Hoisting equipment control method, device and system and terminal equipment

Abstract

The invention discloses a hoisting equipment control method, device and system and terminal equipment, and relates to the technical field of hoisting equipment control, the method comprises the following steps: controlling a main arm of hoisting equipment to drive a hoisting part to reach a first position and a second position respectively, and obtaining control parameters of the main arm when the hoisting part reaches the first position and the second position; determining a first distance between the first position and the second position according to the control parameters of the main arm, and determining a second distance and a third distance; a virtual wall of the target obstacle is constructed with the first distance, the second distance and the third distance as the length, the width and the height respectively, and the virtual wall is an envelope cube of the target obstacle; in the operation process of the hoisting equipment, the spatial position relation between the hoisting part and / or the main arm and the virtual wall is calculated according to the control parameters of the hoisting part and the main arm, so that the main arm or the hoisting part is controlled to execute hoisting operation. According to the method, the calibration precision and efficiency of the obstacle virtual wall are effectively improved, and the operation convenience and the safety of the hoisting process are improved.

Description

Technical Field

[0001] This application relates to the field of hoisting equipment control technology, specifically to a hoisting equipment control method, a hoisting equipment control device, a hoisting equipment control system, and a terminal device. Background Technology

[0002] Currently, with the development of control technology, cranes are becoming increasingly automated. Cranes and other lifting equipment can automatically warn of obstacles and perform emergency braking during operation, which helps improve system safety. However, as... Figure 1 As shown, existing control systems typically set limits on four parts: boom height, luffing angle, slewing angle, and boom amplitude. The luffing and slewing angles confine the boom to an incomplete sphere; the height and amplitude settings confine it to a cuboid. These two settings combine to form a square plus spherical structure. However, existing technology does not impose restrictions on the hook and the load.

[0003] Meanwhile, in existing technologies, the setting of virtual walls differs significantly from actual needs. In existing technologies, the rotation and amplitude limits are all based on a square or spherical structure, while the actual working environment is mostly composed of linear or block-shaped obstacles, such as walls, cables, pipes, streetlights, signal towers, and utility poles. The existing virtual walls are far from meeting the requirements of actual use, with many restrictions, making it difficult to work effectively in restricted areas. Furthermore, the rotation and amplitude angles in existing technologies are usually set manually, resulting in large errors compared to actual applications. The set values ​​do not fit the actual requirements very well, so operators rely entirely on their operating experience, leading to high labor intensity and a high risk of safety accidents due to misoperation. Summary of the Invention

[0004] The purpose of this application is to provide a hoisting equipment control method, a hoisting equipment control device, a hoisting equipment control system, and a terminal device to solve the problem that the setting of virtual walls in the prior art differs greatly from actual needs, and that there are no restrictions on hooks and hooked items.

[0005] To achieve the above objectives, in the first aspect of this application, a method for controlling hoisting equipment is provided, comprising: The main boom of the hoisting equipment is controlled to drive the hoisting part to the first position and the second position, which correspond to the ground projection of the target obstacle at two vertices in the first horizontal direction. The control parameters of the main boom are obtained when the hoisting part reaches the first position and the second position, wherein the first position and the second position are at the same height. The first distance between the first position and the second position is determined based on the control parameters of the main arm, the second distance is determined based on the maximum projection distance of the target obstacle in the second horizontal direction, and the third distance is determined based on the maximum projection distance of the target obstacle in the vertical direction. A virtual wall is constructed for the target obstacle using the first distance, the second distance, and the third distance as its length, width, and height, respectively, wherein the virtual wall is an envelope cube of the target obstacle; During the operation of the hoisting equipment, the spatial positional relationship between the hoisting part and / or the main boom and the virtual wall is calculated based on the control parameters of the hoisting part and the main boom, and the main boom or the hoisting part is controlled to perform hoisting operations based on the spatial positional relationship.

[0006] Optionally, the control parameters of the hoisting unit include the vertical distance between the hoisting unit and the top of the main boom; the control parameters of the main boom include the boom length, the boom amplitude, the boom slewing angle, and the vertical distance between the top and bottom of the main boom. The virtual wall is perpendicular to the horizontal plane. The first distance between the first position and the second position is determined based on the control parameters of the main arm, including: The angle of the main arm is the starting angle when the projection of the main arm on the horizontal plane is perpendicular to the wall of the virtual wall; When the hoisting unit reaches the first position, the first rotation angle of the main boom relative to the starting angle is determined, and when the hoisting unit reaches the second position, the second rotation angle of the main boom relative to the starting angle is determined; Based on the first rotation angle and the amplitude of the main arm, or based on the second rotation angle and the amplitude of the main arm, the first projection distance of the main arm in the vertical direction of the virtual wall is determined based on trigonometric function relationships. Based on the first projection distance, the first rotation angle, and the second rotation angle, the first distance between the first position and the second position is determined using trigonometric function relationships.

[0007] Optionally, the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall is calculated based on the control parameters of the hoisting unit and the main boom, so as to control the main boom or the hoisting unit to perform hoisting operations, including: Receive the operation instructions from the hoisting equipment and determine the target control parameters for the main boom or the hoisting unit; Obtain the control parameters of the hoisting part and the main boom. If the current slewing angle of the main boom is within the range of the first slewing angle to the second slewing angle, determine the spatial positional relationship between the hoisting part and / or the main boom and the virtual wall based on the control parameters of the hoisting part and the main boom. Determine the interference conditions under different spatial positional relationships, and judge whether the main boom or the hoisting part and the virtual wall meet the corresponding interference conditions based on the target control parameters of the main boom or the hoisting part; If it is determined that the main boom or the hoisting unit meets the interference condition, the target control parameters of the main boom or the hoisting unit are restricted, and the main boom or the hoisting unit is controlled to perform hoisting operations using the restricted target control parameters.

[0008] Optionally, determining the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall based on the control parameters of the hoisting unit and the main boom includes: Based on the current amplitude of the main arm and the current rotation angle of the main arm relative to the starting angle, the current projection distance of the main arm in the vertical direction of the virtual wall is determined based on trigonometric function relationships. If the current projected distance of the main arm in the vertical direction of the virtual wall is greater than the sum of the first projected distance and the second distance, it is determined that the hoisting part is located behind the virtual wall; if the current distance of the main arm in the direction perpendicular to the virtual wall is less than the first projected distance, it is determined that the hoisting part is located in front of the virtual wall.

[0009] Optionally, determining the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall based on the control parameters of the hoisting unit and the main boom further includes: Based on the current amplitude of the main arm and the current rotation angle of the main arm relative to the starting angle, the current projection distance of the main arm in the vertical direction of the virtual wall is determined based on trigonometric function relationships. Determine a first distance difference between the current vertical distance between the top and bottom of the main boom and the current vertical distance between the hoisting part and the top of the main boom, and determine a second distance difference between the first calibrated distance between the top and bottom of the main boom and the second calibrated distance between the hoisting part and the top of the main boom when the hoisting part reaches the first position or the second position; If the current projection distance of the main arm in the vertical direction of the virtual wall is greater than the first projection distance, but less than the sum of the second distance and the first projection distance, and the first distance difference is greater than the second distance difference, then it is determined that the hoisting part is located above the virtual wall.

[0010] Optionally, determining the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall based on the control parameters of the hoisting unit and the main boom further includes: Based on the current amplitude of the main arm and the current rotation angle of the main arm relative to the starting angle, the current projection distance of the main arm in the vertical direction of the virtual wall is determined based on trigonometric function relationships. Determine a first ratio between the current vertical distance between the top and bottom ends of the main arm and the current projected distance of the main arm in the vertical direction of the virtual wall, and determine a second ratio between the first calibration distance and the first projected distance. If the current projection distance of the main arm in the vertical direction of the virtual wall is greater than the first projection distance, and the first ratio is greater than the second ratio, then the main arm is determined to be located above the virtual wall; or Based on the sum of the second calibration distance and the third distance, when the hoisting unit reaches the first position or the second position, the third calibration distance in the vertical direction between the lower edge of the virtual wall and the top of the main arm is determined, and the difference between the first calibration distance and the third calibration distance is used as the fourth calibration distance in the vertical direction between the lower edge of the virtual wall and the bottom of the main arm. Determine a third ratio of the fourth calibration distance to the sum of the first projection distance and the second distance; If the current projection distance of the main arm in the vertical direction of the virtual wall is greater than the first projection distance, and the third ratio is greater than the first ratio, it is determined that the main arm is located below the virtual wall.

[0011] Optionally, the control parameters of the main arm also include the arm length of the main arm, and the method further includes: The interference redundancy distance is determined based on the length of the main arm; Using the target control parameter as the current control parameter, determine the third distance difference between the fourth calibration distance and the interference redundancy distance, and the fourth ratio of the third distance difference to the sum of the first projection distance and the second distance; Determine the interference conditions under different spatial relationships, including: If, based on the target control parameters, the main boom is determined to be in a variable-amplitude ascending configuration, and the hoisting unit is located behind the virtual wall, with the main boom positioned below the virtual wall, the interference conditions between the main boom and the virtual wall include: The fourth ratio is less than the first ratio; or The method further includes: Using the target control parameters as the current control parameters, determine a fifth ratio of the second distance difference to the sum of the first projected distance and the second distance; and Determine the sixth ratio between the first distance difference and the distance difference of the interference redundancy distance and the current projection distance of the main arm in the vertical direction of the virtual wall; Determine the interference conditions under different spatial relationships, including: If, based on the target control parameters, the main boom is determined to be in a variable-amplitude ascending position, and the hoisting unit is located behind the virtual wall, while the main boom is located above the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The fifth ratio is less than the sixth ratio.

[0012] Optionally, the method further includes: Using the target control parameters as the current control parameters, determine the seventh ratio of the sum of the second distance difference and the interference redundancy distance to the first projection distance; Determining the interference conditions under different spatial relationships also includes: If, based on the target control parameters, the main boom is determined to be lowering with variable amplitude, and the hoisting unit is located behind the virtual wall, and the main boom is located above the virtual wall, the interference conditions between the main boom and the virtual wall include: The seventh ratio is greater than the second ratio; or Determining the interference conditions under different spatial relationships also includes: If the main boom is determined to be lowering with variable amplitude based on the target control parameters, and the hoisting unit is located in front of the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The seventh ratio is greater than the eighth ratio of the first distance difference to the current projection distance of the main arm in the vertical direction of the virtual wall.

[0013] Optionally, the method further includes: Using the target control parameter as the current control parameter, the difference between the second distance difference and the third distance is determined as the fourth distance difference; Determining the interference conditions under different spatial relationships also includes: If, based on the target control parameters, the slewing angle of the main boom decreases, and the hoisting unit is located in front of the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The sum of the second distance difference and the interference redundancy distance is greater than the sum of the first distance difference and the interference redundancy distance, and the sum of the current vertical distance between the top and bottom ends of the main arm and the interference redundancy distance is greater than the fourth distance difference, and the sum of the current projection distance of the main arm in the vertical direction of the virtual wall and the interference redundancy distance is less than the first projection distance; or Determining the interference conditions under different spatial relationships also includes: If, based on the target control parameters, the slewing angle of the main boom increases, and the hoisting unit is located behind the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The sum of the second distance difference and the interference redundancy distance is greater than the sum of the first distance difference and the interference redundancy distance, and the sum of the current distance between the top end and the bottom end of the main arm in the vertical direction and the interference redundancy distance is greater than the fourth distance difference, and the current projection distance of the main arm in the vertical direction of the virtual wall is less than the sum of the first projection distance, the second distance and the interference redundancy distance.

[0014] Optionally, determining the interference conditions under different spatial relationships also includes: If the hoisting unit is determined to descend based on the target control parameters, and the hoisting unit is located above the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The sum of the second distance difference and the interference redundancy distance is less than the first distance difference.

[0015] A second aspect of this application provides a hoisting equipment control device, comprising: The command response module is configured to control the main boom of the hoisting equipment to drive the hoisting part to a first position and a second position corresponding to the ground projection of the target obstacle at two vertices in the first horizontal direction, and to obtain the control parameters of the main boom when the hoisting part reaches the first position and the second position, wherein the first position and the second position are at the same height; The virtual wall parameter determination module is configured to determine a first distance between the first position and the second position based on the control parameters of the main arm, determine a second distance based on the maximum projection distance of the target obstacle in the second horizontal direction, and determine a third distance based on the maximum projection distance of the target obstacle in the vertical direction. The virtual wall construction module is configured to construct virtual walls of the target obstacle with the first distance, the second distance, and the third distance as the length, width, and height, respectively, wherein the virtual wall is the envelope cube of the target obstacle; The control module is configured to calculate the spatial positional relationship between the hoisting part and / or the main boom and the virtual wall based on the control parameters of the hoisting part and the main boom during the operation of the hoisting equipment, and control the main boom or the hoisting part to perform hoisting operations based on the spatial positional relationship.

[0016] In a third aspect, this application provides a hoisting device, characterized in that it includes the hoisting device control device as described above.

[0017] In a fourth aspect, this application provides a terminal device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the hoisting equipment control method described above.

[0018] The embodiments provided in this application have the following beneficial effects: This application calibrates the apex of an obstacle by controlling the lifting part of the hoisting equipment, such as the hook. Then, based on the control parameters of the hook and main boom, it can accurately calculate the apex position of the obstacle and construct a virtual wall. During operation, the working movements of the hook or main boom are restricted according to the constructed virtual wall and real-time control parameters. This application effectively improves the calibration accuracy and efficiency of the virtual wall, can construct virtual walls for multiple obstacles simultaneously, has greater freedom, can adapt to most obstacles on the work site, and effectively improves operational convenience and the safety of the hoisting process.

[0019] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 This diagram illustrates the limitations of existing virtual wall main arms. Figure 2 A flowchart illustrating the hoisting equipment control method according to an embodiment of this application is shown. Figure 3 This schematic diagram illustrates a front view of a virtual wall calibration embodiment of the present application; Figure 4 This schematic diagram illustrates a top view of a virtual wall calibration embodiment of the present application; Figure 5 A schematic diagram of the control system according to an embodiment of this application is shown; Figure 6 A control flowchart illustrating an embodiment of this application is shown schematically; Figure 7 A schematic diagram of the hoisting equipment control device according to an embodiment of this application is shown. Figure 8 The schematic diagram illustrates a terminal device structure according to an embodiment of this application.

[0021] Explanation of reference numerals in the attached figures 10 - Terminal device, 100 - Processor, 101 - Memory, 102 - Computer program. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0023] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0024] To solve the above problems, such as Figure 2 As shown, in a first aspect of this application, a method for controlling hoisting equipment is provided, comprising: S100: Control the main boom of the hoisting equipment to drive the hoisting part to the first position and the second position respectively at the two vertices of the ground projection of the target obstacle in the first horizontal direction, and obtain the control parameters of the main boom when the hoisting part reaches the first position and the second position, wherein the first position and the second position are at the same height; S200. Determine the first distance between the first position and the second position based on the control parameters of the main arm, determine the second distance based on the maximum projection distance of the target obstacle in the second horizontal direction, and determine the third distance based on the maximum projection distance of the target obstacle in the vertical direction. S300. Construct virtual walls for the target obstacle with the first distance, the second distance, and the third distance as the length, width, and height, respectively, where the virtual walls are the envelope cubes of the target obstacle; S400 During the operation of the hoisting equipment, the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall is calculated based on the control parameters of the hoisting unit and the main boom, and the main boom or hoisting unit is controlled to perform hoisting operations based on the spatial positional relationship.

[0025] Thus, this application calibrates the apex of an obstacle by controlling the lifting part of the hoisting equipment, such as the hook. Based on the control parameters of the hook and main boom, the apex position of the obstacle can be accurately calculated, constructing a virtual wall around the obstacle. During operation, the working movements of the hook or main boom are restricted according to the constructed virtual wall and real-time control parameters. This application effectively improves the calibration accuracy and efficiency of the virtual wall, enabling the simultaneous construction of virtual walls for multiple obstacles. It offers greater freedom of movement, adapts to most obstacles on the work site, and effectively improves operational convenience and the safety of the hoisting process.

[0026] In step S100, before performing the operation, a virtual wall of obstacles is first calibrated using lifting equipment such as a crane. Specifically, after the crane outriggers are in place, the virtual wall calibration interface is accessed through the human-machine interface, such as... Figure 3 As shown, users can control the hook to reach one vertex of the virtual wall, such as point 1, based on the location and geometry of the obstacle. The current position of the lifting unit, such as the hook, is set to point 1 via the human-machine interface. Then, the user controls the hook to reach another vertex of the virtual wall, such as point 2, and sets the current position of the lifting unit, such as the hook, to point 2 via the same interface. It is understood that points 1 and 2 are at the same height. For example, if the obstacle is irregularly shaped, the highest point of the obstacle is used as the height of points 1 and 2. The control of the crane's main boom and hook can be manual or automated. For example, images within the working area can be captured by cameras installed on the crane or at the work site. Image recognition can identify obstacles within the working area and determine the relative position of the obstacle and the hook, automatically controlling the hook to reach the designated position and calibrating the vertices of the virtual wall. During the process of controlling the hook to reach points 1 and 2, the system synchronously acquires the control parameters of the main boom and hook in real time.

[0027] like Figure 4As shown, in step S200, when the hook reaches points 1 and 2, the first distance L between points 1 and 2 is automatically calculated based on the control parameters of the main boom and the hook. The user can determine the width W and height H of the virtual wall based on the two determined vertices, i.e., the second distance and the third distance. For example, the user can estimate the width and height of the virtual wall based on the shape and structure of the obstacle, or the system can automatically estimate the width and height of the virtual wall based on image recognition. This is not limited here. The first distance is not less than the maximum projected distance of the target obstacle in the first horizontal direction, the second distance is not less than the maximum projected distance of the target obstacle in the second horizontal direction, and the third distance is not less than the maximum projected distance of the target obstacle in the vertical direction.

[0028] In step S300, the virtual wall of the obstacle is a cubic structure, and the virtual wall is the envelope cube of the target obstacle. It is understandable that, to further ensure operational safety, redundancy can be set when calibrating the virtual wall; that is, the virtual wall does not necessarily have to be the minimum envelope cube of the target obstacle. If the obstacle is a suspended obstacle, the height of the suspended obstacle, such as an electrical conduit, above the ground can be obtained by subtracting the wall height from the hook height. In this case, the main boom can pass through either the top or the bottom. If the height of the virtual wall is not set, the system defaults to a wall extending to the ground, and the main boom cannot pass through from below.

[0029] like Figure 5As shown, during the control of the crane's movements, the control unit monitors all input signals in real time, performs logical operations, and controls the outputs of the solenoid valves, thereby completing the acquisition of control parameters and the control of the boom and hook. Understandably, the acquisition of control parameters for the hook and boom can be achieved through sensors installed on the crane. The winch encoder is mounted on the winch drum via a coupling, rotating concentrically with the drum. It transmits the collected drum position signal to the control unit via a CAN bus. The system calculates the current length of the wire rope wound on the drum based on the drum diameter, wire rope diameter, and the number of turns of rope in a single layer, thus estimating the distance between the hook and the top of the boom. A displacement sensor is mounted on the boom to detect the length of the boom extension / retraction and transmits this information to the control unit via a CAN bus. A boom tilt sensor is mounted on the boom to detect the boom lifting angle. A slewing angle encoder is connected to a slewing gear ring via gears and transmits the signal collected by the slewing angle encoder to the control unit via a CAN bus. The control unit calculates the slewing angle using the designed reduction ratio. The winch raising solenoid valve and winch lowering solenoid valve control the hoisting and lowering of the winch, respectively. The luffing raising solenoid valve and luffing lowering solenoid valve control the hoisting and lowering of the boom, respectively. The left slewing solenoid valve and right slewing solenoid valve control the left and right rotation of the slewing mechanism, respectively. It is understood that the larger the control current, the faster the speed. The human-machine interface communicates with the control unit via a CAN bus, displays various status signals sent by the control unit, and allows users to configure control parameters through the human-machine interface.

[0030] In step S400, during crane operation, based on the acquired control parameters, the distances a1 and a2 between the hook and the top of the boom, the boom amplitudes b1 and b2, the boom slewing angles c1 and c2, and the distance e1 from the top to the bottom of the boom can be calculated using existing algorithms. This allows for the calculation of the spatial relationship between the boom and hook and the virtual wall. By analyzing the positional relationship between the boom, hook, and wall, and the upcoming actions, it can be determined whether the boom interferes with the wall, or whether the hook or wire rope interferes with the wall. Understandably, since equipment at actual work sites has a certain volume, redundancy can be added to the interference conditions. This redundancy can be optimized according to different actions and distances to ensure safety and reliability during operation. For example, Figure 3As shown, a1 is the distance from the hook to the boom head when point 1 is marked; b1 is the boom amplitude when point 1 is marked; c1 is the slewing angle when point 1 is marked (0° is taken as the absolute value when perpendicular to the wall); e1 is the vertical distance from the boom head to the turntable plane; a2 is the distance from the hook to the boom head when point 2 is marked; b2 is the boom amplitude when point 2 is marked; c2 is the slewing angle when point 2 is marked (0° is taken as the absolute value when perpendicular to the wall); d is the vertical distance between the vertical plane connecting points 1 and 2 and the crane's slewing axis; W is the wall thickness, which can be a user-defined value (points 1 and 2 are the vertices facing the crane); L is the vertical projection distance of points 1 and 2 on the horizontal ground, representing the wall length; H represents the distance from the upper surface of the wall to the lower surface of the wall (if not set, it means the wall extends downwards to the ground).

[0031] In this application, the control parameters of the hoisting part include the vertical distance between the hoisting part and the top of the main boom; the control parameters of the main boom include the boom length, the boom amplitude, the boom slewing angle, and the vertical distance between the top and bottom of the main boom; the virtual wall is perpendicular to the horizontal plane, that is, perpendicular to the ground. In step S200, determining the first distance between the first position and the second position based on the control parameters of the main boom includes: taking the angle of the main boom when its projection on the horizontal plane is perpendicular to the virtual wall as the starting angle, which can be set to 0 degrees; determining the first rotation angle c1 of the main boom relative to the starting angle when the hoisting part reaches the first position (point 1), and determining the second rotation angle c2 of the main boom relative to the starting angle when the hoisting part reaches the second position (point 2); determining the first projection distance d of the main boom in the vertical direction of the virtual wall based on trigonometric relationships, either based on the first rotation angle and the amplitude of the main boom, or based on the second rotation angle and the amplitude of the main boom. For example, during the main boom control process, the amplitude b1 or b2 of the main boom can be calculated based on trigonometric relationships using the real-time tilt angle and boom length of the main boom, and then the first projection distance d can be calculated based on the rotation angle and amplitude of the main boom. Specifically, the vertical distance from the bottom of the main boom, i.e., the rotation center, to the wall can be expressed as d = b1*cos(c1); Based on the first projection distance, the first rotation angle and the second rotation angle, the first distance between the first position and the second position is determined based on the trigonometric function relationship. For example, based on the rotation angle c1, the first projection distance d can be used to calculate the left side 1 / 2L of the virtual wall, and based on the rotation angle c2, the first projection distance d can be used to calculate the right side 1 / 2L of the virtual wall, thus obtaining the first distance, that is, the length L of the virtual wall. Specifically, the length of the wall can be expressed as L=d(cos(c1)+cos(c2)).

[0032] In step S400, the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall is calculated based on the control parameters of the hoisting unit and the main boom, so as to control the main boom or the hoisting unit to perform the hoisting operation, including: S410. Receive the operation instruction of the hoisting device and determine the target control parameters of the main boom or the hoisting part. The target control parameters are the control parameters for the next action of the main boom or the hook.

[0033] S420. Obtain the control parameters of the hoisting part and the main boom. If the current slewing angle of the main boom is within the range from the first slewing angle to the second slewing angle, determine the spatial position relationship between the hoisting part and / or the main boom and the virtual wall according to the control parameters of the hoisting part and the main boom.

[0034] In this application, let the current main boom amplitude be bx, the distance from the hook to the main boom be ax, the angle from the slewing angle to the vertical plane of the wall be cx, the vertical distance from the boom tip (i.e., the top of the main boom) to the crane support surface (i.e., the bottom of the main boom) be ex, and the boom length be fx.

[0035] It can be understood that if the slewing angle of the crane in the operating state is both smaller than the angle corresponding to point 1 and smaller than the angle corresponding to point 2, it is necessary to judge the orientation relationship between the main boom and the hook and the obstacle wall; if the slewing angle of the crane in the operating state is not within the above range, there is no interference risk between the crane and the obstacle wall, so it is not necessary to perform interference judgment. Specifically, when the slewing direction is towards the side of point 1, the interference precondition can be expressed as Ex = cx < (c1 + 1 / d + 0.1), and when the slewing direction is towards the side of point 2, the interference precondition can be expressed as Ex = x < (c2 + 1 / d + 0.1), where 1 / d + 0.1 is the preset safety redundancy.

[0036] In this application, determining the spatial position relationship between the hoisting part and / or the main boom and the virtual wall according to the control parameters of the hoisting part and the main boom includes: based on the current amplitude of the main boom and the current slewing angle of the main boom relative to the starting angle, determine the current projected distance of the main boom in the vertical direction of the virtual wall at the current amplitude based on the trigonometric function relationship. The distance projected to the vertical plane of the wall in the current state is dx = bx * cos(cx); if the current projected distance of the main boom in the vertical direction of the virtual wall is greater than the sum of the first projected distance and the second distance, it is determined that the hoisting part is located behind the virtual wall. Specifically, that is, if dx > d + W && Ex, it is determined that the hook is behind the virtual wall, where && Ex means that the slewing angle of the main boom satisfies the interference precondition; if the current distance of the main boom in the direction perpendicular to the virtual wall is less than the first projected distance, it is determined that the hoisting part is located in front of the virtual wall, that is, if dx < d && Ex, it is determined that the hook is in front of the virtual wall.

[0037] Determining the spatial position relationship between the hoisting part and / or the main boom and the virtual wall based on the control parameters of the hoisting part and the main boom further includes: determining the current projection distance dx of the main boom in the vertical direction of the virtual wall at the current amplitude of the main boom based on trigonometric function relationships according to the current amplitude of the main boom and the current slewing angle of the main boom relative to the starting angle; determining the first distance difference ex - ax between the current distance between the top end and the bottom end of the main boom in the vertical direction and the current distance between the hoisting part and the top end of the main boom in the vertical direction, and determining the second distance difference between the first calibrated distance and the second calibrated distance between the top end and the bottom end of the main boom in the vertical direction and the hoisting part and the top end of the main boom in the vertical direction when the hoisting part reaches the first position or the second position, that is, e1 - a1, or e2 - a2. It can be understood that e2 is the vertical distance from the top end to the bottom end of the main boom when the hook reaches point 2, which is not shown in the figure; if the current projection distance of the main boom in the vertical direction of the virtual wall is greater than the first projection distance but less than the sum of the second distance and the first projection distance, and the first distance difference is greater than the second distance difference, it is determined that the hoisting part is located above the virtual wall, that is, if d + W > dx > d && ex - ax > e1 - a1 && Ex.

[0038] Determining the spatial position relationship between the hoisting part and / or the main boom and the virtual wall based on the control parameters of the hoisting part and the main boom further includes: determining the current projection distance dx of the main boom in the vertical direction of the virtual wall at the current amplitude of the main boom based on trigonometric function relationships according to the current amplitude of the main boom and the current slewing angle of the main boom relative to the starting angle; determining the first ratio ex / dx between the current distance between the top end and the bottom end of the main boom in the vertical direction and the current projection distance of the main boom in the vertical direction of the virtual wall, and determining the second ratio e1 / d between the first calibrated distance and the first projection distance; if the current projection distance of the main boom in the vertical direction of the virtual wall is greater than the first projection distance, and the first ratio is greater than the second ratio, it is determined that the main boom is located above the virtual wall, that is, if dx > d && e1 / d < ex / dx && Ex, then it is determined that the main boom is located above the virtual wall.

[0039] Alternatively, based on the sum of the second and third calibration distances, determine the third calibration distance in the vertical direction between the lower edge of the virtual wall and the top of the main boom when the hoisting unit reaches the first or second position, i.e., H+a1 or H+a2. Use the difference between the first and third calibration distances as the fourth calibration distance in the vertical direction between the lower edge of the virtual wall and the bottom of the main boom, i.e., e1-(H+a1) or e2-(H+a2). Determine the third ratio of the fourth calibration distance to the sum of the first and second projection distances, i.e., (e1-(H+a1 / a2)) / (d+W). If the current projection distance of the main boom in the vertical direction of the virtual wall is greater than the first projection distance, and the third ratio is greater than the first ratio, determine that the main boom is located below the virtual wall, i.e., if dx>d&&(e1-(H+a1 / a2)) / (d+W)>ex / dx&&Ex, then determine that the main boom is located below the virtual wall. It can be understood that if H is not set, the result of this judgment will be negative.

[0040] S430. Determine the interference conditions under different spatial positional relationships, and judge whether the main boom or hoisting part and the virtual wall meet the corresponding interference conditions based on the target control parameters of the main boom or hoisting part.

[0041] Specifically, such as Figure 6 As shown, if the main boom is determined to be a variable-amplitude rise based on the target control parameters, and the hoisting unit is located behind the virtual wall and the main boom is located below the virtual wall, the method of this application further includes: determining the interference redundancy distance based on the boom length, in this application, the interference redundancy distance is determined to be 0.03*fx+1; using the target control parameters as the current control parameters for interference judgment; determining the third distance difference between the fourth calibration distance and the interference redundancy distance, i.e., e1-(H+a1)-0.03*fx-1, and the fourth ratio of the third distance difference to the sum of the first projection distance and the second distance, i.e. (e1-(H+a1 / a2)-0.03*fx-1) / (d+W).

[0042] Then, under the current spatial relationship, the interference conditions between the main arm and the virtual wall include: the fourth ratio is less than the first ratio, that is, if (e1-(H+a1 / a2)-0.03*fx-1) / (d+W)<ex / dx, it is determined that the main arm will interfere with the virtual wall.

[0043] If the main boom is determined to be in a variable amplitude upward manner based on the target control parameters, and the hoisting unit is located behind the virtual wall and the main boom is located above the virtual wall, then the method of this application further includes: using the target control parameters as the current control parameters, determining a fifth ratio of the second distance difference to the sum of the first projected distance and the second distance, i.e. (e1-a1) / (d+W); and determining a sixth ratio of the distance difference between the first distance difference and the interference redundancy distance to the current projected distance of the main boom in the vertical direction of the virtual wall, i.e. (ex-ax-0.03*fx-1) / dx.

[0044] Therefore, under the current spatial relationship, the interference conditions between the hoisting part and the virtual wall include: the fifth ratio is less than the sixth ratio, that is, if (e1-a1) / (d+W)<(ex-ax-0.03*fx-1) / dx, then it is determined that the hook and the virtual wall interfere.

[0045] If the main boom is determined to be a variable-amplitude descent based on the target control parameters, and the hoisting unit is located behind the virtual wall and the main boom is located above the virtual wall, the method of this application further includes: using the target control parameters as the current control parameters, determining the seventh ratio of the sum of the second distance difference and the interference redundancy distance to the first projection distance, i.e. (e1-a1+0.03*fx+1) / (d).

[0046] Therefore, under the current spatial relationship, the interference conditions between the main arm and the virtual wall include: the seventh ratio is greater than the second ratio, that is, if (e1-a1+0.03*fx+1) / (d)>ex / dx, it is determined that the main arm and the virtual wall will interfere.

[0047] If the main boom is determined to be descending with variable amplitude based on the target control parameters, and the hoisting part is located in front of the virtual wall, then the interference conditions between the hoisting part and the virtual wall include: the seventh ratio is greater than the eighth ratio of the first distance difference to the current projection distance of the main boom in the vertical direction of the virtual wall, that is, if (e1-a1+0.03*fx+1) / d>(ex-ax) / dx, it is determined that the hook will interfere with the virtual wall.

[0048] If the slewing angle of the main boom is reduced based on the target control parameters, and the hoisting part is located in front of the virtual wall, the method of this application further includes: using the target control parameters as the current control parameters, determining the difference between the second distance difference and the third distance as the fourth distance difference, i.e., e1-a1-H; Then, under this spatial position relationship, the interference conditions between the hoisting part and the virtual wall include: the sum of the second distance difference and the interference redundancy distance is greater than the sum of the first distance difference and the interference redundancy distance, that is, e1 - a1 + 0.03*fx + 1 > ex - ax + 0.03*fx + 1, and the sum of the current distance between the top and bottom of the main boom in the vertical direction and the interference redundancy distance is greater than the fourth distance difference, that is, ex + 0.03*fx + 1 > e1 - a1 - H (if H is not set, this item is judged to be true), and the sum of the current projected distance of the main boom in the vertical direction of the virtual wall and the interference redundancy distance is less than the first projected distance, that is, dx + 0.03*fx + 1 < d. That is, if the above conditions are satisfied simultaneously, it is determined that the hook will interfere with the virtual wall.

[0049] If it is determined according to the target control parameters that the slewing angle of the main boom becomes larger and the hoisting part is located behind the wall of the virtual wall, the interference conditions between the hoisting part and the virtual wall include: the sum of the second distance difference and the interference redundancy distance is greater than the sum of the first distance difference and the interference redundancy distance, that is, e1 - a1 + 0.03*fx + 1 > ex - ax + 0.03*fx + 1, and the sum of the current distance between the top and bottom of the main boom in the vertical direction and the interference redundancy distance is greater than the fourth distance difference, that is, ex + 0.03*fx + 1 > e1 - a1 - H (if H is not set, this item is judged to be true), and the current projected distance of the main boom in the vertical direction of the virtual wall is less than the sum of the first projected distance, the second distance and the interference redundancy distance, that is, dx < d + W + 0.03*fx + 1. That is, if the above conditions are satisfied simultaneously, it is determined that the hook will interfere with the virtual wall.

[0050] If it is determined according to the target control parameters that the hoisting part descends, that is, the current action is to hoist the hook downwards, and the hoisting part is located above the wall of the virtual wall, the interference conditions between the hoisting part and the virtual wall include: the sum of the second distance difference and the interference redundancy distance is less than the first distance difference. That is, if e1 - a1 + 0.03*fx + 1 < ex - ax, it is determined that the hook will interfere with the virtual wall. It can be understood that if the collision volume of the lifted object is considered, dx, ax, and cx need to be adaptively adjusted, but the judgment rule remains unchanged, and this is not limited here.

[0051] S440. If it is determined that the main boom or lifting unit meets the interference conditions, the target control parameters of the main boom or lifting unit are restricted, and the main boom or lifting unit is controlled to perform lifting operations using the restricted target control parameters. For example, when the main boom is luffing, if it is determined that the main boom or hook interferes with the virtual wall, the target control parameters are restricted, thereby limiting the luffing range; when the main boom is luffing, if it is determined that the main boom or hook interferes with the virtual wall, the target control parameters are restricted, thereby limiting the luffing range; when the main boom is performing a slewing motion, if it is determined that the main boom or hook interferes with the virtual wall, the target control parameters are restricted, thereby limiting the slewing angle; when the hook is performing a hoisting lowering motion, if it is determined that the hook interferes with the virtual wall, the hoisting lowering range is restricted. By restricting the movements of the main boom or hook, interference between the main boom or hook and obstacles during operation can be avoided.

[0052] like Figure 7 As shown, in a second aspect, this application provides a hoisting equipment control device, comprising: The instruction response module 201 is configured to control the main boom of the hoisting equipment to drive the hoisting part to the first position and the second position respectively at the two vertices of the ground projection of the target obstacle in the first horizontal direction, and to obtain the control parameters of the main boom when the hoisting part reaches the first position and the second position, wherein the first position and the second position are at the same height; The virtual wall parameter determination module 202 is configured to determine a first distance between a first position and a second position based on the control parameters of the main arm, determine a second distance based on the maximum projection distance of the target obstacle in the second horizontal direction, and determine a third distance based on the maximum projection distance of the target obstacle in the vertical direction. The virtual wall construction module 203 is configured to construct virtual walls of the target obstacle with the first distance, the second distance and the third distance as the length, width and height respectively, wherein the virtual wall is the envelope cube of the target obstacle; The control module 204 is configured to calculate the spatial positional relationship between the hoisting part and / or the main boom and the virtual wall based on the control parameters of the hoisting part and the main boom during the operation of the hoisting equipment, and control the main boom or the hoisting part to perform hoisting operations based on the spatial positional relationship.

[0053] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application.

[0054] In a third aspect, this application provides a hoisting device, characterized in that it includes the hoisting device control device as described above.

[0055] In a fourth aspect, this application provides a terminal device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the hoisting equipment control method described above.

[0056] like Figure 8 The diagram shown is a schematic representation of a terminal device provided in an embodiment of this application. Figure 8 As shown, the terminal device 10 of this embodiment includes a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100. When the processor 100 executes the computer program 102, it implements the steps in the above method embodiments. Alternatively, when the processor 100 executes the computer program 102, it implements the functions of each module / unit in the above device embodiments.

[0057] For example, computer program 102 may be divided into one or more modules / units, one or more of which are stored in memory 101 and executed by processor 100 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 102 in terminal device 10.

[0058] Terminal device 10 may be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. Terminal device 10 may include, but is not limited to, a processor 100 and a memory 101. Those skilled in the art will understand that... Figure 8This is merely an example of terminal device 10 and does not constitute a limitation on terminal device 10. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal device may also include input / output devices, network access devices, buses, etc.

[0059] The processor 100 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0060] The memory 101 can be an internal storage unit of the terminal device 10, such as a hard disk or RAM of the terminal device 10. The memory 101 can also be an external storage device of the terminal device 10, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or FlashCard equipped on the terminal device 10. Furthermore, the memory 101 can include both internal and external storage units of the terminal device 10. The memory 101 is used to store computer programs and other programs and data required by the terminal device 10. The memory 101 can also be used to temporarily store data that has been output or will be output.

[0061] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0063] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling hoisting equipment, characterized in that, include: The main boom of the hoisting equipment is controlled to drive the hoisting part to the first position and the second position respectively at the two vertices of the ground projection of the target obstacle in the first horizontal direction. The control parameters of the main boom when the hoisting part reaches the first position and the second position are obtained, wherein the first position and the second position are at the same height. The first distance between the first position and the second position is determined based on the control parameters of the main arm, the second distance is determined based on the maximum projection distance of the target obstacle in the second horizontal direction, and the third distance is determined based on the maximum projection distance of the target obstacle in the vertical direction. A virtual wall is constructed for the target obstacle using the first distance, the second distance, and the third distance as its length, width, and height, respectively, wherein the virtual wall is an envelope cube of the target obstacle; During the operation of the hoisting equipment, the spatial positional relationship between the hoisting part and / or the main boom and the virtual wall is calculated based on the control parameters of the hoisting part and the main boom, and the main boom or the hoisting part is controlled to perform hoisting operations based on the spatial positional relationship.

2. The hoisting equipment control method according to claim 1, characterized in that, The control parameters of the hoisting unit include the vertical distance between the hoisting unit and the top of the main boom; the control parameters of the main boom include the boom length, the boom amplitude, the boom slewing angle, and the vertical distance between the top and bottom of the main boom. The virtual wall is perpendicular to the horizontal plane. The first distance between the first position and the second position is determined based on the control parameters of the main arm, including: The angle of the main arm is the starting angle when the projection of the main arm on the horizontal plane is perpendicular to the wall of the virtual wall; When the hoisting unit reaches the first position, the first rotation angle of the main boom relative to the starting angle is determined, and when the hoisting unit reaches the second position, the second rotation angle of the main boom relative to the starting angle is determined; Based on the first rotation angle and the amplitude of the main arm, or based on the second rotation angle and the amplitude of the main arm, the first projection distance of the main arm in the vertical direction of the virtual wall is determined based on trigonometric function relationships. Based on the first projection distance, the first rotation angle, and the second rotation angle, the first distance between the first position and the second position is determined using trigonometric function relationships.

3. The hoisting equipment control method according to claim 2, characterized in that, Calculate the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall based on the control parameters of the hoisting unit and the main boom, so as to control the main boom or the hoisting unit to perform hoisting operations, including: Receive the operation instructions from the hoisting equipment and determine the target control parameters for the main boom or the hoisting unit; Obtain the control parameters of the hoisting part and the main boom. If the current slewing angle of the main boom is within the range of the first slewing angle to the second slewing angle, determine the spatial positional relationship between the hoisting part and / or the main boom and the virtual wall based on the control parameters of the hoisting part and the main boom. Determine the interference conditions under different spatial positional relationships, and judge whether the main boom or the hoisting part and the virtual wall meet the corresponding interference conditions based on the target control parameters of the main boom or the hoisting part; If it is determined that the main boom or the hoisting unit meets the interference condition, the target control parameters of the main boom or the hoisting unit are restricted, and the main boom or the hoisting unit is controlled to perform hoisting operations using the restricted target control parameters.

4. The hoisting equipment control method according to claim 3, characterized in that, Determining the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall based on the control parameters of the hoisting unit and the main boom includes: Based on the current amplitude of the main arm and the current rotation angle of the main arm relative to the starting angle, the current projection distance of the main arm in the vertical direction of the virtual wall is determined based on trigonometric function relationships. If the current projected distance of the main arm in the vertical direction of the virtual wall is greater than the sum of the first projected distance and the second distance, it is determined that the hoisting part is located behind the virtual wall; if the current distance of the main arm in the direction perpendicular to the virtual wall is less than the first projected distance, it is determined that the hoisting part is located in front of the virtual wall.

5. The hoisting equipment control method according to claim 3, characterized in that, Determining the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall based on the control parameters of the hoisting unit and the main boom further includes: Based on the current amplitude of the main arm and the current rotation angle of the main arm relative to the starting angle, the current projection distance of the main arm in the vertical direction of the virtual wall is determined based on trigonometric function relationships. Determine a first distance difference between the current vertical distance between the top and bottom of the main boom and the current vertical distance between the hoisting part and the top of the main boom, and determine a second distance difference between the first calibrated distance between the top and bottom of the main boom and the second calibrated distance between the hoisting part and the top of the main boom when the hoisting part reaches the first position or the second position; If the current projection distance of the main arm in the vertical direction of the virtual wall is greater than the first projection distance, but less than the sum of the second distance and the first projection distance, and the first distance difference is greater than the second distance difference, then it is determined that the hoisting part is located above the virtual wall.

6. The hoisting equipment control method according to claim 5, characterized in that, Determining the spatial positional relationship between the hoisting unit and / or the main boom and the virtual wall based on the control parameters of the hoisting unit and the main boom further includes: Based on the current amplitude of the main arm and the current rotation angle of the main arm relative to the starting angle, the current projection distance of the main arm in the vertical direction of the virtual wall is determined based on trigonometric function relationships. Determine a first ratio between the current vertical distance between the top and bottom ends of the main arm and the current projected distance of the main arm in the vertical direction of the virtual wall, and determine a second ratio between the first calibration distance and the first projected distance. If the current projection distance of the main arm in the vertical direction of the virtual wall is greater than the first projection distance, and the first ratio is greater than the second ratio, then the main arm is determined to be located above the virtual wall; or Based on the sum of the second calibration distance and the third distance, when the hoisting unit reaches the first position or the second position, the third calibration distance in the vertical direction between the lower edge of the virtual wall and the top of the main arm is determined, and the difference between the first calibration distance and the third calibration distance is used as the fourth calibration distance in the vertical direction between the lower edge of the virtual wall and the bottom of the main arm. Determine a third ratio of the fourth calibration distance to the sum of the first projection distance and the second distance; If the current projection distance of the main arm in the vertical direction of the virtual wall is greater than the first projection distance, and the third ratio is greater than the first ratio, it is determined that the main arm is located below the virtual wall.

7. The hoisting equipment control method according to claim 6, characterized in that, The control parameters of the main arm also include the arm length of the main arm, and the method further includes: The interference redundancy distance is determined based on the length of the main arm; Using the target control parameter as the current control parameter, determine the third distance difference between the fourth calibration distance and the interference redundancy distance, and the fourth ratio of the third distance difference to the sum of the first projection distance and the second distance; Determine the interference conditions under different spatial relationships, including: If, based on the target control parameters, the main boom is determined to be in a variable-amplitude ascending configuration, and the hoisting unit is located behind the virtual wall, with the main boom positioned below the virtual wall, the interference conditions between the main boom and the virtual wall include: The fourth ratio is less than the first ratio; or The method further includes: Using the target control parameters as the current control parameters, determine a fifth ratio of the second distance difference to the sum of the first projected distance and the second distance; and Determine the sixth ratio between the first distance difference and the distance difference of the interference redundancy distance and the current projection distance of the main arm in the vertical direction of the virtual wall; Determine the interference conditions under different spatial relationships, including: If, based on the target control parameters, the main boom is determined to be in a variable-amplitude ascending position, and the hoisting unit is located behind the virtual wall, while the main boom is located above the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The fifth ratio is less than the sixth ratio.

8. The hoisting equipment control method according to claim 7, characterized in that, The method further includes: Using the target control parameters as the current control parameters, determine the seventh ratio of the sum of the second distance difference and the interference redundancy distance to the first projection distance; Determining the interference conditions under different spatial relationships also includes: If, based on the target control parameters, the main boom is determined to be lowering with variable amplitude, and the hoisting unit is located behind the virtual wall, and the main boom is located above the virtual wall, the interference conditions between the main boom and the virtual wall include: The seventh ratio is greater than the second ratio; or Determining the interference conditions under different spatial relationships also includes: If the main boom is determined to be lowering with variable amplitude based on the target control parameters, and the hoisting unit is located in front of the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The seventh ratio is greater than the eighth ratio of the first distance difference to the current projection distance of the main arm in the vertical direction of the virtual wall.

9. The hoisting equipment control method according to claim 7, characterized in that, The method further includes: Using the target control parameter as the current control parameter, the difference between the second distance difference and the third distance is determined as the fourth distance difference; Determining the interference conditions under different spatial relationships also includes: If, based on the target control parameters, the slewing angle of the main boom decreases, and the hoisting unit is located in front of the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The sum of the second distance difference and the interference redundancy distance is greater than the sum of the first distance difference and the interference redundancy distance, and the sum of the current vertical distance between the top and bottom ends of the main arm and the interference redundancy distance is greater than the fourth distance difference, and the sum of the current projection distance of the main arm in the vertical direction of the virtual wall and the interference redundancy distance is less than the first projection distance; or Determining the interference conditions under different spatial relationships also includes: If, based on the target control parameters, the slewing angle of the main boom increases, and the hoisting unit is located behind the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The sum of the second distance difference and the interference redundancy distance is greater than the sum of the first distance difference and the interference redundancy distance, and the sum of the current distance between the top end and the bottom end of the main arm in the vertical direction and the interference redundancy distance is greater than the fourth distance difference, and the current projection distance of the main arm in the vertical direction of the virtual wall is less than the sum of the first projection distance, the second distance and the interference redundancy distance.

10. The hoisting equipment control method according to claim 7, characterized in that, Determining the interference conditions under different spatial relationships also includes: If the hoisting unit is determined to descend based on the target control parameters, and the hoisting unit is located above the virtual wall, the interference conditions between the hoisting unit and the virtual wall include: The sum of the second distance difference and the interference redundancy distance is less than the first distance difference.

11. A control device for hoisting equipment, characterized in that, include: The instruction response module is configured to control the main boom of the hoisting equipment to drive the hoisting part to a first position and a second position corresponding to the ground projection of the target obstacle at two vertices in the first horizontal direction, and to obtain the control parameters of the main boom when the hoisting part reaches the first position and the second position, wherein the first position and the second position are at the same height; The virtual wall parameter determination module is configured to determine a first distance between the first position and the second position based on the control parameters of the main arm, determine a second distance based on the maximum projection distance of the target obstacle in the second horizontal direction, and determine a third distance based on the maximum projection distance of the target obstacle in the vertical direction. The virtual wall construction module is configured to construct virtual walls of the target obstacle with the first distance, the second distance, and the third distance as the length, width, and height, respectively, wherein the virtual wall is the envelope cube of the target obstacle; The control module is configured to calculate the spatial positional relationship between the hoisting part and / or the main boom and the virtual wall based on the control parameters of the hoisting part and the main boom during the operation of the hoisting equipment, and control the main boom or the hoisting part to perform hoisting operations based on the spatial positional relationship.

12. A hoisting device, characterized in that, Includes the hoisting equipment control device as described in claim 11.

13. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the hoisting equipment control method as described in any one of claims 1-10.

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