Collision detection device and aerial work platform

Abstract

The present invention provides a collision detection device and an aerial work vehicle. The housing is used to connect with the aerial work vehicle. The collision mechanism includes a sliding rod, an inertial sliding frame sleeved outside the sliding rod, and an elastic buffer. The sliding rod extends along the detection direction and is connected with the housing. The inertial sliding frame is used to slide along the extension direction of the sliding rod under the action of inertia. The elastic buffer is abutted between the inertial sliding frame and the housing and is used to elastically limit the inertial sliding frame. The detection mechanism is used to detect the sliding amplitude of the inertial sliding frame and send a collision signal to the aerial work vehicle when the sliding amplitude is greater than a limited value. The present invention does not need to modify the walking, slewing or luffing structure of the aerial work vehicle, can be installed at any position of the aerial work vehicle separately according to actual use requirements, expands the application range, and arranges the sliding rod along the detection direction. By using the inertia principle, collisions in multiple action directions can be detected, and multi-direction detection can be realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerial work machinery, and particularly relates to a collision detection device and an aerial work vehicle. Background Art

[0002] Aerial work vehicles are movable aerial work products widely used in aerial work, equipment safety inspection and maintenance in various industries. Existing aerial work vehicles usually consist of a chassis, a turntable, a boom, a fly boom, a working platform, etc. During actual use of the aerial work vehicle, when the operator is not familiar with the equipment or the site is relatively complex, the working platform, fly boom or boom may be collided by obstacles, and the equipment or personnel may be damaged. However, the aerial work vehicle after the collision is still moving, causing further damage.

[0003] Existing aerial work vehicles use a luffing oil cylinder connected to a swing detection mechanism. After a collision, the swing detection mechanism is stressed and stops moving after swinging a certain amount. However, this detection method can only detect collisions when the boom luffs downward or travels, and cannot achieve multi-directional collision detection nor can it detect collisions of the turntable and the chassis; in addition, when walking on a potholed road surface, the boom vibrates up and down, and the stop function may be mis-triggered; moreover, the existing detection structure needs to modify the structure of the boom and cannot quickly expand the product range. Summary of the Invention

[0004] The main object of the present invention is to provide a collision detection device and an aerial work vehicle, aiming to solve the technical problems that the application range of the collision detection device in the prior art is limited and multi-directional detection cannot be performed.

[0005] To achieve the above object, the present invention provides a collision detection device for an aerial work vehicle. The collision detection device includes: a housing for connecting with the aerial work vehicle; a collision mechanism including a sliding rod, an inertial sliding frame sleeved outside the sliding rod, and an elastic buffer member. The sliding rod extends along the detection direction and is connected to the housing. The inertial sliding frame is used to slide along the extension direction of the sliding rod under inertia, and the elastic buffer member abuts between the inertial sliding frame and the housing and is used to elastically limit the inertial sliding frame; a detection mechanism for detecting the sliding amplitude of the inertial sliding frame and sending a collision signal to the aerial work vehicle when the sliding amplitude is greater than a limit value, wherein the detection direction is one of the traveling direction, the slewing direction and the luffing direction of the aerial work vehicle.

[0006] In an embodiment of the present invention, the inertial sliding frame includes: a counterweight block sleeved outside the sliding rod and in sliding contact fit with the sliding rod; two detection pressure plates disposed at both ends of the counterweight block along the extension direction of the sliding rod. The elastic buffer member is located between the detection pressure plate and the housing, and the detection mechanism is used to detect the detection pressure plate.

[0007] In an embodiment of the present invention, the detection mechanism includes two detectors oppositely installed on the housing along the extending direction of the sliding rod. The two detection pressing plates are located between the two detectors, and the detectors are used to detect the sliding amplitude of the detection pressing plates.

[0008] In an embodiment of the present invention, the detector is one of a proximity sensor, a laser sensor or a travel switch.

[0009] In an embodiment of the present invention, the inertial carriage further includes a sliding sleeve disposed through the counterweight, and the sliding rod is disposed through the sliding sleeve and is in sliding and guiding cooperation with the sliding sleeve.

[0010] In an embodiment of the present invention, the number of the collision mechanisms is three. The three sliding rods respectively extend along the traveling direction, the slewing direction and the luffing direction, and the number of the detection mechanisms is the same as that of the collision mechanisms and they are arranged in one-to-one correspondence.

[0011] In an embodiment of the present invention, the housing is provided with a protection space, and both the collision mechanism and the detection mechanism are located in the protection space.

[0012] The present invention also provides an aerial work platform vehicle, which includes a chassis, a boom, a working platform and the collision detection device as described above. The chassis, the boom and the working platform are connected in sequence from top to bottom. The chassis is used to drive the boom to slewing and travel, the boom is used to drive the working platform to luff and lift, and at least one of the chassis, the boom and the working platform is installed with the collision detection device.

[0013] In an embodiment of the present invention, the aerial work platform vehicle further includes a controller. The chassis, the boom and the working platform are all installed with the collision detection device, and the controller is used to shut down the aerial work platform vehicle according to the collision signal sent by the collision detection device.

[0014] In an embodiment of the present invention, the collision detection device installed on the working platform is a first detection device, and the collision detection device installed on the chassis is a second detection device. Both the first detection device and the second detection device are provided with sliding rods extending along the luffing direction. The controller is configured to:

[0015] Obtain the luffing direction collision signal sent by the first detection device;

[0016] When obtaining the luffing direction collision signal sent by the first detection device, obtain the luffing direction collision signal sent by the second detection device;

[0017] In the case where the luffing direction collision signal sent by the second detection device cannot be obtained, shut down the chassis and the boom.

[0018] Through the above technical solutions, the collision detection device provided by the embodiments of the present invention has the following beneficial effects:

[0019] When a collision detection device is used for collision detection, under the normal operation state of the aerial work vehicle, the inertial carriage can be in a static state or slide slightly relative to the slide rod under the elastic force suppression of the elastic buffer members on both sides. When the aerial work vehicle is impacted by an obstacle, the walking speed, slewing speed or luffing speed suddenly drops to 0 m / s. The movement speed of the collision detection device installed on the aerial work vehicle can suddenly drop to 0 m / s along with the aerial work vehicle. Among them, due to the law of inertia, the inertial carriage still moves along the previous direction. The detection mechanism can detect the sliding amplitude of the inertial carriage, and send a collision signal to the aerial work vehicle when the sliding amplitude is greater than the limit value, so that the aerial work vehicle can adjust its movement state according to the collision situation, realizing the automatic protection function of the aerial work vehicle after encountering an obstacle collision, avoiding the operator continuing to operate after being collided, reducing the further damage of the equipment or personnel, and improving the safety of the equipment operation. Among them, the collision detection device can be installed according to the detection direction, so that the slide rod extends along the detection direction, and can detect the collisions in the walking direction, slewing direction and luffing direction. The collision detection device in the present invention does not need to modify the walking, slewing or luffing structure of the aerial work vehicle, can be installed separately at any position of the aerial work vehicle according to actual use requirements, expands the application range, and sets the slide rod along the detection direction, and can detect the collisions in multiple action directions by using the inertia principle, and can realize multi-direction detection.

[0020] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings are used to provide an understanding of the present invention and constitute a part of the specification, and are used to explain the present invention together with the following specific implementation manners, but do not constitute a limitation to the present invention. In the drawings:

[0022] Figure 1 is a schematic structural diagram of a collision detection device according to an embodiment of the present invention;

[0023] Figure 2 is a schematic cross-sectional structural diagram of a collision detection device according to an embodiment of the present invention;

[0024] Figure 3 is a schematic structural diagram of an aerial work vehicle according to an embodiment of the present invention.

[0025] DESCRIPTION OF THE REFERENCE NUMERALS

[0026] Label Name Label Name

[0027] 100 Collision detection device 23 Elastic buffer

[0028] 1 Housing 3 Detection mechanism

[0029] 11 Protection space 31 Detector

[0030] 12 Observation window 4 Connector

[0031] 2 Collision mechanism 200 Aerial work platform

[0032] 21 Slide bar 210 Chassis

[0033] 22 Inertial carriage 220 Boom

[0034] 221 Counterweight 230 Working platform

[0035] 222 Detection pressure plate 240 Traveling structure

[0036] 223 Slide sleeve 250 Turntable Detailed implementation manners

[0037] The following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and illustrating the present invention, and are not used to limit the present invention.

[0038] The following describes the collision detection device according to the present invention with reference to the accompanying drawings.

[0039] As Figure 1 and Figure 2 shown, in an embodiment of the present invention, the collision detection device 100 is used for the aerial work platform 200. The collision detection device 100 includes a housing 1, a collision mechanism 2, and a detection mechanism 3. The housing 1 is used to connect to the aerial work platform 200. The collision mechanism 2 includes a slide bar 21 and an inertial carriage 22 sleeved outside the slide bar 21, and an elastic buffer 23. The slide bar 21 extends along the detection direction and is connected to the housing 1. The inertial carriage 22 is used to slide along the extension direction of the slide bar 21 under the action of inertia. The elastic buffer 23 abuts between the inertial carriage 22 and the housing 1 and is used to elastically balance the inertial carriage 22. The detection mechanism 3 is used to detect the sliding amplitude of the inertial carriage 22, and send a collision signal to the aerial work platform 200 when the sliding amplitude is greater than a limit value, where the detection direction is one of the traveling direction, slewing direction, and luffing direction of the aerial work platform 200.

[0040] Understandably, the sliding rod 21 in this embodiment is a hollow connecting shaft or bolt, and the sliding rod 21 can be fixed to the housing 1 through a nut. The housing 1 is provided with a mounting hole for the sliding rod 21 to pass through. The housing 1 can be connected to the aerial work platform 200 through the connecting member 4. In one embodiment, the connecting member 4 can be an installation bolt. In other embodiments, the connecting member 4 can be set according to actual use requirements. The elastic buffer 23 can be a spring or other elastic member. The walking direction is Figure 1 the front-back direction in Figure 1 the horizontal direction and the luffing direction in Figure 1 the up-down direction in

[0041] When the collision detection device 100 in this embodiment is used for collision detection and the aerial work platform 200 is in a normal operation state, the inertial carriage 22 is under the elastic force suppression of the elastic buffers 23 on both sides and can be in a static state or slide slightly relative to the sliding rod 21. When the aerial work platform 200 is impacted by an obstacle, the walking speed, slewing speed or luffing speed suddenly drops to 0 m / s. The movement speed of the collision detection device 100 installed on the aerial work platform 200 can suddenly drop to 0 m / s along with the aerial work platform 200. Among them, due to the law of inertia, the inertial carriage 22 still moves along the previous direction. The detection mechanism 3 can detect the sliding amplitude of the inertial carriage 22, and send a collision signal to the aerial work platform 200 when the sliding amplitude is greater than the limit value, so that the aerial work platform 200 can adjust its movement state according to the collision situation, realizing the automatic protection function of the aerial work platform 200 after encountering an obstacle collision, avoiding the operator continuing to operate after being collided, reducing the further damage of the equipment or personnel, and improving the safety of the equipment operation. Among them, the collision detection device 100 can be installed according to the detection direction, so that the sliding rod 21 extends along the detection direction, and can detect collisions in the walking direction, slewing direction and luffing direction. The collision detection device 100 in this embodiment does not need to modify the walking, slewing or luffing structure of the aerial work platform 200, and can be installed at any position of the aerial work platform 200 according to actual use requirements, expanding the application range, and setting the sliding rod 21 along the detection direction. Using the inertia principle, collisions in multiple action directions can be detected, and multi-direction detection can be realized.

[0042] Specifically, the inertial carriage 22 includes a counterweight 221 and two detection pressure plates 222; the counterweight 221 is sleeved outside the sliding rod 21 and is in sliding contact with the sliding rod 21; the two detection pressure plates 222 are arranged at both ends of the counterweight 221 along the extension direction of the sliding rod 21. The elastic buffer 23 is located between the detection pressure plate 222 and the housing 1, and the detection mechanism 3 is used to detect the detection pressure plate 222. As Figure 1As shown, the sliding rod 21 extends in the vertical direction. The two detection pressure plates 222 are respectively located at the upper and lower ends of the two elastic buffer members 23. Through the two groups of detection pressure plates 222 and elastic buffer members 23, collision detection for downward amplitude change and upward amplitude change can be respectively achieved. The counterweight 221 is connected to the two detection pressure plates 222, which can increase the inertia of the detection pressure plates 222, thereby improving the detection sensitivity of the inertia carriage 22. The weight of the counterweight 221 can be set according to specific usage requirements.

[0043] As Figure 1 shown, the detection mechanism 3 includes two detectors 31 relatively installed on the housing 1 along the extending direction of the sliding rod 21. The two detection pressure plates 222 are located between the two detectors 31. The detectors 31 are used to detect the sliding amplitude of the detection pressure plates 222. The two detectors 31 are respectively arranged at the upper and lower ends of the two detection pressure plates 222. The detector 31 at the top can detect the sliding amplitude of the upper detection pressure plate 222, and the detector 31 at the bottom can detect the sliding amplitude of the lower detection pressure plate 222. Each detection pressure plate 222 is correspondingly provided with a detector 31, which can improve the accuracy of the inertial sliding of the detection pressure plates 222. In one embodiment, the detector 31 is one of a proximity sensor, a laser sensor or a travel switch. In other embodiments, the detector 31 can be set according to actual usage requirements.

[0044] As Figure 1 and Figure 2 shown, the inertia carriage 22 further includes a sliding sleeve 223 penetrating through the counterweight 221. The sliding rod 21 penetrates through the sliding sleeve 223 and is in sliding and guiding cooperation with the sliding sleeve 223. In this embodiment, the sliding rod 21, the sliding sleeve 223 and the counterweight 221 are nested in sequence from the inside out. The sliding sleeve 223 can adopt a linear bearing or a sliding bearing in the prior art, which can improve the smoothness of the movement of the counterweight 221 relative to the sliding rod 21. The detection pressure plate 222 is installed at the end of the sliding sleeve 223. The length of the sliding sleeve 223 is greater than the length of the counterweight 221. Both ends of the sliding sleeve 223 protrude from the counterweight 221, which can facilitate the assembly of the collision mechanism 2 and enable the two detection pressure plates 222 and the counterweight 221 to slide together with the linear bearing.

[0045] In one embodiment, the number of the collision mechanisms 2 is three. The three sliding rods 21 respectively extend along the traveling direction, the slewing direction and the amplitude change direction. The number of the detection mechanisms 3 is the same as that of the collision mechanisms 2 and they are arranged in one-to-one correspondence. In this embodiment, one collision detection device 100 is adopted, which can detect collisions in multiple directions such as upward and downward amplitude change, horizontal slewing and forward and backward traveling, achieving all-round protection; it can be installed at multiple positions to achieve the detection function, and the mechanism has strong versatility.

[0046] In one embodiment, the number of the collision mechanisms 2 is two, and the extending directions of the sliding rods 21 of the two collision mechanisms 2 are different, which are two of the walking direction, the slewing direction, and the luffing direction respectively. In another embodiment, the number of the collision mechanisms 2 is multiple, and at least one of the multiple sliding rods 21 extends in the walking direction, the slewing direction, and the luffing direction. By the cooperation of the multiple collision mechanisms 2, the collision detection accuracy can be further improved.

[0047] It should be noted that the housing 1 is provided with a protection space 11, and both the collision mechanism 2 and the detection mechanism 3 are located in the protection space 11. For convenient observation, observation windows 12 are provided on both sides of the protection space 11 in this embodiment, so that the protection space 11 is open at both ends, and it is convenient for the installation of the collision mechanism 2 and the detection mechanism 3.

[0048] As Figure 3 shown, the present invention also provides an aerial work platform 200, which includes a chassis 210, a boom 220, a work platform 230, and the above-mentioned collision detection device 100. The chassis 210, the boom 220, and the work platform 230 are connected in sequence from top to bottom. The chassis 210 is used to drive the boom 220 to slewing and walk, and the boom 220 is used to drive the work platform 230 to luff up and down. And at least one of the chassis 210, the boom 220, and the work platform 230 is installed with the collision detection device 100. The specific structure of the collision detection device 100 refers to the above-mentioned embodiments. Since the aerial work platform 200 adopts all the technical solutions of the above-mentioned all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated here one by one. In one embodiment, multiple collision detection devices 100 are installed on the work platform 230, and the multiple collision detection devices 100 can perform multi-directional collision detection on the walking direction, the slewing direction, and the luffing direction. The chassis 210 may include a walking structure 240 located at the lower end and a turntable 250 installed on the walking structure 240. The length direction of the turntable 250 is the same as the traveling direction, both of which are the front-back direction. The width direction of the turntable 250 is the left-right direction. For convenient detection of the slewing direction, the detection direction corresponding to the slewing direction may be the left-right direction, which is the same as the width direction of the turntable 250. The walking structure 240 may adopt a roller or crawler walking mechanism in the prior art, and the turntable 250 may adopt a slewing device in the prior art and can slewing horizontally.

[0049] In one embodiment, the aerial work platform 200 further includes a controller. Collision detection devices 100 are installed on the chassis 210, the boom 220, and the work platform 230. The controller is configured to shut down the aerial work platform 200 according to the collision signals sent by the collision detection devices 100. The controller can adopt a PLC controller. In other embodiments, the controller is further configured to obtain the collision direction of an obstacle based on the sliding amplitude of the inertial carriage 22 and control the aerial work platform 200 to move in the opposite direction of the obstacle. In this embodiment, by installing the collision detection devices 100 on the chassis 210, the boom 220, and the work platform 230, the collision detection accuracy of the aerial work platform 200 can be further improved. Through the combination of multiple positions, the collision conditions of different parts can be detected, reducing false triggers.

[0050] Specifically, the collision detection device 100 installed on the work platform 230 is the first detection device, and the collision detection device 100 installed on the chassis 210 is the second detection device. Both the first detection device and the second detection device are provided with sliding rods 21 extending along the luffing direction. The controller is configured as follows:

[0051] Obtain the luffing direction collision signal sent by the first detection device;

[0052] When the luffing direction collision signal sent by the first detection device is obtained, obtain the luffing direction collision signal sent by the second detection device;

[0053] When the luffing direction collision signal sent by the second detection device cannot be obtained, shut down the chassis 210 and the boom 220.

[0054] In this embodiment, by simultaneously and combinatorially installing vertical detection devices on the work platform 230 and the chassis 210, false triggers caused by the shaking of the boom 220 due to uneven ground during walking can be effectively reduced. Specifically, when the luffing direction collision signals are simultaneously detected on the work platform 230 and the chassis 210, it indicates the inertia caused by uneven ground, and there is no need to immediately stop the operation of the aerial work platform 200, and the controller will not perform the operation of cutting off the current. When only the first detection device on the work platform 230 detects the luffing direction collision signal and the second detection device on the chassis 210 does not detect the luffing direction collision signal, it indicates that the luffing operation encounters an obstacle and the operation needs to be immediately stopped, and the controller performs the operation of cutting off the current, which can improve the accuracy of luffing collision detection and avoid the situation of false triggering of the stop function.

[0055] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0056] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0058] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An aerial work platform, characterized in that, The aerial work platform (200) includes a chassis (210), a boom (220), a work platform (230), and a collision detection device (100). The chassis (210), the boom (220), and the work platform (230) are connected in sequence from bottom to top. The chassis (210) is used to drive the boom (220) to rotate and move, the boom (220) is used to drive the work platform (230) to perform amplitude variation and lifting, and the collision detection device (100) is installed on at least one of the chassis (210), the boom (220), and the work platform (230). The collision detection device (100) installed on the work platform (230) is the first detection device, and the collision detection device (100) installed on the chassis (210) is the second detection device. Both the first detection device and the second detection device are provided with a slide bar (21) extending in the amplitude variation direction. The aerial work platform (200) further includes a controller, and the controller is configured to: Obtain the amplitude variation direction collision signal sent by the first detection device; When obtaining the amplitude variation direction collision signal sent by the first detection device, obtain the amplitude variation direction collision signal sent by the second detection device; When the amplitude variation direction collision signal sent by the second detection device cannot be obtained, shut down the chassis (210) and the boom (220).

2. The aerial work platform according to claim 1, characterized in that, The collision detection device (100) includes: A housing (1) for connecting to the aerial work platform (200); A collision mechanism (2) including a slide bar (21), an inertial slide carriage (22) sleeved outside the slide bar (21), and an elastic buffer (23). The slide bar (21) extends in the detection direction and is connected to the housing (1). The inertial slide carriage (22) is used to slide along the extension direction of the slide bar (21) under the action of inertia, and the elastic buffer (23) abuts between the inertial slide carriage (22) and the housing (1) and is used to elastically limit the inertial slide carriage (22); A detection mechanism (3) for detecting the sliding amplitude of the inertial slide carriage (22) and sending a collision signal to the aerial work platform (200) when the sliding amplitude is greater than a limit value, where the detection direction is one of the traveling direction, the rotation direction, and the amplitude variation direction of the aerial work platform (200).

3. The aerial work platform according to claim 2, characterized in that, The inertial slide carriage (22) includes: A counterweight block (221) sleeved outside the slide bar (21) and in sliding contact fit with the slide bar (21); Two detection pressure plates (222) disposed at both ends of the counterweight block (221) along the extension direction of the slide bar (21). The elastic buffer (23) is located between the detection pressure plate (222) and the housing (1), and the detection mechanism (3) is used to detect the detection pressure plate (222).

4. The aerial work platform according to claim 3, characterized in that, The detection mechanism (3) includes two detectors (31) relatively installed on the housing (1) along the extension direction of the sliding rod (21). The two detection pressure plates (222) are located between the two detectors (31). The detector (31) is used to detect the sliding amplitude of the detection pressure plate (222).

5. The aerial work platform according to claim 4, characterized in that, The detector (31) is one of a proximity sensor, a laser sensor or a travel switch.

6. The aerial work platform according to claim 3, characterized in that, The inertial carriage (22) further includes a sliding sleeve (223) disposed through the counterweight (221). The sliding rod (21) is disposed through the sliding sleeve (223) and is in sliding and guiding cooperation with the sliding sleeve (223).

7. The aerial work platform according to any one of claims 2 to 6, characterized in that, The number of the collision mechanisms (2) is three. The three sliding rods (21) respectively extend along the traveling direction, the slewing direction and the luffing direction. The number of the detection mechanisms (3) is the same as that of the collision mechanisms (2) and they are arranged in one-to-one correspondence.

8. The aerial work platform according to any one of claims 2 to 5, characterized in that, The housing (1) is provided with a protection space (11). The collision mechanism (2) and the detection mechanism (3) are both located in the protection space (11).

9. The aerial work platform according to claim 1, characterized in that, The collision detection device (100) is installed on the chassis (210), the boom (220) and the work platform (230). The controller is used to shut down the aerial work platform (200) according to the collision signal sent by the collision detection device (100).

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