A miniature crane and its electronic fence safety restriction system
By designing an electronic fence safety restriction system for miniature cranes, the problem of adapting multi-dimensional safety boundaries for miniature cranes in confined spaces was solved, achieving flexible safety protection and emergency return, and avoiding secondary accidents in traditional solutions.
Patent Information
- Application Number
- CN202610512704.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-17
- Publication Date
- 2026-06-02
AI Technical Summary
Existing electronic fence technology cannot meet the multi-dimensional safety boundary requirements of mini cranes in confined spaces, and the motion control logic of traditional solutions causes the hoisted object to be suspended in the air and unable to return to its position, which can easily lead to secondary accidents.
Design an electronic fence safety restriction system, including a parameter setting module, a status acquisition module, a main control module, an alarm prompt module, and an execution control module. Through differentiated action restriction logic, it flexibly sets multi-dimensional safety boundaries, allows safe return operations, and avoids dangerous actions.
It achieves multi-dimensional safety protection in confined spaces, avoids collisions between the boom and obstacles, provides a safe emergency return channel, reduces secondary accidents, and improves safety and rationality.
Smart Images
Figure CN122126761A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of miniature crane technology, and in particular relates to a miniature crane and its electronic fence safety restriction system. Background Technology
[0002] Mini cranes, with their advantages of small size, light weight, flexible relocation, and small minimum operating radius, are widely used in scenarios such as interior decoration and renovation, equipment installation in confined spaces, emergency repair of municipal pipelines, elevator installation in old residential areas, and underground space operations. These operational scenarios are characterized by complex working space boundaries and numerous constraints, generally including strict floor height restrictions, dense surrounding obstacles, limited turning range, and clearly defined safety boundaries for boom pitch angles. Once the boom operates beyond these safety boundaries, it can easily lead to safety accidents such as boom collisions with obstacles, equipment overturning, and the falling of hoisted loads, resulting in personal injury and property damage.
[0003] Existing electronic fence technologies for large equipment are mainly developed for open work scenarios, and most can only restrict entry in planar areas. They cannot adapt to the multi-dimensional and refined boundary constraints required by mini cranes, such as height, operating radius, left and right slewing angle, and boom pitch angle, and cannot meet the all-dimensional safety protection needs in confined spaces. At the same time, the motion control logic of existing electronic fence solutions is unreasonable. After triggering the boundary alarm, most of them adopt the protection method of stopping the whole machine and locking all actions. When mini cranes operate in confined spaces, the lifting operation is often at low altitude and close distance. Stopping the whole machine will cause the boom and the lifted object to be suspended in the air and unable to return to their positions. This can easily cause secondary accidents such as shaking and collision of the lifted object, boom jamming, and equipment instability. It cannot provide a safe operating channel for emergency return of the equipment.
[0004] To address these issues, we provide a miniature crane and its electronic fence safety restriction system. Summary of the Invention
[0005] The purpose of this invention is to provide a miniature crane and its electronic fence safety restriction system, which solves the problem that existing miniature cranes cannot flexibly set multi-dimensional safety boundaries when operating in confined spaces.
[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution.
[0007] This invention relates to an electronic fence security restriction system, comprising a parameter setting module, a status acquisition module, a main control module, an alarm prompting module, and an execution control module;
[0008] The parameter setting module is used to input and store various limit values corresponding to the virtual wall limit. The virtual wall limit is used to constrain the operating range of the boom and prevent the boom's operating state from exceeding the limit value.
[0009] The status acquisition module is used to collect the current actual status values of various limiting items during the operation of the mini crane in real time.
[0010] The main control module is electrically connected to the parameter setting module, status acquisition module, alarm prompting module, and execution control module, respectively. It is used to compare the real-time acquired current status value with the limit value of the corresponding item, determine whether to trigger an alarm based on the comparison result, and output the corresponding control command to the alarm prompting module and the execution control module. The main control module has built-in differentiated action restriction logic corresponding to each alarm type. When the corresponding alarm is triggered, it is used to restrict the crane from dangerous actions that exceed the limit value, while retaining the safe operation action of returning to the safe range.
[0011] The alarm notification module is used to trigger system alarms according to the instructions of the main control module and display abnormal prompts for the alarm items on the display interface;
[0012] The execution control module is used to perform restrictions and permissions on corresponding actions according to the control instructions of the main control module.
[0013] The present invention is further configured such that the differentiated action restriction logic specifically comprises:
[0014] When the height alarm is triggered, the boom raising and boom extension actions are restricted, while the boom lowering, boom retraction, rotation, and hook actions are allowed.
[0015] When the working radius alarm is triggered, the boom extension and boom descent actions are restricted, while the boom raising, boom retraction, rotation, and hook actions are allowed.
[0016] When the right turn alarm is triggered, the right turn action is restricted, while all other actions are allowed.
[0017] When the left turn alarm is triggered, the left turn action is restricted, while all other actions are allowed.
[0018] When the boom angle alarm is triggered, the boom raising action is restricted, while all other actions are allowed.
[0019] When the boom angle alarm is triggered, the boom descent action is restricted, while all other actions are allowed.
[0020] The present invention is further configured such that the main control module has built-in over-limit alarm judgment logic corresponding to each restricted item, specifically:
[0021] For the restrictions corresponding to maximum height, working radius, boom lifting angle, right turn angle, and left turn angle, when the current value of the actual status of the corresponding item is greater than or equal to the limit value, the main control module determines to trigger an alarm for the corresponding item.
[0022] For the restricted items corresponding to the boom angle, when the current value of the actual state of the corresponding item is less than or equal to the limit value, the main control module determines to trigger the alarm for the corresponding item.
[0023] The present invention is further configured such that the main control module also has a built-in parameter setting self-test logic, specifically:
[0024] When the main control module detects that the boom lifting angle limit value and the boom lowering angle limit value input by the parameter setting module are equal and neither of them is 0, the main control module triggers a parameter abnormality alarm and prompts the user to adjust the setting value.
[0025] When the left turn angle limit value and the right turn angle limit value input by the parameter setting module are equal and both are not 0, the main control module triggers a parameter abnormality alarm and prompts the user to adjust the setting value.
[0026] The present invention is further configured such that when the alarm prompt module triggers an alarm, it changes the display area of the corresponding alarm item in the display interface to red, and at the same time marks the direction of the item exceeding the limit with a red arrow.
[0027] The present invention is further configured such that the parameter setting module is equipped with a display interface for synchronously displaying the set limit values of each restricted item and the current value of the actual status collected in real time.
[0028] The present invention is further configured such that when multiple restricted items simultaneously meet the alarm triggering conditions, the main control module synchronously triggers alarms for the corresponding multiple items and executes the differentiated action restriction logic corresponding to each alarm type.
[0029] The present invention is further configured such that when the trigger parameter is abnormal, the main control module continuously outputs an alarm prompt through the alarm prompt module and locks the operation control function of the execution control module until the limit parameter is adjusted to a legal range.
[0030] The present invention is further configured such that the limiting items of the virtual wall include maximum height, operating radius, right turn angle, left turn angle, boom lifting angle, and boom lowering angle.
[0031] A miniature crane includes a crane body, which includes a chassis, a slewing mechanism, a boom mechanism, and a hook lifting mechanism. The slewing mechanism, boom mechanism, and hook lifting mechanism are all electrically connected to an execution control module, which controls the movement limits and permissions.
[0032] The present invention has the following beneficial effects.
[0033] 1. This invention flexibly configures virtual wall limit values through a parameter setting module. Based on the actual boundaries of the on-site work space, it sets safety constraint thresholds for maximum height, working radius, left and right slewing angles, boom lifting angle, and boom lowering angle. Like a virtual wall, it constrains the boom's operating range, adapts to the operational needs of different narrow and complex confined spaces, avoids the safety risks of the boom colliding with surrounding obstacles and operating beyond its range, and solves the problem that existing fixed limit solutions cannot adapt to changing operational scenarios.
[0034] 2. This invention, through the differentiated action restriction logic built into the main control module, restricts only dangerous actions that exceed safety boundaries for different types of over-limit alarms, while fully preserving emergency operation actions to return to the safe range. This not only eliminates the risk of the boom continuing to operate beyond the limits from the root, but also avoids secondary accidents such as the suspension and instability of the hoisted object and the boom jamming caused by the traditional whole machine shutdown solution. It provides a safe emergency return channel for the operation process and improves the rationality and redundancy of safety protection. Attached Figure Description
[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.
[0036] Figure 1 This is a flowchart of a miniature crane and its electronic fence safety restriction system.
[0037] Figure 2 This is a flowchart of parameter setting and self-testing in a miniature crane and its electronic fence safety restriction system.
[0038] Figure 3 This is a flowchart illustrating the over-limit alarm and differentiated motion restriction in a safety restriction system for a miniature crane and its electronic fence.
[0039] Figure 4 This is a flowchart illustrating the alarm deactivation and system recovery process in a miniature crane and its electronic fence safety restriction system.
[0040] Figure 5 This is a perspective view of the crane body in a miniature crane and its electronic fence safety restriction system.
[0041] Figure 6 This is a side view of the crane body in a miniature crane and its electronic fence safety restriction system.
[0042] In the attached diagram: 1. Crane body; 11. Chassis; 12. Slewing mechanism; 13. Boom mechanism; 14. Hook lifting mechanism. Detailed Implementation
[0043] The technical solutions of the present invention will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of the present invention, and not all embodiments.
[0044] Please see Figure 1-6 The present invention is an electronic fence security restriction system, including a parameter setting module, a status acquisition module, a main control module, an alarm prompting module, and an execution control module;
[0045] The parameter setting module is used to input and store various limit values corresponding to the virtual wall limit. The virtual wall limit is used to constrain the operating range of the boom and prevent the boom from exceeding the limit value during operation.
[0046] The status acquisition module is used to collect the current actual status values of various limiting items during the operation of the mini crane in real time;
[0047] The main control module is electrically connected to the parameter setting module, status acquisition module, alarm prompt module, and execution control module. It is used to compare the real-time acquired current status value with the limit value of the corresponding item, determine whether to trigger an alarm based on the comparison result, and output the corresponding control command to the alarm prompt module and execution control module. The main control module has built-in differentiated action restriction logic corresponding to each alarm type. When the corresponding alarm is triggered, it is used to restrict the crane from dangerous actions that exceed the limit value, while retaining the safe operation action of returning to the safe range.
[0048] The alarm notification module is used to trigger system alarms according to the instructions of the main control module and display abnormal prompts for the alarm items on the display interface;
[0049] The execution control module is used to perform restrictions and permissions on corresponding actions according to the control instructions of the main control module.
[0050] The specific logic for differentiated action restrictions is as follows:
[0051] When the height alarm is triggered, the boom raising and boom extension actions are restricted, while the boom lowering, boom retraction, rotation, and hook actions are allowed.
[0052] When the working radius alarm is triggered, the boom extension and boom descent actions are restricted, while the boom raising, boom retraction, rotation, and hook actions are allowed.
[0053] When the right turn alarm is triggered, the right turn action is restricted, while all other actions are allowed.
[0054] When the left turn alarm is triggered, the left turn action is restricted, while all other actions are allowed.
[0055] When the boom angle alarm is triggered, the boom raising action is restricted, while all other actions are allowed.
[0056] When the boom angle alarm is triggered, the boom descent action is restricted, while all other actions are allowed.
[0057] The main control module has built-in over-limit alarm judgment logic corresponding to each restricted item, specifically:
[0058] For the restrictions corresponding to maximum height, working radius, boom lifting angle, right turn angle, and left turn angle, when the current value of the actual status of the corresponding item is greater than or equal to the limit value, the main control module determines to trigger an alarm for the corresponding item.
[0059] For the restricted items corresponding to the boom angle, when the current value of the actual state of the corresponding item is less than or equal to the limit value, the main control module determines to trigger the alarm for the corresponding item.
[0060] The main control module also has built-in parameter setting self-test logic, specifically:
[0061] When the main control module detects that the boom lifting angle limit value and the boom lowering angle limit value input by the parameter setting module are equal and neither of them is 0, the main control module triggers a parameter abnormality alarm and prompts the user to adjust the setting value.
[0062] When the left turn angle limit value and the right turn angle limit value input by the parameter setting module are equal and both are not 0, the main control module triggers a parameter abnormality alarm and prompts the user to adjust the setting value.
[0063] When the alarm notification module triggers an alarm, it changes the display area of the corresponding alarm item in red on the display interface, and at the same time marks the direction of the item exceeding the limit with a red arrow.
[0064] The parameter setting module is equipped with a display interface, which synchronously displays the set limit values of each restricted item and the current value of the actual status collected in real time.
[0065] When multiple restricted items simultaneously meet the alarm triggering conditions, the main control module synchronously triggers alarms for the corresponding multiple items and executes the differentiated action restriction logic corresponding to each alarm type.
[0066] When an abnormal parameter alarm is triggered, the main control module continuously outputs an alarm prompt through the alarm prompt module and locks the operation control function of the execution control module until the restricted parameters are adjusted to a legal range.
[0067] The virtual wall limits include maximum height, operating radius, right turn angle, left turn angle, boom lifting angle, and boom lowering angle.
[0068] A miniature crane includes a crane body 1, which includes a chassis 11, a slewing mechanism 12, a boom mechanism 13, and a hook lifting mechanism 14. The slewing mechanism 12, the boom mechanism 13, and the hook lifting mechanism 14 are all electrically connected to an execution control module, which controls the movement restriction and the movement permission.
[0069] Example 1
[0070] This embodiment provides a miniature crane and its electronic fence safety restriction system, including a crane body 1 and an electronic fence safety restriction system. The crane body 1 includes a chassis 11, a slewing mechanism 12, a boom mechanism 13, and a hook lifting mechanism 14. The slewing mechanism 12, the boom mechanism 13, and the hook lifting mechanism 14 are all electrically connected to the execution control module of the electronic fence safety restriction system, and the execution control module realizes the action restriction and action permission control.
[0071] The electronic fence safety restriction system includes a parameter setting module, a status acquisition module, a main control module, an alarm notification module, and an execution control module. The parameter setting module features a human-machine interface that allows input and storage of various restriction values corresponding to the virtual wall, while simultaneously displaying the set restriction values and the real-time acquired current status values for each restriction item. The virtual wall restriction items include maximum height, operating radius, right turn angle, left turn angle, boom lifting angle, and boom lowering angle. The status acquisition module collects the real-time current status values of various restriction items during the operation of the mini crane. The main control module is electrically connected to the other four modules and incorporates differentiated action restriction logic, over-limit alarm judgment logic, and parameter setting self-check logic. The alarm notification module can trigger system alarms based on instructions from the main control module. When an alarm is triggered, the corresponding alarm item is displayed in red on the interface, and a red arrow indicates the direction of exceeding the limit. The execution control module executes the corresponding action restriction and permission controls according to the control instructions from the main control module.
[0072] The specific implementation process of this embodiment is as follows:
[0073] Before operation, the operator inputs the various limit values of the virtual wall restriction through the parameter setting module, based on the actual boundary of the computer room's operating space. After the parameters are input, the main control module initiates the parameter setting self-check logic. If no parameter conflicts are detected and no abnormal alarms are triggered, the system enters normal operation standby mode.
[0074] During operation, the status acquisition module collects the current actual status value of the boom in real time and transmits it to the main control module. The main control module continuously compares the current actual status value with the corresponding limit value. When the actual height of the boom reaches the maximum height limit value during the lifting process, satisfying the alarm condition of "current actual status value ≥ limit value", the main control module determines to trigger a height alarm.
[0075] Upon triggering the height alarm, the main control module sends an alarm command to the alarm notification module, which then triggers an audible and visual alarm. Simultaneously, the alarm item is highlighted in red, and the direction of the exceedance is indicated on the display interface. At the same time, the main control module sends a control command to the execution control module, executing the built-in differentiated action restriction logic: restricting boom raising and extending, prohibiting the boom from continuing to move in a direction exceeding the height limit, while allowing boom lowering, boom retraction, rotation, and all hook movements. Once the operator adjusts the boom back to a safe range using the permitted actions, the alarm automatically deactivates, and the system resumes normal full-motion control.
[0076] When multiple restricted items meet the alarm triggering conditions simultaneously during operation, the main control module synchronously triggers alarms for the corresponding multiple items and executes the differentiated action restriction logic corresponding to each alarm type to achieve synchronous safety protection at the boundary.
[0077] Example 2
[0078] This embodiment provides a miniature crane and its electronic fence safety restriction system, including a parameter setting module, a status acquisition module, a main control module, an alarm prompt module, an execution control module, and a miniature crane body 1 equipped with the system. The slewing mechanism 12, boom mechanism 13, and hook lifting mechanism 14 of the crane body 1 are all electrically connected to the execution control module. The execution control module realizes the action restriction and action permission control. The differential action restriction logic, over-limit alarm judgment logic, and parameter setting self-test logic built into the main control module are all consistent with the technical solution.
[0079] The specific implementation process of this embodiment is as follows:
[0080] Before the operation, the operator inputs the various limit values of the virtual wall through the parameter setting module according to the spatial boundary of the underground utility tunnel. The main control module starts parameter self-check, and after confirming that there are no parameter conflicts, the system enters the normal operation state.
[0081] During operation, when the boom extends deeper into the pipe gallery, the status acquisition module collects real-time data on the actual operating radius reaching the operating radius limit, and simultaneously the actual boom angle reaches the boom angle limit. Both conditions simultaneously meet the alarm triggering criteria: the current actual value of the operating radius ≥ the limit, and the current actual value of the boom angle ≤ the limit. The main control module then synchronously triggers both the operating radius alarm and the boom angle alarm.
[0082] Upon triggering the alarm, the alarm notification module simultaneously turns the display areas of both alarm items red, indicating the direction of the exceedance with red arrows in the corresponding directions, and triggers a continuous audible and visual alarm to adapt to the poor visibility environment of underground spaces. The main control module simultaneously sends control commands to the execution control module to execute the differentiated action restriction logic corresponding to the two alarm types: for the working radius alarm, it restricts boom extension and boom descent; for the boom angle alarm, it restricts boom descent. After merging the execution, it ultimately restricts boom extension and boom descent, while allowing boom raising, boom retraction, rotation, and hook movement.
[0083] After the operator adjusts the boom back to a safe range using permitted actions, both alarms are simultaneously deactivated, and the system resumes normal operation control without any machine shutdown, thus avoiding the problem of the boom getting stuck and unable to return to its original position in a narrow pipe gallery.
[0084] Example 3
[0085] The miniature crane and its electronic fence safety restriction system provided in this embodiment include a parameter setting module, a status acquisition module, a main control module, an alarm prompt module, an execution control module, and a miniature crane body 1 equipped with the system. The slewing mechanism 12, boom mechanism 13, and hook lifting mechanism 14 of the crane body 1 are all electrically connected to the execution control module, which implements action restriction and action permission control. The differentiated action restriction logic, over-limit alarm judgment logic, and parameter setting self-test logic built into the main control module are consistent with the technical solution.
[0086] The specific implementation process of this embodiment is as follows:
[0087] Before operation, operators must configure the crane boom to rotate only inwards towards the building, prohibiting rotation outwards towards the open space, according to safety requirements for working near the edge. This is done by inputting the virtual wall's limit values through the parameter setting module. If, during parameter input, the operator mistakenly sets the left turn angle limit and the right turn angle limit to be equal and neither to zero, the main control module will initiate a parameter setting self-check. Upon detecting this conflict, an alarm will be triggered immediately, continuously outputting an audible and visual alarm and displaying a message on the screen indicating a parameter conflict and requesting adjustment. Simultaneously, the operation control function of the execution control module will be locked, preventing the crane from starting operation until the operator adjusts the parameters to the valid range and the self-check passes. Only then will the system be unlocked and return to normal operation, thus mitigating the risk of a fall from the open side due to incorrect parameter settings.
[0088] During operation, the operator mistakenly pushed the right slewing lever, causing the actual current value of the boom's right turn angle to reach the right turn angle limit, thus meeting the alarm condition of "actual current value ≥ limit value." The main control module then triggers the right slewing alarm. After the alarm is triggered, the alarm notification module highlights the alarm item in red and marks the over-limit direction, while simultaneously triggering an audible and visual alarm. The main control module sends a control command to the execution control module, implementing differentiated action restriction logic: restricting only the right slewing action while allowing all other actions, eliminating the risk of the boom turning towards the free side, and without affecting other normal operational actions.
[0089] When a height alarm is triggered during the lifting of the boom, the system simultaneously executes corresponding differentiated action restrictions, limiting the boom's rising and extending movements while allowing return operations, thus achieving comprehensive safety protection for operations near edges.
Claims
1. An electronic fence security restriction system, characterized in that: It includes a parameter setting module, a status acquisition module, a main control module, an alarm prompting module, and an execution control module; The parameter setting module is used to input and store various limit values corresponding to the virtual wall limit. The virtual wall limit is used to constrain the operating range of the boom and prevent the boom's operating state from exceeding the limit value. The status acquisition module is used to collect the current actual status values of various limiting items during the operation of the mini crane in real time. The main control module is electrically connected to the parameter setting module, status acquisition module, alarm prompting module, and execution control module, respectively. It is used to compare the real-time acquired current status value with the limit value of the corresponding item, determine whether to trigger an alarm based on the comparison result, and output the corresponding control command to the alarm prompting module and the execution control module. The main control module has built-in differentiated action restriction logic corresponding to each alarm type. When the corresponding alarm is triggered, it is used to restrict the crane from dangerous actions that exceed the limit value, while retaining the safe operation action of returning to the safe range. The alarm notification module is used to trigger system alarms according to the instructions of the main control module and display abnormal prompts for the alarm items on the display interface; The execution control module is used to perform restrictions and permissions on corresponding actions according to the control instructions of the main control module.
2. The electronic fence security restriction system according to claim 1, characterized in that: The specific logic for restricting differentiated actions is as follows: When the height alarm is triggered, the boom raising and boom extension actions are restricted, while the boom lowering, boom retraction, rotation, and hook actions are allowed. When the working radius alarm is triggered, the boom extension and boom descent actions are restricted, while the boom raising, boom retraction, rotation, and hook actions are allowed. When the right turn alarm is triggered, the right turn action is restricted, while all other actions are allowed. When the left turn alarm is triggered, the left turn action is restricted, while all other actions are allowed. When the boom angle alarm is triggered, the boom raising action is restricted, while all other actions are allowed. When the boom angle alarm is triggered, the boom descent action is restricted, while all other actions are allowed.
3. The electronic fence security restriction system according to claim 1, characterized in that: The main control module has built-in over-limit alarm judgment logic corresponding to each restricted item, specifically: For the restrictions corresponding to maximum height, working radius, boom lifting angle, right turn angle, and left turn angle, when the current value of the actual status of the corresponding item is greater than or equal to the limit value, the main control module determines to trigger an alarm for the corresponding item. For the restricted items corresponding to the boom angle, when the current value of the actual state of the corresponding item is less than or equal to the limit value, the main control module determines to trigger the alarm for the corresponding item.
4. The electronic fence security restriction system according to claim 1, characterized in that: The main control module also has a built-in parameter setting self-test logic, specifically: When the main control module detects that the boom lifting angle limit value and the boom lowering angle limit value input by the parameter setting module are equal and neither of them is 0, the main control module triggers a parameter abnormality alarm and prompts the user to adjust the setting value. When the left turn angle limit value and the right turn angle limit value input by the parameter setting module are equal and both are not 0, the main control module triggers a parameter abnormality alarm and prompts the user to adjust the setting value.
5. The electronic fence security restriction system according to claim 1, characterized in that: When the alarm notification module triggers an alarm, it changes the display area of the corresponding alarm item in red on the display interface, and simultaneously marks the direction of the item exceeding the limit with a red arrow.
6. The electronic fence security restriction system according to claim 1, characterized in that: The parameter setting module is equipped with a display interface, which is used to simultaneously display the set limit values of each restricted item and the current value of the actual status collected in real time.
7. The electronic fence security restriction system according to claim 1, characterized in that: When multiple restricted items simultaneously meet the alarm triggering conditions, the main control module synchronously triggers alarms for the corresponding multiple items and executes the differentiated action restriction logic corresponding to each alarm type.
8. The electronic fence security restriction system according to claim 1, characterized in that: When an alarm for abnormal parameters is triggered, the main control module continuously outputs an alarm prompt through the alarm prompt module and locks the operation control function of the execution control module until the restricted parameters are adjusted to a legal range.
9. An electronic fence security restriction system according to claim 1, characterized in that: The virtual wall restrictions include maximum height, operating radius, right turn angle, left turn angle, boom lifting angle, and boom lowering angle.
10. A miniature crane according to any one of claims 1-9, characterized in that: The crane body (1) includes a chassis (11), a slewing mechanism (12), a boom mechanism (13), and a hook lifting mechanism (14). The slewing mechanism (12), the boom mechanism (13), and the hook lifting mechanism (14) are all electrically connected to the execution control module, which controls the movement restriction and the movement permission.