Anti-collision control method and control device of crane superlift mechanism and storage medium

Abstract

The embodiment of the invention provides an anti-collision control method and device for a crane superlift mechanism and a storage medium. The anti-collision control method comprises the steps that the position of an obstacle is obtained around the superlift mechanism, the distance between the obstacle and the superlift mechanism is monitored in real time, and when the distance is smaller than a safety threshold value, the pose data of the superlift mechanism in the future preset duration are predicted according to the working condition type; the potential collision risk is judged by analyzing whether a predicted space area at any moment in the future intersects with an obstacle or not, corresponding braking control is implemented based on the working condition type and the current distance, advanced deceleration or braking of the super-lift mechanism is achieved, the future movement trend can be predicted in advance before the risk occurs, and the safety of the super-lift mechanism is improved. Compared with a traditional anti-collision mode only based on the current position, the anti-collision method is more prospective, and the operation safety in a complex operation environment is improved.

Description

Technical Field

[0001] This application relates to the field of super-lift mechanism technology, specifically to a collision avoidance control method, control device and storage medium for a crane super-lift mechanism. Background Technology

[0002] Cranes are widely used in large construction sites, especially in heavy-duty lifting, component installation, and long-distance luffing operations involving superlift mechanisms. As the requirements for lifting accuracy and safety in construction scenarios continue to increase, the risk of interference between superlift mechanisms and surrounding obstacles during operation is becoming increasingly prominent. Traditional collision avoidance technologies generally rely on limit switches, fixed safety distance settings, or distance detection based on single sensors for safety control. However, these technologies typically only reflect the risk status of the equipment at its current position, and therefore are prone to problems such as untimely braking, insufficient deceleration, or inability to avoid risks in advance under continuous complex motion or high-inertia conditions. Summary of the Invention

[0003] The purpose of this application is to provide a collision avoidance control method, control device, and storage medium for a crane overlift mechanism.

[0004] To achieve the above objectives, the first aspect of this application provides a collision avoidance control method for a crane overlift mechanism, the collision avoidance control method comprising: Obtain the positions of obstacles within a preset range around the super-lift mechanism; When the distance between the position of the superlift mechanism and the position of the obstacle is less than the preset safety distance, the pose data of the superlift mechanism within a preset time period is determined based on the working condition type of the superlift mechanism. The pose data includes at least the position and attitude of the superlift mechanism. If, at any point within a preset time period, the spatial region corresponding to the pose data intersects with the location of an obstacle, braking control is performed on the super-lift mechanism based on the working condition type and the current distance between the super-lift mechanism and the obstacle.

[0005] In this embodiment of the application, when the working condition is a working condition, after performing braking control on the superlift mechanism based on the working condition type and the current distance between the superlift mechanism and the obstacle, the real-time distance between the superlift mechanism and the obstacle is obtained. Braking control of the overtaking mechanism is based on the safety threshold range corresponding to the real-time distance. Different safety threshold ranges correspond to different braking intensities.

[0006] In this embodiment of the application, performing braking control on the overlift mechanism based on the safety threshold range corresponding to the real-time distance includes: If the real-time distance is greater than or equal to the preset safety threshold, continue to execute the current braking control; If the real-time distance is less than a preset safety threshold, switch braking control based on the real-time distance. Among them, the braking intensity of the braking control when the real-time distance is greater than or equal to the preset safety threshold is less than the braking intensity of the replacement when the real-time distance is less than the preset safety threshold.

[0007] In this embodiment of the application, performing corresponding braking control on the superlift mechanism based on the working condition type and the current distance between the superlift mechanism and the obstacle includes: A braking curve for the crane is generated based on the operating condition type and the current distance between the super-lift mechanism and the obstacle. The braking curve includes control parameters for the crane at multiple time points. Braking control is performed on the over-start mechanism based on the braking curve.

[0008] In this embodiment of the application, when the working condition is an installation working condition, braking control is performed on the luffing cylinder of the superlift mechanism based on the working condition type and the current distance between the superlift mechanism and the obstacle; When the operating condition is a work condition, braking control is performed on the braking system of the superlift mechanism based on the operating condition and the current distance between the superlift mechanism and the obstacle. In this embodiment, when the operating condition is a work condition, and at any time within a preset future time period, if the spatial region corresponding to the pose data does not intersect with the obstacle position, a warning message is issued, wherein the warning message includes at least the distance between the superlift mechanism and the obstacle.

[0009] In this embodiment of the application, it further includes: after generating a braking curve for the crane based on the working condition type and the current distance between the super-lift mechanism and the obstacle, the crane's display device displays the braking curve; wherein, the horizontal axis of the braking curve is the time point, and the vertical axis is the braking parameter.

[0010] In this embodiment of the application, the method further includes: before performing corresponding braking control on the super-lift mechanism based on the braking curve, obtaining the mapping relationship between the braking parameters and the brake handle value of the crane, determining the brake handle value corresponding to the current braking parameters based on the mapping relationship, and the controller of the crane controlling the super-lift boom based on the brake handle value.

[0011] A second aspect of this application provides a collision avoidance control device for a crane overlift mechanism, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement any collision avoidance control method for the crane overlift mechanism.

[0012] The third aspect of this application provides a crane, the crane's overlift mechanism including two extended arms, the ends of the two extended arms respectively provided with obstacle detection devices for obtaining the position of obstacles, and the crane is controlled according to the anti-collision control method of the crane overlift mechanism.

[0013] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned anti-collision control method for a crane overlift mechanism.

[0014] The above technical solution acquires the location of obstacles around the superlift mechanism and monitors the distance between the obstacle and the superlift mechanism in real time. When the distance is less than the safety threshold, the pose data of the superlift mechanism within a preset time period is predicted according to the working condition. By analyzing whether the predicted spatial area at any future time intersects with the obstacle, potential collision risks are judged, and the superlift mechanism can be decelerated or braked in advance. It can predict future movement trends in advance before risks occur, which is more forward-looking than the traditional collision avoidance method based only on the current position and improves the operational safety in complex working environments.

[0015] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0016] 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 A schematic flowchart of a collision avoidance control method for a crane overlift mechanism according to an embodiment of this application is shown. Figure 2 The schematic diagram illustrates a collision avoidance control method for the installation condition of the lifting mechanism according to an embodiment of this application; Figure 3 The schematic diagram illustrates a collision avoidance control method for the operating conditions of the lifting mechanism according to an embodiment of this application; Figure 4 A schematic diagram of the structure of a crane according to an embodiment of this application is shown; Figure 5 This illustration schematically shows a data transmission process diagram according to an embodiment of this application; Figure 6 This schematic diagram illustrates the internal structure of a computer device according to an embodiment of the present application; 1. Overhead mechanism; 2. First lidar; 3. Second lidar. Detailed Implementation

[0017] 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.

[0018] Figure 1 A schematic flowchart illustrating a collision avoidance control method for a crane overlift mechanism according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a collision avoidance control method for a crane super-lift mechanism is provided, comprising the following steps: Step 102: Obtain the positions of obstacles within a preset range around the super-lift mechanism; Step 104: If the distance between the position of the superlift mechanism and the position of the obstacle is less than the preset safety distance, determine the pose data of the superlift mechanism within a preset time period based on the working condition type of the superlift mechanism. The pose data shall include at least the position and attitude of the superlift mechanism. Step 106: At any time within a preset time period in the future, if the spatial region corresponding to the pose data intersects with the position of the obstacle, brake control is performed on the super-lift mechanism based on the working condition type and the current distance between the super-lift mechanism and the obstacle. The processor first acquires the positions of obstacles within a preset range around the crane's superlift mechanism. This preset range can be determined based on different crane models, rated operating radii, or operating conditions, ensuring that the processor can consistently capture the position data of potential obstacles during the superlift mechanism's movement. Obstacle positions can be acquired using obstacle detection devices mounted on the superlift mechanism, such as lidar, ultrasonic sensors, millimeter-wave radar, or visual recognition devices, continuously updated to reflect dynamic changes in the current construction environment. Based on the acquired obstacle positions, the processor continuously calculates the real-time distance between the superlift mechanism's current position and the obstacle positions. When this distance is less than a safe distance, the processor determines the superlift mechanism's pose data for a preset time period based on the current operating condition. The operating condition type can be automatically identified based on the current task being performed by the equipment, such as installation or operation conditions. Different operating condition types correspond to different motion modes, acceleration changes, and structural response characteristics. The pose data includes at least the superlift mechanism's position and attitude, representing the continuous spatial area that the superlift mechanism may reach within the preset time period. If, at any point within a predetermined timeframe, the predicted spatial region intersects with an obstacle, a collision risk is identified. Upon detecting a potential future spatial intersection, the processor generates a braking curve for the crane based on the current operating condition and the current distance between the super-lift mechanism and the obstacle. This braking curve includes control parameters at multiple time points. By altering the power system output, adjusting the response rate of the hydraulic actuators, or controlling the slewing and luffing speeds, the processor gradually reduces the super-lift mechanism's movement tendency, ensuring safe deceleration or complete stop before it approaches the obstacle. The braking curve generation considers not only the current relative distance but also the differentiated braking requirements of different operating conditions. For example, in operational conditions where the super-lift mechanism moves at a high speed, excessive braking due to its structural characteristics could cause a dangerous situation due to inertia. However, in installation conditions, the super-lift boom moves at a slower speed, so braking is not restricted. Based on the generated braking curve, corresponding braking control is implemented on the super-lift mechanism, ensuring the crane decelerates or stops before the potential collision point. Through the above process, the entire control method can proactively predict the spatial position that the superlift mechanism may reach within a certain period of time when the obstacle is too close, identify potential collision risks in advance, and generate braking control strategies, thereby improving the active collision avoidance capability of the superlift mechanism in complex operating environments. Because the processor uses a future pose prediction model based on operating conditions, the prediction results are more closely aligned with the actual operating state. Compared to traditional methods that rely solely on current position information, it can more accurately determine potential risk paths in the future, significantly improving the reliability and stability of collision avoidance control. Simultaneously, the braking curve is described using control parameters at multiple time points, making the braking process continuous and flexible, avoiding structural impact or load swaying caused by sudden braking, and improving overall operational safety.

[0019] like Figure 2 As shown, in one embodiment, when the working condition is installation, the processor, after determining the current distance between the superlift mechanism and the obstacle, generates a braking curve for the crane based on the characteristics of the installation condition and the current distance. After obtaining the current distance, the processor combines the installation condition to determine the pose data of the superlift mechanism over a preset time period, predicting the motion process over the future. In the event of a collision between the superlift mechanism and the obstacle, a sequence of control parameters consisting of multiple time points is generated as the braking curve. When the working condition is installation, the superlift mechanism's movement mainly relies on the luffing cylinder for precise angle control and minute displacement adjustments. Therefore, after obtaining the current distance and determining that it is in installation condition, the processor generates a braking curve that applies braking control to the luffing cylinder based on the current distance, enabling rapid deceleration of the luffing motion when approaching the obstacle.

[0020] like Figure 3As shown, in one embodiment, when the working condition is a work condition, after performing braking control on the superlift mechanism based on the working condition type and the current distance between the superlift mechanism and the obstacle, the real-time distance between the superlift mechanism and the obstacle is obtained; braking control of the superlift mechanism is then performed according to the safety threshold interval corresponding to the real-time distance; wherein different safety threshold intervals correspond to different braking intensities. Specifically, during the process of performing braking control on the superlift mechanism based on the braking curve, the processor first continuously obtains the real-time distance between the superlift mechanism and the obstacle. The real-time distance is continuously updated to reflect the degree of proximity of the superlift mechanism to the obstacle in the current working state. When the real-time distance is greater than or equal to a preset safety threshold, the processor continues to perform control on the superlift mechanism based on the current braking curve, causing the superlift mechanism to run at a predetermined deceleration. The preset safety threshold can be determined according to the crane model, working load, mechanism inertia, and hoisting swing characteristics. When the real-time distance is less than the preset safety threshold, the processor determines that the superlift mechanism has entered a higher-risk approach area, and at this time, a braking curve is regenerated based on the real-time distance. The new braking curve increases braking intensity based on the rapid decrease in real-time distance, enabling the super-lift mechanism to quickly reduce speed or stop within a shorter distance, thus avoiding the collision risk that might result from continuing along the original braking trajectory. To ensure the continuity of the control process, the new braking curve seamlessly connects with the currently executed braking phase at a specific time point, allowing the super-lift mechanism to immediately take stronger braking measures in the next control cycle. Compared to the braking curve when the real-time distance is greater than or equal to a preset safety threshold, the new braking curve has greater braking intensity, manifested in a larger amplitude of control output changes, faster response speed, or a larger reduction ratio in the power system. For example, in higher-risk areas, the processor will accelerate the depressurization speed of the hydraulic actuator or increase the counter-torque output of the slewing system, enabling the super-lift mechanism to generate a braking effect more quickly. By implementing differentiated braking curve control for different distance ranges, smooth braking can be maintained at long distances, while a rapid braking strategy can be adopted at close distances, effectively preventing load swaying or structural impact caused by sudden braking changes. Through this method of dynamically adjusting the braking curve based on real-time distance under operating conditions, the processor can implement a distance-adaptive collision avoidance control strategy in complex construction environments. During long-distance travel, maintain smooth, low-intensity braking to avoid unnecessary movements; automatically increase braking intensity when approaching obstacles, enabling the superlift mechanism to achieve effective braking within the shortest safe distance, significantly improving operational safety and continuity. In operational conditions, the superlift mechanism typically operates at high speeds and experiences complex force changes. Therefore, based on the current distance and the operational characteristics, braking control is applied to the superlift mechanism's braking system. This braking control can manifest as slewing braking, luffing braking, or drive system deceleration.

[0021] In one embodiment, the processor distinguishes between working conditions and installation conditions, and generates different braking curves based on different conditions. When the working condition is installation, the superlift mechanism's movement relies primarily on the luffing cylinder for precise angle control and minute displacement adjustments. Therefore, after acquiring the current distance and determining that it is in installation condition, the processor performs braking control on the luffing cylinder based on the working condition and the current distance, enabling rapid deceleration of the luffing action as it approaches an obstacle. After the superlift mechanism stops operating in installation condition, it continues to operate in installation condition until there are no obstacles within a preset surrounding range. When the working condition is working, the superlift mechanism typically operates at higher speeds and experiences complex force changes. Therefore, based on the current distance and the characteristics of the working condition, braking control is performed on the superlift mechanism's braking system. This braking control can specifically manifest as slewing braking, luffing braking, or drive system deceleration. In working condition, the controller gradually increases the braking force, enabling the equipment to achieve stable deceleration before approaching an obstacle, thereby maintaining safety and continuity. By controlling the luffing cylinder or braking system separately according to the type of working condition, the superlift mechanism can have a braking response consistent with the characteristics of the working condition in different operating environments.

[0022] like Figure 3As shown, in one embodiment, when the working condition is a work operation, after predicting the pose data of the lifting mechanism within a preset time period, the processor compares the spatial region corresponding to the pose data with the obstacle position moment by moment to determine whether there is a potential collision risk within the future time period. If the predicted spatial region at any future time does not intersect with the obstacle position, the processor considers that although the current distance between the lifting mechanism and the obstacle is within a safe range, monitoring is still necessary during future continuous movement to remind the operator to pay attention to the dynamic state of the surrounding environment. Given that work operation usually involves high movement speed, large-amplitude rotation, luffing operations, and additional swaying factors that may be generated by the lifting load, the processor will proactively issue a warning message when it confirms that the future pose data does not intersect with the obstacle, indicating that the operator is currently near a potential risk area but has not yet entered the collision path. The purpose of the warning message is to inform the operator in advance of the relative relationship with the obstacle under the current working condition, avoiding the situation where the distance is shortened due to improper operation or environmental changes during continuous operation, thus turning a safe situation into a dangerous one. The warning information includes at least the distance between the lifting mechanism and the obstacle, and the crane's display screen shows this distance. The warning information can also be presented in the form of audible and visual signals, such as warning lights, allowing operators to understand the real-time safety status of the surrounding environment without interrupting operations. By issuing warnings in advance when there is no future intersection in the spatial area, the perception capability during operation can be effectively improved. This allows the processor to maintain awareness and monitoring of surrounding risks even without a direct collision threat, further enhancing the overall safety and controllability of the operating conditions.

[0023] In one embodiment, when the operating condition is installation, after acquiring the pose data of the lifting mechanism over a preset time period, the processor matches the spatial region corresponding to the pose data with the obstacle positions on a time-by-time basis to determine whether there is a risk of collision during the delicate installation operation. Installation operations typically require the mechanism to complete component docking or structural installation at extremely low speeds and with minimal attitude changes. Therefore, even if no intersection between the spatial region and obstacles occurs within the predicted future time period, the processor still needs to issue a warning to the operator to enhance their environmental awareness during precision operations. The warning information can be presented through numerical changes on the display interface, prompts, audio-visual signals, or console prompts, allowing the operator to maintain their original operating rhythm while constantly monitoring changes in the environmental safety status.

[0024] In one embodiment, after the processor generates the crane's braking curve based on the working condition type and the current distance between the superlift mechanism and the obstacle, the crane's display device displays the generated braking curve in real time. This allows the operator to clearly observe the braking strategy the processor is expected to adopt over a future period. The display device can be an integrated display screen in the cab, a control panel, or an auxiliary display module. Its function is to provide the operator with a direct visual understanding of the braking trend, braking force changes, and future motion state generated by the processor, thereby enabling them to make judgments and interventions on potential risks and motion trends in advance in complex construction environments. The braking curve is presented graphically on the display device. The horizontal axis represents time points, used to show the control nodes at each moment within a preset future time period; the vertical axis represents braking parameters, used to represent the braking intensity, speed attenuation ratio, or power adjustment range corresponding to each time point, clearly presenting the time sequence characteristics and force change trends of the entire braking process. By visualizing the braking curve, the operator can simultaneously understand the braking strategy automatically generated by the processor while performing operations or installation conditions. This achieves the integration of manual monitoring and automatic collision avoidance control, and allows the operator to perceive trends in advance before the processor issues warnings or increases braking intensity, improving operational safety and controllability.

[0025] In one embodiment, before executing corresponding braking control on the super-lift mechanism based on the braking curve, the system first obtains the mapping relationship between braking parameters and crane brake handle values. By calibrating the braking response corresponding to different handle positions of the crane, a one-to-one or interval mapping relationship is established between the braking parameters and the handle values. In actual control, when the braking parameter corresponding to a certain time point in the braking curve is converted into a specific handle value through the mapping relationship, the crane controller controls the super-lift boom according to the current handle value.

[0026] In one embodiment, a collision avoidance control device for a crane super-lift mechanism is provided, comprising: a processor and a memory, the memory being configured to store instructions, the memory potentially including non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory including at least one memory chip. The processor is configured to retrieve instructions from the memory and, when executing the instructions, to implement the collision avoidance control method for the crane super-lift mechanism. The processor contains a kernel that retrieves corresponding program units from the memory. One or more kernels can be configured, and the collision avoidance control method for the crane super-lift mechanism can be implemented by adjusting kernel parameters to control the crane.

[0027] like Figure 4As shown, in one embodiment, a crane is proposed. The crane's super-lift mechanism 1 includes two extended arms, each with an obstacle detection device at its end for acquiring obstacle positions. In this embodiment, the obstacle detection devices are lidar, specifically a first lidar 2 and a second lidar 3. The crane is controlled according to an anti-collision control method for the super-lift mechanism. By scanning the surrounding environment with lidar mounted on the super-lift mechanism, high-precision point cloud data of the surrounding environment is acquired in real time, and the spatial pose information of the super-lift mechanism in the radar coordinate system is acquired simultaneously, enabling the processor to dynamically fuse equipment attitude and environmental information in a unified coordinate system. To reduce the interference of the super-lift mechanism itself on the point cloud data, the processor uses a clustering growth algorithm to structurally separate the point cloud based on the geometric modeling results of the super-lift boom structure. All point cloud clusters belonging to the super-lift boom envelope are filtered out, leaving only environmental points and noise points in the remaining point cloud, thereby ensuring that subsequent environmental analysis is not affected by the point cloud reflected by the equipment itself. The processor further denoises the remaining point cloud based on its emissivity, spatial structure features, neighborhood density, and relative distance. This removes weak echo points caused by low-reflectivity materials, isolated noise points generated by weather factors such as rain and snow, and false points formed by radar ghosting, reducing the impact of measurement errors in harsh environments. Simultaneously, considering that point clouds generated by important obstacles such as high-voltage power lines are very sparse at long distances, conventional filtering might mistakenly delete these critical obstacles. During the denoising process, the processor extracts point clouds with linear features that meet a threshold within a large neighborhood based on the spatial characteristics of linear structures. It retains sparse but linearly shaped points, enabling stable identification of special and dangerous obstacles like high-voltage power lines even with sparse point clouds.

[0028] like Figure 5 As shown, in one embodiment, the two ends of the superlift mechanism 1 are respectively equipped with a first lidar 2 and a second lidar 3. The superlift mechanism 1 is also equipped with a slewing angle sensor to detect the slewing angle of the superlift mechanism 1 relative to the crane body, an amplitude angle sensor to obtain the current luffing angle of the main boom (i.e., the tilt angle of the main boom relative to the horizontal plane), and a superlift angle sensor to detect the elevation angle of the superlift mechanism itself (i.e., the luffing angle of the superlift boom). The pose data is obtained based on the slewing angle sensor, the amplitude angle sensor, and the superlift angle sensor. The slewing angle sensor, the amplitude angle sensor, and the superlift angle sensor transmit the real-time monitored data to the industrial control computer via the upper vehicle CAN bus. The industrial control computer determines whether a collision with an obstacle has occurred based on the received data and issues corresponding control commands to the upper vehicle controller based on the anti-collision control method of the crane superlift mechanism. The upper vehicle controller controls the main boom luffing cylinder, the superlift luffing cylinder, and the slewing motor of the superlift mechanism based on the received control commands.

[0029] In one embodiment, after denoising and structural separation of the environmental point cloud, the processor uses LiDAR to acquire the positions of obstacles within a preset range around the superlift mechanism. By performing spatial clustering and center point extraction on the denoised environmental point cloud, the processor obtains the three-dimensional position data of each obstacle in the radar coordinate system and transforms it to a fixed coordinate system consistent with the superlift mechanism to ensure that the obstacle positions and device attitude maintain a unified spatial reference. After obtaining the obstacle positions, the processor uses the real-time pose of the superlift mechanism in the fixed coordinate system to calculate the distance between the two in three-dimensional space, thus obtaining the distance between the superlift mechanism position and the obstacle position. Compared with existing technologies, this application obtains the location of obstacles around the superlift mechanism and monitors the distance between the obstacle and the superlift mechanism in real time. When the distance is less than a safety threshold, it predicts the pose data of the superlift mechanism within a preset time period based on the working condition type. By analyzing whether the predicted spatial area at any future time intersects with the obstacle, it judges the potential collision risk. Based on the working condition type and the current distance, it generates a braking curve containing control parameters at multiple time points. Finally, it implements corresponding braking control according to the braking curve to achieve early deceleration or braking of the superlift mechanism. It can predict future movement trends in advance before risks occur, which is more forward-looking than traditional collision avoidance methods based only on the current position. At the same time, it generates different braking curves according to different working conditions, making collision avoidance control more accurate and safe, and improving the operational safety of the superlift mechanism in complex working environments.

[0030] This application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned anti-collision control method for a crane overlift mechanism.

[0031] Figure 1 This is a flowchart illustrating a collision avoidance control method for a crane super-lift mechanism in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0032] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a collision avoidance control method for a crane's super-lift mechanism. The display screen A04 can be a liquid crystal display (LCD) or an e-ink display. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0033] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0034] 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.

[0035] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0036] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0037] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0038] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0039] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0040] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0041] 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.

[0042] 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 collision prevention control method for a crane's luffing mechanism, characterized by, The anti-collision control method comprises: Obtaining the position of an obstacle within a preset range around the super-lifting mechanism; In the case where the distance between the position of the super-lifting mechanism and the position of the obstacle is less than a preset safety distance, determining the pose data of the super-lifting mechanism within a future preset time period based on the working condition type of the super-lifting mechanism, the pose data at least including the position and attitude of the super-lifting mechanism; In the case where the spatial region corresponding to the pose data and the position of the obstacle intersect at any time within the future preset time period, performing brake control on the super-lifting mechanism based on the working condition type and the current distance between the super-lifting mechanism and the obstacle.

2. The collision avoidance control method according to claim 1, characterized by, In the case where the working condition type is a working condition, after performing brake control on the super-lifting mechanism based on the working condition type and the current distance between the super-lifting mechanism and the obstacle, obtaining the real-time distance between the super-lifting mechanism and the obstacle; According to the safety threshold interval corresponding to the real-time distance, brake control is performed on the super-lifting mechanism; Different safety threshold intervals correspond to different brake intensities.

3. The collision avoidance control method according to claim 2, characterized by, According to the safety threshold interval corresponding to the real-time distance, brake control is performed on the super-lifting mechanism; In the case where the real-time distance is greater than or equal to a preset safety threshold, the current brake control is continued; In the case where the real-time distance is less than a preset safety threshold, the brake control is replaced based on the real-time distance; When the real-time distance is greater than or equal to a preset safety threshold, the brake control has a brake intensity less than the intensity of the replaced brake control when the real-time distance is less than a preset safety threshold.

4. The collision avoidance control method according to claim 1, characterized by, The brake curve for the crane is generated based on the working condition type and the current distance between the super-lifting mechanism and the obstacle, the brake curve including control parameters for the crane at multiple time points; The brake control is performed on the super-lifting mechanism based on the brake curve. Comprise:

5. The collision avoidance control method according to claim 1, characterized by, In the case where the working condition type is an installation condition, brake control is performed on the luffing cylinder of the super-lifting mechanism based on the working condition type and the current distance between the super-lifting mechanism and the obstacle; In the case where the working condition type is a working condition, brake control is performed on the brake system of the super-lifting mechanism based on the working condition type and the current distance between the super-lifting mechanism and the obstacle. In the case where the working condition type is a working condition, and in the case where the spatial region corresponding to the pose data and the position of the obstacle do not intersect at any time within the future preset time period, a warning information is issued; 6. The collision avoidance control method according to claim 1, characterized by, The warning information at least includes the distance between the super-lifting mechanism and the obstacle. Further comprise:

7. The collision avoidance control method according to claim 4, characterized by, After generating the brake curve for the crane based on the working condition type and the current distance between the super-lifting mechanism and the obstacle, the display device of the crane displays the brake curve; The abscissa of the brake curve is a time point, and the ordinate is a brake parameter. Further comprise:

8. The collision avoidance control method according to claim 7, characterized by, ​ Before performing corresponding brake control on the super-lifting mechanism based on the brake curve, a mapping relationship between the brake parameter and a brake handle value of the crane is obtained, a brake handle value corresponding to a current brake parameter is determined based on the mapping relationship, and a controller of the crane controls the super-lifting arm based on the brake handle value.

9. A collision prevention control device for a crane's lift- ing mechanism, characterized in that Comprise: a memory configured to store instructions; a processor configured to call the instructions from the memory and enable the anti-collision control method of the super-lifting mechanism of the crane according to any one of claims 1 to 8 when the instructions are executed.

10. A crane, characterized in that The super-lifting mechanism of the crane comprises two extension arms, and the ends of the two extension arms are respectively provided with obstacle detection devices for obtaining the position of an obstacle. The anti-collision control method of the super-lifting mechanism of the crane according to any one of claims 1 to 8 controls the crane.

11. A machine-readable storage medium having stored thereon instructions, the instructions comprising: The instructions, when executed by the processor, cause the processor to be configured to perform the anti-collision control method of the super-lifting mechanism of the crane according to any one of claims 1 to 8.

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