Same-orbit crane radar accumulative error-free positioning grading anti-collision control system

Abstract

The utility model discloses a grading anti-collision control system for radar accumulative error-free positioning of a same-track crane, which obtains the positions of a cart, a main trolley and an auxiliary trolley by combining a first cart label, a second cart label, a main trolley label and an auxiliary trolley label with radar systems arranged on the two sides of a cart track, further, the distances between the cart, the main trolley and the auxiliary trolley and the obstacle are obtained, graded anti-collision signals of the obstacle are obtained according to the running directions and the running speeds of the cart, the main trolley and the auxiliary trolley and a plurality of preset anti-collision safety distances, and finally graded anti-collision control over the cart, the main trolley and the auxiliary trolley is achieved. According to the utility model, the positions of the cart, the main trolley and the auxiliary trolley can be accurately obtained in scenes with severe environmental conditions, such as foundry buildings and the like, continuously accumulated errors are avoided, the positioning stability and reliability are high, and the reliability of the anti-collision capability of the crane in the running process is improved.

Description

Technical Field

[0001] This utility model relates to the field of crane safety control technology, and in particular to a graded anti-collision control system for radar positioning of cranes on the same track without cumulative error. Background Technology

[0002] In the steel mill and metallurgical industries, the operation of cranes relies heavily on operators to judge and intervene in obstacles and potential collision risks. Safety is highly dependent on the experience and attention of personnel, which can easily lead to human error and makes it difficult to provide consistent safety guarantees for high-risk, long-term continuous operation scenarios.

[0003] Existing solutions attempt to achieve pose navigation and collision avoidance decisions using the position information of wheel encoders. However, encoder installation typically requires coaxial alignment with the wheel to ensure accurate position data; coaxial installation is difficult and prone to problems such as broken shafts and loose connecting shafts in practical applications, leading to inaccurate position data and continuous error accumulation, affecting the judgment of collision risks and response timing. In technologies that use Gray busbars to collect the position information of large and small vehicles for collision avoidance, the Gray busbars are costly and difficult to maintain. In technologies that use laser rangefinders to detect distances to obstacles in front or around the vehicle, the harsh working environment, such as foundry crane workshops, with numerous interference sources such as metal dust and water vapor, easily leads to measurement errors in laser rangefinders and increased coupling noise with the environment, interfering with the detection information, reducing the stability and reliability of positioning, and consequently reducing the reliability and stability of collision avoidance. This makes it difficult to meet the requirements of industrial safety standards for core safety functions. Utility Model Content

[0004] This utility model discloses a graded anti-collision control system for radar positioning of a rail crane without cumulative error, in order to overcome the above-mentioned technical problems.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows:

[0006] The graded anti-collision control system for radar positioning of rail cranes without cumulative error includes: trolley, main trolley, auxiliary trolley, two radar systems, anti-collision PLC, and electrical control PLC;

[0007] The trolley moves back and forth above the working area along the trolley track; the trolley track is set above the working area; the trolley track includes a first trolley track and a second trolley track.

[0008] The main trolley is equipped with a main trolley track and an auxiliary trolley track; both the main trolley track and the auxiliary trolley track are perpendicular to the main trolley track; the main trolley moves back and forth along the main trolley track, and the auxiliary trolley moves back and forth along the auxiliary trolley track;

[0009] The highest point of the auxiliary trolley is lower than the lowest point of the main trolley;

[0010] The main vehicle is equipped with a first main vehicle label and a second main vehicle label; the main trolley is equipped with a main trolley label, and the auxiliary trolley is equipped with an auxiliary trolley label;

[0011] The two radar systems are respectively fixedly installed on both sides of the first trolley track or the second trolley track, so as to obtain the first trolley position signal along the trolley track direction according to the first trolley tag, obtain the second trolley position signal along the trolley track direction according to the second trolley tag, obtain the main trolley position signal in the direction perpendicular to the trolley track according to the main trolley tag, and obtain the auxiliary trolley position signal in the direction perpendicular to the trolley track according to the auxiliary trolley tag.

[0012] The anti-collision PLC is connected to the two radar systems to determine the position of the main vehicle based on the position signal of the first or second main vehicle, the position of the main trolley based on the position signal of the first main vehicle and the position signal of the main trolley, and the position of the auxiliary trolley based on the position signal of the second main vehicle and the position signal of the auxiliary trolley. It also obtains the distances between the main vehicle, the main trolley, the auxiliary trolley, and the obstacle based on the positions of the main vehicle, the main trolley, the auxiliary trolley, and the obstacle. Furthermore, it obtains graded anti-collision signals for the obstacle based on the running direction and speed of the main vehicle, the main trolley, and the auxiliary trolley, as well as multiple preset anti-collision safety distances.

[0013] The electrical control PLC is communicatively connected to the anti-collision PLC so that after obtaining the graded anti-collision signal of the obstacle, it can obtain the graded control signal corresponding to the graded anti-collision signal to control the main trolley, the main trolley, and the auxiliary trolley, thereby realizing the graded anti-collision control of the crane.

[0014] Furthermore, the two radar systems are fixedly mounted on both sides of the first trolley track or on both sides of the second trolley track via radar mounting brackets.

[0015] The radar mounting bracket includes a mounting plate, a first mounting rod, and a second mounting rod;

[0016] The fixing plate is fixedly installed on the factory wall on both sides of the first or second trolley track;

[0017] One end of the first fixing rod is vertically fixed to the fixing plate;

[0018] The second fixing rod is vertically fixed to the other end of the first fixing rod, and the second fixing rod is parallel to the fixing plate;

[0019] The radar system includes a radar base station and a base station antenna;

[0020] Both the radar base station and the base station antenna are fixedly connected to the second fixed rod.

[0021] Furthermore, the radar base station, the first large vehicle tag, and the main vehicle tag are set on the same horizontal plane; and the straight line where the first large vehicle tag and the main vehicle tag are located is parallel to the main vehicle track.

[0022] The second large vehicle label and the auxiliary vehicle label are set on the same horizontal plane; and the straight line where the second large vehicle label and the auxiliary vehicle label are located is parallel to the auxiliary vehicle track.

[0023] Furthermore, it also includes a touch screen display; the touch screen display is communicatively connected to the anti-collision PLC so that when the position of the obstacle is input through the touch screen display, the position of the obstacle is transmitted to the anti-collision PLC to obtain the distance between the main vehicle, the main trolley, the auxiliary trolley and the obstacle, and then obtain the graded anti-collision signal of the obstacle based on the running direction and speed of the main vehicle, the main trolley, the auxiliary trolley and multiple preset anti-collision safety distances.

[0024] Furthermore, the touch screen is equipped with indicator lights and an alarm; both the indicator lights and the alarm are connected to the anti-collision PLC so that when a graded anti-collision signal of an obstacle is generated, an alarm is triggered through the indicator lights and the alarm.

[0025] Beneficial Effects: The present invention relates to a graded anti-collision control system for a crane with a track-mounted crane and radar positioning without cumulative error. This system uses a first trolley tag, a second trolley tag, a main trolley tag, and an auxiliary trolley tag, combined with a radar system located on both sides of the trolley track, to obtain the positions of the trolley, main trolley, and auxiliary trolley. Furthermore, by combining this with the location of obstacles, the system obtains the distances between the trolley, main trolley, and auxiliary trolley and the obstacles. Based on the running direction and speed of the trolley, main trolley, and auxiliary trolley, as well as multiple preset anti-collision safety distances, it obtains graded anti-collision signals for the obstacles. Finally, the system uses a PLC to obtain graded control signals for the trolley, main trolley, and auxiliary trolley, thus achieving graded anti-collision control for these vehicles. Because this invention uses a radar base station, it can accurately obtain the positions of the main trolley, auxiliary trolley, and crane even in harsh environments such as foundries, without continuously accumulating errors. The positioning stability and reliability are high, improving the reliability of the crane's anti-collision capability during operation and reducing reliance on human judgment. Especially in harsh environments such as foundries, it can meet the requirements of industrial safety standards for core safety functions. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the radar installation position of the graded collision avoidance control system of this utility model;

[0028] Figure 2 This is a schematic diagram of the radar system structure in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of radar tag installation in an embodiment of this utility model.

[0030] Among them, 1. Main vehicle; 11. First main vehicle label; 12. Second main vehicle label; 2. Main trolley; 21. Main trolley label; 3. Auxiliary trolley; 31. Auxiliary trolley label; 4. Radar system; 41. Fixing plate; 42. First fixing rod; 43. Second fixing rod; 44. Radar base station; 45. Base station antenna; 51. First main vehicle track; 52. Second main vehicle track; 6. Main trolley track; 7. Auxiliary trolley track. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0032] This embodiment introduces a graded collision avoidance control system for radar-based positioning of a rail crane without cumulative error, such as... Figure 1-3 As shown, it includes: 1 main vehicle, 2 main trolley, 3 auxiliary trolley, 4 two radar systems, 4 anti-collision PLC, and 4 electronic control PLC;

[0033] The trolley 1 moves back and forth above the working area along the trolley track; the trolley track is set above the working area; the trolley track includes a first trolley track 51 and a second trolley track 52.

[0034] The main trolley 1 is provided with a main trolley track 6 and an auxiliary trolley track 7; both the main trolley track 6 and the auxiliary trolley track 7 are perpendicular to the main trolley track; the main trolley 2 moves back and forth along the main trolley track 6, and the auxiliary trolley 3 moves back and forth along the auxiliary trolley track 7.

[0035] The highest point of the auxiliary trolley 3 is lower than the lowest point of the main trolley 2;

[0036] The main vehicle 1 is equipped with a first main vehicle label 11 and a second main vehicle label 12; the main trolley 2 is equipped with a main trolley label 21, and the auxiliary trolley 3 is equipped with an auxiliary trolley label 31.

[0037] The two radar systems 4 are fixedly installed on both sides of the first trolley track 51 or the second trolley track 52, so as to obtain the first trolley position signal of the trolley 1 along the trolley track direction according to the first trolley tag 11, obtain the second trolley position signal of the trolley 1 along the trolley track direction according to the second trolley tag 12, obtain the main trolley 2 position signal in the direction perpendicular to the trolley track according to the main trolley tag 21, and obtain the auxiliary trolley 3 position signal in the direction perpendicular to the trolley track according to the auxiliary trolley tag 31.

[0038] The anti-collision PLC is connected to the two radar systems 4 to determine the position of the main vehicle based on the position signal of the first or second main vehicle, the position of the main trolley based on the position signal of the first main vehicle and the position signal of the main trolley, and the position of the auxiliary trolley based on the position signal of the second main vehicle and the position signal of the auxiliary trolley. It also obtains the distances between the main vehicle, the main trolley, the auxiliary trolley, and the obstacle based on the positions of the main vehicle, the main trolley, the auxiliary trolley, and the obstacle. Furthermore, it obtains graded anti-collision signals for the obstacle based on the running direction and speed of the main vehicle, the main trolley, and the auxiliary trolley, as well as multiple preset anti-collision safety distances.

[0039] The electrical control PLC is communicatively connected to the anti-collision PLC so that after obtaining the graded anti-collision signal of the obstacle, it can obtain the graded control signal corresponding to the graded anti-collision signal to control the main trolley, the main trolley, and the auxiliary trolley, thereby realizing the graded anti-collision control of the crane.

[0040] Preferably, the two radar systems 4 are fixedly mounted on both sides of the first trolley track 51 or the second trolley track 52 via radar mounting brackets.

[0041] The radar mounting bracket includes a mounting plate 41, a first mounting rod 42, and a second mounting rod 43, as shown below. Figure 2 As shown;

[0042] The fixing plate 41 is fixedly installed on the factory wall on both sides of the first trolley track 51 or the second trolley track 52;

[0043] One end of the first fixing rod 42 is vertically fixed to the fixing plate 41;

[0044] The second fixing rod 43 is vertically fixed to the other end of the first fixing rod 42, and the second fixing rod 43 is parallel to the fixing plate 41;

[0045] The radar system 4 includes a radar base station 44 and a base station antenna 45;

[0046] The radar base station 44 and the base station antenna 45 are fixedly installed on the second fixing rod 43.

[0047] In this embodiment, the radar mounting bracket used for installing the radar system has a simple structure and is easy to install. The radar tags, including the main trolley tag, the primary trolley tag, and the secondary trolley tag, can be welded to the crane via the mounting bracket. Figure 3 As shown, the radar acquires the position signals of the main vehicle, primary vehicle, and auxiliary vehicle, providing accurate and reliable positioning and thus enabling the provision of highly reliable graded collision avoidance signals.

[0048] Preferably, the radar base station 44, the first large vehicle tag 11, and the main vehicle tag 21 are arranged on the same horizontal plane; and the straight line where the first large vehicle tag 11 and the main vehicle tag 21 are located is parallel to the main vehicle track.

[0049] The second large vehicle label 12 and the auxiliary vehicle label 31 are set on the same horizontal plane; and the straight line where the second large vehicle label 12 and the auxiliary vehicle label 31 are located is parallel to the auxiliary vehicle track.

[0050] Specifically, such as Figure 1 As shown, the crane trolley 1 moves left and right on the trolley track in the factory building, while the main trolley 2 and auxiliary trolley 3 move back and forth on the main trolley track 6 and auxiliary trolley track 7, respectively. The main trolley 2 is higher than the auxiliary trolley 3, and the auxiliary trolley 3 can pass through the lowest point of the main trolley 2.

[0051] The anti-collision PLC and the electrical control PLC in this embodiment are both existing products in the field. This embodiment is only used to implement the functions required by this embodiment.

[0052] Specifically, both radar systems 4 are installed at the fixed end of the factory building, respectively set on both sides of the trolley track. The first trolley tag 11 / second trolley tag 12 and the two radar base stations obtain the crane trolley running position signal through existing radar technology. The first trolley tag 11 and the main trolley tag 21 and the two radar base stations use radar technology to obtain the position of the main trolley, and the second trolley tag 12 and the auxiliary trolley tag 31 and the two radar base stations use radar technology to obtain the position of the auxiliary trolley.

[0053] In this embodiment, the anti-collision PLC is connected via network cable to the first trolley tag 11, the second trolley tag 12, the main trolley tag 21, and the auxiliary trolley tag 31. It combines radar signals to obtain the position of the trolley, the main trolley, and the auxiliary trolley, as well as their running speed, running direction, and multiple preset anti-collision safety distances, and obtains graded anti-collision signals for obstacles. After obtaining the graded anti-collision signals for obstacles, the PLC transmits these signals to the electronic control PLC via network cable to obtain graded control signals corresponding to the graded anti-collision signals for controlling the trolley, main trolley, and auxiliary trolley, thereby controlling the operation of the trolley, main trolley, and auxiliary trolley and realizing graded anti-collision control of the crane.

[0054] Preferably, it also includes a touch screen display; the touch screen display is communicatively connected to the anti-collision PLC so that when the position of the obstacle and multiple preset anti-collision safety distances are input through the touch screen display, the position of the obstacle is transmitted to the anti-collision PLC to obtain the distance between the main vehicle, the main trolley, the auxiliary trolley and the obstacle, and then obtains the graded anti-collision signal of the obstacle based on the running direction and speed of the main vehicle, the main trolley, the auxiliary trolley and the multiple preset anti-collision safety distances; at the same time, the position of the main vehicle, the main trolley, the auxiliary trolley, the running direction and the running speed of the main vehicle, the main trolley, the auxiliary trolley are displayed.

[0055] In this embodiment, the positions of obstacles within the factory area are fixed. Therefore, in this embodiment, the position coordinates of the obstacles are input via a touch screen, and a rectangular area is constructed with the obstacle as the center. The position is represented by the coordinates of the four boundaries of this rectangle: top, bottom, left, and right. If the obstacle on site is irregularly shaped, the distance from the farthest point of the obstacle in all four directions is taken as the boundary position of the rectangle. The position of the main trolley is 0 meters from the left track end, and the position of the main trolley increases when moving to the right. The position of the main trolley / auxiliary trolley is 0 meters from the reverse end, and the position of the main trolley / auxiliary trolley increases when moving forward.

[0056] In this embodiment, when the main trolley / auxiliary trolley is within the obstacle area (i.e., the current position of the main trolley / auxiliary trolley in the direction of the main trolley track is between the upper and lower boundaries of the obstacle), if the main trolley is moving towards the obstacle and the distance to the obstacle is less than the fourth-level anti-collision safety distance of the main trolley (the touch screen has a four-level anti-collision safety distance input box), a graded anti-collision signal for the obstacle is generated. At this time, the main trolley is prohibited from traveling towards the obstacle at the fourth-level speed, and other speeds are similarly determined. If the main trolley is moving away from the obstacle at this time, no anti-collision signal is generated. The fourth-level anti-collision safety distance, third-level anti-collision safety distance, second-level anti-collision safety distance, and first-level anti-collision safety distance of the main trolley in this embodiment are all determined by those skilled in the art based on experience and on-site conditions, and are input and set using a touch screen display.

[0057] In this embodiment, when the main vehicle is at the obstacle position (i.e., obstacle's right coordinate > main vehicle's position > obstacle's left coordinate), if the main vehicle moves towards the obstacle and the distance to the obstacle is less than the main vehicle's fourth-level anti-collision safety distance (the touchscreen has a four-level main vehicle anti-collision safety distance input box), then the vehicle is prohibited from moving towards the obstacle at the fourth-level speed. Other speeds follow the same principle. If the main vehicle moves away from the obstacle at this time, no anti-collision signal is generated. The auxiliary vehicle's anti-collision control principle is the same as the main vehicle's.

[0058] In this embodiment, all distance settings are configured on the touchscreen display, with minimum and maximum values ​​set, and only authorized personnel can make these settings. If an administrator sets a value exceeding the maximum or minimum range, the setting will be disabled.

[0059] Preferably, the touch screen is equipped with indicator lights and an alarm; both the indicator lights and the alarm are connected to the anti-collision PLC so that when a graded anti-collision signal of an obstacle is generated, an alarm is triggered through the indicator lights and the alarm.

[0060] Specifically, when a graded collision avoidance signal for an obstacle is generated, the indicator light on the touch screen will light up, and the alarm will be notified to the driver at the same time, thus alerting the driver through a combined sound and light alarm.

[0061] The graded collision avoidance control system in this embodiment uses radar technology combined with tags for the main trolley, main trolley, and auxiliary trolley to determine their positions. Then, when the main trolley / auxiliary trolley of the crane is above an obstacle, the system generates a graded collision avoidance signal for the obstacle by measuring the distance between the main trolley and the obstacle along the main trolley track and the preset fourth-level, third-level, second-level, and first-level collision avoidance safety distances for the main trolley. This signal is combined with the operating speed and direction of the main trolley at that moment. This achieves graded collision avoidance control for the main trolley, main trolley, and auxiliary trolley. When the main vehicle is above an obstacle, the relationship between the distance between the main trolley / auxiliary trolley and the obstacle in the direction perpendicular to the main vehicle's track and the preset four-level, three-level, two-level, and one-level anti-collision safety distances of the main trolley / auxiliary trolley, combined with the running speed and direction of the main trolley / auxiliary trolley at this time, generates a corresponding graded anti-collision signal for the obstacle, thereby realizing graded anti-collision control for the main vehicle, main trolley, and auxiliary trolley.

[0062] This embodiment addresses the problem of inconsistent deceleration distances caused by variations in brake tension and mechanical characteristics among different cranes, leading to poor collision avoidance. By employing multiple collision avoidance distance settings, this embodiment controls the crane with different levels of safety distance, achieving tiered collision avoidance and resolving the issue of crane collisions with ground obstacles. In traditional collision avoidance control methods using a single preset threshold, a large threshold is often set for safety. If the distance between the crane's working position and the obstacle falls below the threshold, an alarm will be triggered, preventing the crane from operating normally. This embodiment's collision avoidance PLC can perform tiered control of the crane based on different collision avoidance distances, combined with the crane's operating speed and direction. This allows for tiered control without disrupting normal production on-site, preventing accidents and ensuring production efficiency.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A graded collision avoidance control system for radar-based positioning of rail cranes without cumulative error, characterized in that, include: Large vehicle, main trolley, auxiliary trolley, two radar systems, anti-collision PLC, electronic control PLC; The trolley moves back and forth above the working area along the trolley track; the trolley track is set above the working area; the trolley track includes a first trolley track and a second trolley track. The large vehicle is equipped with a main trolley track and an auxiliary trolley track; Both the main trolley track and the auxiliary trolley track are perpendicular to the main trolley track; The main trolley moves back and forth along the main trolley track, and the auxiliary trolley moves back and forth along the auxiliary trolley track; The highest point of the auxiliary trolley is lower than the lowest point of the main trolley; The main vehicle is equipped with a first main vehicle label and a second main vehicle label; the main trolley is equipped with a main trolley label, and the auxiliary trolley is equipped with an auxiliary trolley label; The two radar systems are respectively fixedly installed on both sides of the first trolley track or the second trolley track, so as to obtain the first trolley position signal along the trolley track direction according to the first trolley tag, obtain the second trolley position signal along the trolley track direction according to the second trolley tag, obtain the main trolley position signal in the direction perpendicular to the trolley track according to the main trolley tag, and obtain the auxiliary trolley position signal in the direction perpendicular to the trolley track according to the auxiliary trolley tag. The anti-collision PLC is connected to the two radar systems to determine the position of the main vehicle based on the position signal of the first or second main vehicle, the position of the main trolley based on the position signal of the first main vehicle and the position signal of the main trolley, and the position of the auxiliary trolley based on the position signal of the second main vehicle and the position signal of the auxiliary trolley. It also obtains the distances between the main vehicle, the main trolley, the auxiliary trolley, and the obstacle based on the positions of the main vehicle, the main trolley, the auxiliary trolley, and the obstacle. Furthermore, it obtains graded anti-collision signals for the obstacle based on the running direction and speed of the main vehicle, the main trolley, and the auxiliary trolley, as well as multiple preset anti-collision safety distances. The electrical control PLC is communicatively connected to the anti-collision PLC so that after obtaining the graded anti-collision signal of the obstacle, it can obtain the graded control signal corresponding to the graded anti-collision signal to control the main trolley, the main trolley, and the auxiliary trolley, thereby realizing the graded anti-collision control of the crane.

2. The graded collision avoidance control system for radar-based positioning of cranes on the same track without cumulative error as described in claim 1, characterized in that, The two radar systems are fixedly mounted on both sides of the first trolley track or on both sides of the second trolley track via radar mounting brackets. The radar mounting bracket includes a mounting plate, a first mounting rod, and a second mounting rod; The fixing plate is fixedly installed on the factory wall on both sides of the first or second trolley track; One end of the first fixing rod is vertically fixed to the fixing plate; The second fixing rod is vertically fixed to the other end of the first fixing rod, and the second fixing rod is parallel to the fixing plate; The radar system includes a radar base station and a base station antenna; Both the radar base station and the base station antenna are fixedly connected to the second fixed rod.

3. The graded collision avoidance control system for radar-based positioning of cranes on the same track without cumulative error as described in claim 2, characterized in that, The radar base station, the first large vehicle tag, and the main vehicle tag are set on the same horizontal plane; and the straight line where the first large vehicle tag and the main vehicle tag are located is parallel to the main vehicle track. The second large vehicle label and the auxiliary vehicle label are set on the same horizontal plane; and the straight line where the second large vehicle label and the auxiliary vehicle label are located is parallel to the auxiliary vehicle track.

4. The graded collision avoidance control system for radar-based positioning of cranes on the same track without cumulative error as described in claim 1, characterized in that, It also includes a touch screen display; the touch screen display is communicatively connected to the anti-collision PLC so that when the position of the obstacle is input through the touch screen display, the position of the obstacle is transmitted to the anti-collision PLC.

5. The graded collision avoidance control system for radar-based positioning of cranes on the same track without cumulative error, as described in claim 4, is characterized in that... The touch screen is equipped with indicator lights and an alarm; both the indicator lights and the alarm are connected to the anti-collision PLC so that when a graded anti-collision signal of an obstacle is generated, the indicator lights and the alarm will sound an alarm.

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