap steel for slot operation, and the high-dimensional crane is responsible for hanging the slot and adding scrap steel.

[0039] When the system detects that the height values ​​of the main and auxiliary hoists of the high-dimensional crane 11 are greater than the set height value of the low-dimensional crane 12, the collision risk judgment module determines that the current collision risk type is a collision-free operation, and the high-dimensional crane 11 and the low-dimensional crane 12 can operate normally. The first display 27 and the second display 32 show that the two-dimensional cranes are operating in their respective dimensions.

[0040] When the system detects that the hoisting height of the main reel or auxiliary reel of the high-dimensional crane 11 is less than or equal to the set height value of the low-dimensional crane 12, and the difference in trolley position data between the high-dimensional crane 11 and the low-dimensional crane 12 is less than the set safety value, the collision risk judgment module determines that the current collision risk type is an operation with collision risk.

[0041] If the collision risk determination module determines that the current collision risk type is an operation with collision risk, when the high-dimensional crane 11 and the low-dimensional crane 12 are moving towards each other, the collision risk determination module dynamically obtains the trolley position data values ​​of the high-dimensional crane 11 and the low-dimensional crane 12, and reads the running speed values ​​of the trolleys of the high-dimensional crane 11 and the low-dimensional crane 12 in real time, and performs a series of logical operations. The collision risk determination module determines the collision risk level, which is divided into three levels, namely, level one collision risk, level two collision risk and level three collision risk.

[0042] The judgment process of the first-level collision risk is as follows: if the difference in the trolley position data of the high-dimensional crane 11 and the low-dimensional crane 12 reaches the system setting value L1, the second voice system 33 and the first voice system 28 of the two crane operation rooms will issue a voice reminder at a time interval of T1 seconds. The first display 27 and the second display 32 of the operation room will show that the high-dimensional crane 11 and the low-dimensional crane 12 start to move toward the same plane along the set direction, such as Figure 4 The arrow direction is shown in the figure. This risk level mainly serves as a reminder.

[0043] The judgment process of the second-level collision risk is as follows: on the basis of the first-level collision risk, that is, after the difference in the position data of the trolleys of the high-dimensional crane 11 and the low-dimensional crane 12 reaches the system setting value L1, the high-dimensional crane 11 and the low-dimensional crane 12 continue to move towards each other until the difference in the position data of the trolleys of the high-dimensional crane 11 and the low-dimensional crane 12 reaches the system setting value L2, L2<L1, the second voice system 33 and the first voice system 28 in the operating rooms of the two cranes issue a voice warning with a time interval of T2 seconds, warning the operator that the crane where he is located is L3 (dynamically calculated by the system) meters away from the crane in front, please confirm that the operation is safe, the first display 27 and the second display 32 in the operating room show that the high-dimensional crane 11 and the low-dimensional crane 12 are running on the same plane, and the dynamic distance L3 between the trolleys of the high-dimensional crane 11 and the low-dimensional crane 12 is displayed in the middle of the screen of the first display 27 and the second display 32.

[0044] The judgment process of the third-level collision risk is as follows: on the basis of the second-level collision risk, that is, after the trolley position data difference between the high-dimensional crane 11 and the low-dimensional crane 12 reaches the system setting value L2, the high-dimensional crane 11 and the low-dimensional crane 12 continue to move towards each other until the trolley position data difference between the high-dimensional crane 11 and the low-dimensional crane 12 is less than L4, L4<L3, L3<L2, the first display 27 and the second display 32 in the operation room show that the high-dimensional crane 11 and the low-dimensional crane 12 collide on the same plane, and the second voice system 33 and the first voice system 2 8 emits a huge collision sound, forming a three-dimensional visual and auditory effect, which warns the operator to the maximum extent. When the picture forms a collision, there is still an actual distance L4 between the high-dimensional crane 11 and the low-dimensional crane 12 (combined with the on-site crane braking distance setting). At this time, the operator pulls the operating lever back to zero position after receiving the warning (the system can also automatically cut off the operating power supply). After the high-dimensional crane 11 and the low-dimensional crane 12 brake to stop, there is still a safe distance L5 between the high-dimensional crane 11 and the low-dimensional crane 12, avoiding the occurrence of real collision accidents, ensuring safe operation, and strong operability.

[0045] When the high-dimensional crane 11 and the low-dimensional crane 12 are moving in the same direction, and the speed of the rear crane is greater than that of the front crane (the front crane and the rear crane refer to the front and rear cranes in the same direction of travel, the rear crane is located behind the front crane, the rear crane is the high-dimensional crane 11, and the front crane is the low-dimensional crane 12), the above-mentioned risk level of the two cranes moving in opposite directions is followed, and the difference in the trolley position data between the rear crane and the front crane is the system setting value L1. At this time, the second voice system 33 and the first voice system 28 in the operating rooms of the two cranes issue voice reminders with a time interval of T1 seconds. The first display 27 and the second display 32 in the operating room show that the rear crane is moving in the same plane as the front crane. Figure 5 As shown; when the difference in the trolley position data between the rear crane and the front crane is further shortened to the system setting value L2, the second voice system 33 and the first voice system 28 in the operating rooms of the two cranes issue a voice warning with a time interval of T2 seconds, warning the operator that the rear crane is L3 (dynamically calculated by the system) meters away from the front crane, and the first display 27 and the second display 32 in the operating room show that the rear crane and the front crane are running to the same plane, and the dynamic distance L3 between the trolley positions of the rear crane and the front crane is displayed in the middle of the screen of the first display 27 and the second display 32; when the difference in the trolley position data between the rear crane and the front crane is less than L4, the first display 27 and the second display 32 in the operating room show that the rear crane and the front crane collide on the same plane, and the second voice system 33 and the first voice system 28 emit a huge collision sound, forming a visual and auditory three-dimensional effect.

[0046] When one of the two-dimensional cranes stops running and the other dimensional crane runs in that direction, the system executes the early warning plan for the two cranes to move in the same direction. The screen moves from the plane of the running crane to the plane of the stopped crane. If the stopped crane starts the operation, the plan is cancelled and the above two methods are executed.

[0047] When the collision risk determination module determines that the collision risk type is an operation with collision risk, the high-dimensional crane 11 and the low-dimensional crane 12 run to the same position to perform operations according to the production instructions, and the collision risk determination module determines that the current collision risk type is an operation with unavoidable collision risk. At this time, the system obtains the production process task pool of the production party. According to the process flow, the current process crane continues to operate, and the subsequent process crane voice reminds to avoid, so as to reasonably and efficiently serve each production process.

[0048] The multi-dimensional crane avoidance system of the present invention obtains the trolley position data of the two-dimensional crane and the main and auxiliary winch height data of the high-dimensional crane, realizes data transmission through the positioning base stations at both ends, integrates the two-dimensional cranes into a plane control, meets the set threshold, forms a visual impact of the collision and is equipped with a voice alarm reminder to warn the operator to operate with caution and work safely; the avoidance operation is divided into three modes, operation without collision risk, operation with collision risk and unavoidable collision risk, and avoidance is performed according to their respective modes, and the production task pool is obtained according to the process flow to reasonably arrange the crane avoidance operation to improve the operation efficiency and avoid safety risks.

[0049] From the implementation situation, the multi-dimensional crane avoidance system of the present invention integrates two-dimensional cranes into one plane control, which effectively avoids the risks of operators relying on their feelings, experience and communication on the same-channel walkie-talkie. The avoidance activates the corresponding early warning plan according to the collision risk level. After the picture and voice form a three-dimensional collision warning for the operator, there is still a safe distance between the two cranes after braking, avoiding the occurrence of real collision accidents, ensuring safe operation, and strong operability. Reasonable avoidance according to the process flow makes it more in line with on-site production needs, safely, reasonably and efficiently serves production, and has high promotion and application value.

[0050] The multi-dimensional crane avoidance system of the present invention has the following advantages:

[0051] 1. Integrate two-dimensional cranes into one plane control to meet the set threshold, form a visual impact of collision and be equipped with a voice alarm reminder to warn operators to operate carefully and safely;

[0052] 2. Provide reasonable, safe and efficient service for production. When the system determines that there is cross operation of cranes in two dimensions that cannot be avoided, the production process task pool of the production party is obtained. According to the process flow, the crane of the current process continues to operate, and the crane of the subsequent process operation gives voice reminders to avoid;

[0053] 3. Ensure safe operation, strong operability, and can set the minimum collision distance L4 (combined with the on-site crane braking distance setting). After the collision screen is formed, there is still a safe distance between the two cranes after braking and stopping, avoiding the occurrence of real collision accidents;

[0054] 4. The system divides the avoidance operation into three modes according to the crane status, current production process flow, etc., including operation without collision risk, operation with collision risk and unavoidable collision risk. The system performs avoidance operations according to their respective modes to improve operation efficiency and avoid safety risks.

[0055] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. Multi-dimensional crane avoidance system, characterized by: It includes a data acquisition module and a collision risk determination module connected to the data acquisition module. The data acquisition module is configured to obtain the trolley position data of multi-dimensional cranes and the hoisting height data of high-dimensional cranes. The collision risk determination module determines the collision risk based on the information transmitted by the data acquisition module and confirms the collision risk type based on the set determination rules.

2. The multi-dimensional crane avoidance system according to claim 1, characterized in that: The data acquisition module includes a first positioning base station, a second positioning base station, a first vehicle-mounted base station arranged on a high-dimensional crane, and a second vehicle-mounted base station arranged on a low-dimensional crane.

3. The multi-dimensional crane avoidance system according to claim 2, characterized in that: A main roll encoder is installed on the main roll of the high-dimensional crane, and a secondary roll encoder is installed on the secondary roll of the high-dimensional crane. Data communication is performed with the PLC through the switch to read the height data of the main and secondary rolls of the high-dimensional crane. The first vehicle-mounted base station is configured for wireless data transmission and reception. The first vehicle-mounted terminal performs data communication with the first positioning base station and the second positioning base station through the first vehicle-mounted base station to determine the position data of the high-dimensional crane trolley.

4. The multi-dimensional crane avoidance system according to claim 2, characterized in that: A first display and a first voice system are provided on the high-dimensional crane, and the first display and the first voice system are connected to the collision risk determination module. The collision risk determination module includes an industrial computer, and the industrial computer exchanges data with the PLC through a switch.

5. The multi-dimensional crane avoidance system according to claim 2, characterized in that: The second vehicle-mounted base station is configured for wireless data transmission and reception. The second vehicle-mounted terminal communicates data with the first positioning base station and the second positioning base station through the second vehicle-mounted base station to determine low-dimensional crane trolley position data.

6. The multi-dimensional crane avoidance system according to claim 5, characterized in that: A second display and a second voice system are arranged on the low-dimensional crane, and the second display and the second voice system are connected to the second vehicle-mounted terminal.

7. The multi-dimensional crane avoidance system according to any one of claims 1 to 6, characterized in that: The collision risk types are divided into three types, namely, operations without collision risk, operations with collision risk and operations with unavoidable collision risk. When the multi-dimensional cranes are operating, the collision risk determination module confirms the collision risk type based on the trolley position data of the multi-dimensional cranes, the hoisting height data of the high-dimensional cranes and the current production process flow.

8. The multi-dimensional crane avoidance system according to claim 7, characterized in that: When the hoisting heights of the main reel and auxiliary reel of the high-dimensional crane are both greater than the set height value of the low-dimensional crane, the collision risk judgment module determines that the current collision risk type is a collision-free risk operation, and the high-dimensional crane and the low-dimensional crane can operate normally.

9. The multi-dimensional crane avoidance system according to claim 7, characterized in that: When the hoisting height of the main reel or auxiliary reel of the high-dimensional crane is less than or equal to the set height value of the low-dimensional crane, and the difference in trolley position data between the high-dimensional crane and the low-dimensional crane is less than the set safety value, the collision risk judgment module determines that the current collision risk type is an operation with collision risk.

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