Pump truck boom anti-collision method and device and storage medium

Abstract

The present disclosure relates to a pump truck boom anti-collision method, device and storage medium, and relates to the technical field of mechanical control. The pump truck boom anti-collision method comprises: acquiring data of a sensor installed on a pump truck boom to determine the relative position of an obstacle and the pump truck boom; calculating the relative distance of the obstacle and the pump truck boom according to the relative position; determining the target partition of the obstacle in a plurality of partitions of the pump truck boom according to the relative position; and controlling the movement of the pump truck boom according to the target partition of the obstacle and the relative distance. The technical solution of the present disclosure can control the movement of the pump truck boom according to the target partition and the relative distance of the obstacle, and accurately prevent the occurrence of collision accidents.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of mechanical control, and in particular, to a pump truck boom anti-collision method, a pump truck boom anti-collision device, and a nonvolatile computer readable storage medium. BACKGROUND

[0002] Pump trucks are often used in today's construction as concrete conveying equipment. The working process of the pump truck for conveying concrete mainly consists of a pumping system and a boom system. The pumping system injects concrete into the boom pipeline, and the boom system is responsible for supporting the pipeline and conveying the concrete to the designated construction target position.

[0003] In related technologies, the operation information transmitted by the operator and the signaler of the pump truck through voice and other means has errors and delays, which is prone to misoperation and causes collision accidents. SUMMARY

[0004] The present inventors have found that the above related technologies have the following problems: the way of transmitting operation information has errors and delays, which is prone to misoperation and causes collision accidents.

[0005] In view of this, the present disclosure provides a pump truck boom anti-collision method, which can control the movement of the pump truck boom according to the target partition and the relative distance of the obstacle, and accurately prevent collision accidents.

[0006] According to some embodiments of the present disclosure, a pump truck boom anti-collision method is provided, including: acquiring data of a sensor installed on a pump truck boom to determine the relative position of an obstacle and the pump truck boom; calculating the relative distance of the obstacle and the pump truck boom according to the relative position; determining the target partition of the obstacle in a plurality of partitions of the pump truck boom according to the relative position; and controlling the movement of the pump truck boom according to the target partition of the obstacle and the relative distance.

[0007] In some embodiments, wherein the controlling the movement of the pump truck boom according to the target partition of the obstacle and the relative distance includes: the farther the target partition is from the shaft end of the pump truck boom, the greater the first threshold value at which the pump truck boom starts to decelerate is set, and in the case that the relative distance of the obstacle is less than or equal to the first threshold value of the target partition of the obstacle, the pump truck boom is controlled to move at a deceleration in the working direction thereof.

[0008] In some embodiments, wherein the controlling the movement of the pump truck boom in response to the target zone of the obstacle and the relative distance comprises: setting a first threshold value for the pump truck boom to start decelerating smaller as the target zone of the obstacle is closer to the shaft end of the pump truck boom, and controlling the pump truck boom to decelerate in the working direction thereof in response to the relative distance of the obstacle being less than or equal to the first threshold value of the target zone of the obstacle.

[0009] In some embodiments, wherein the controlling the pump truck boom to decelerate in the working direction thereof further comprises: setting a second threshold value for the pump truck boom to stop moving larger as the target zone of the obstacle is farther away from the shaft end of the pump truck boom, and controlling the pump truck boom to stop moving in the working direction thereof in response to the relative distance of the obstacle being less than or equal to the second threshold value of the target zone of the obstacle; or setting a second threshold value for the pump truck boom to stop moving smaller as the target zone of the obstacle is closer to the shaft end of the pump truck boom, and controlling the pump truck boom to stop moving in the working direction thereof in response to the relative distance of the obstacle being less than or equal to the second threshold value of the target zone of the obstacle, wherein the second threshold value of the target zone of the obstacle is smaller than the first threshold value of the target zone of the obstacle.

[0010] In some embodiments, further comprising: dividing a working area of the pump truck boom into a plurality of zones along the extension direction of the pump truck boom according to different linear speeds of the pump truck boom.

[0011] In some embodiments, wherein the dividing the working area of the pump truck boom into a plurality of zones along the extension direction of the pump truck boom according to different linear speeds of the pump truck boom comprises: dividing a sector area with the shaft end of the pump truck boom as the center and the pump truck boom as the radius into a plurality of zones.

[0012] In some embodiments, wherein the sensor comprises a first sensor mounted on the shaft end of the pump truck boom and / or one or more second sensors mounted on the side of the shaft end of the pump truck boom.

[0013] In some embodiments, wherein the obtaining data of the sensor mounted on the pump truck boom comprises: obtaining data of the obstacle in the working area in front of the shaft end of the pump truck boom collected by the first sensor; and / or obtaining data of the obstacle in the working area on the side of the pump truck boom collected by the one or more second sensors.

[0014] In some embodiments, wherein the acquiring data of the sensor mounted on the pump truck boom to determine a relative position of the obstacle to the pump truck boom comprises: constructing a coordinate system with the sensor as an origin and the pump truck boom as one of the coordinate axes; and determining the relative position of the obstacle to the pump truck boom according to a position of the obstacle in the coordinate system.

[0015] In some embodiments, wherein the sensor comprises at least one of a radar sensor, a vision sensor.

[0016] According to some other embodiments of the present disclosure, a pump truck boom anti-collision device is provided, comprising: an acquiring module configured to acquire data of a sensor mounted on a pump truck boom to determine a relative position of an obstacle to the pump truck boom; a calculating module configured to calculate a relative distance of the obstacle to the pump truck boom according to the relative position; a determining module configured to determine a target zone of the obstacle in a plurality of zones of the pump truck boom according to the relative position; and a control module configured to control a movement of the pump truck boom according to the target zone of the obstacle and the relative distance.

[0017] In some embodiments, the control module is configured to set a first threshold value at which the pump truck boom starts to decelerate to be larger as the target zone is farther away from a shaft end of the pump truck boom, and control the pump truck boom to move at a deceleration in a working direction thereof in a case where the relative distance of the obstacle is less than or equal to the first threshold value of the target zone of the obstacle.

[0018] In some embodiments, the control module is configured to set a first threshold value at which the pump truck boom starts to decelerate to be smaller as the target zone is closer to the shaft end of the pump truck boom, and control the pump truck boom to move at a deceleration in a working direction thereof in a case where the relative distance of the obstacle is less than or equal to the first threshold value of the target zone of the obstacle.

[0019] In some embodiments, the control module is further configured to set a second threshold value for stopping movement of the pump truck boom in the case that the target zone of the obstacle is farther away from the shaft end of the pump truck boom, and control the pump truck boom to stop moving in the working direction thereof in the case that the relative distance of the obstacle is less than or equal to the second threshold value of the target zone of the obstacle; or set a second threshold value for stopping movement of the pump truck boom in the case that the target zone of the obstacle is closer to the shaft end of the pump truck boom, and control the pump truck boom to stop moving in the working direction thereof in the case that the relative distance of the obstacle is less than or equal to the second threshold value of the target zone of the obstacle, wherein the second threshold value of the target zone of the obstacle is less than the first threshold value of the target zone of the obstacle.

[0020] In some embodiments, the pump truck boom anti-collision device further comprises a division module configured to divide a working area of the pump truck boom into a plurality of zones along an extension direction of the pump truck boom according to different linear speeds of the pump truck boom.

[0021] In some embodiments, the division module is configured to divide a sector area with the shaft end of the pump truck boom as the center and the pump truck boom as the radius into a plurality of zones.

[0022] In some embodiments, the sensor comprises a first sensor mounted on the shaft end of the pump truck boom and / or one or more second sensors mounted on the side of the shaft end of the pump truck boom.

[0023] In some embodiments, the acquisition module is configured to acquire data of the obstacle in the front-end working area of the pump truck boom collected by the first sensor; and / or acquire data of the obstacle in the side working area of the pump truck boom collected by the one or more second sensors.

[0024] In some embodiments, the acquisition module is configured to construct a coordinate system with the sensor as the origin and the pump truck boom as one of the coordinate axes; and determine the relative position of the obstacle and the pump truck boom according to the position of the obstacle in the coordinate system.

[0025] In some embodiments, the sensor comprises at least one of a radar sensor and a visual sensor.

[0026] According to yet some embodiments of the present disclosure, a pump truck boom anti-collision device is provided, comprising a memory and a processor coupled to the memory, the processor being configured to perform the pump truck boom anti-collision method in any of the above embodiments based on instructions stored in the memory device.

[0027] According to still another embodiment of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for preventing collision of a pump truck boom according to any one of the above embodiments.

[0028] In the above embodiments, the relative position between the obstacle and the pump truck boom is determined by the data collected by the sensor, and then the relative distance between the obstacle and the pump truck boom is obtained, the target zone in which the obstacle is located among the multiple zones of the pump truck boom is determined by the relative position, and finally the movement of the pump truck boom is controlled according to the target zone and the relative distance. In this way, the collision accident can be accurately prevented from occurring. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0030] The present disclosure can be more clearly understood and appreciated from the following detailed description, taken in conjunction with the following drawings of which:

[0031] Figure 1 Flowcharts illustrating some embodiments of the method for preventing collision of a pump truck boom according to the present disclosure;

[0032] Figure 2 Planar schematic diagrams illustrating some embodiments of the coordinate system according to the present disclosure;

[0033] Figure 3 Schematic diagrams illustrating some embodiments of dividing the working area of a pump truck boom into multiple zones according to the present disclosure;

[0034] Figure 4 Flowcharts illustrating some embodiments of controlling the movement of a pump truck boom according to the present disclosure;

[0035] Figure 5 Block diagrams illustrating some embodiments of the device for preventing collision of a pump truck boom according to the present disclosure;

[0036] Figure 6 Block diagrams illustrating some other embodiments of the device for preventing collision of a pump truck boom according to the present disclosure. DETAILED DESCRIPTION

[0037] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not intended to limit the scope of the present disclosure unless otherwise specifically stated.

[0038] Meanwhile, it should be understood that the sizes of the various portions shown in the drawings are not drawn to actual scale for the sake of convenience of description.

[0039] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the disclosure or its application or uses.

[0040] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and devices can be viewed as part of the specification.

[0041] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of exemplary embodiments can have different values.

[0042] It should be noted that like reference numerals and letters in the various figures indicate like elements, and thus, discussions of some figures can not be further discussed with respect to subsequent figures.

[0043] Due to the complex working environment of the pump truck, there are many high-rise buildings or obstacles around, and due to the length of the pump truck boom, the safety requirement is higher during operation. If not careful, it may collide with the surrounding scaffolding and other obstacles.

[0044] In view of the above technical problems, the present disclosure provides a pump truck boom anti-collision method. The relative position of the obstacle and the pump truck boom is determined by the data collected by the sensor, and then the relative distance between the obstacle and the pump truck boom is obtained. The target partition of the pump truck boom in which the obstacle is located is determined by the relative position, and finally the movement of the pump truck boom is controlled according to the target partition and the relative distance. In this way, it can accurately prevent the occurrence of collision accidents.

[0045] Figure 1 Flowcharts showing some embodiments of the pump truck boom anti-collision method of the present disclosure.

[0046] As shown in Figure 1 The pump truck boom anti-collision method includes steps 110-120, 140-150, and also includes step 130 as needed.

[0047] In step 110, the data of the sensor installed on the pump truck boom is obtained to determine the relative position of the obstacle and the pump truck boom.

[0048] In some embodiments, the pump truck is a mechanical device that can deliver concrete to a specific construction site, and the pump truck boom is a foldable mechanical structure that can erect a delivery pipe on the pump truck to deliver concrete.

[0049] In some embodiments, the sensor may, for example, be a radar sensor, a visual sensor, or other more advanced sensors.

[0050] The number and position of the sensors can be set according to the monitoring needs. In some embodiments, the sensors include a first sensor mounted on the top of the shaft end of the pump truck jib and / or one or more second sensors mounted on the side of the shaft end of the pump truck jib.

[0051] In some embodiments, acquiring the data of the sensors mounted on the pump truck jib includes: acquiring the data of the obstacles in the front working area of the pump truck jib collected by the first sensor; and / or acquiring the data of the obstacles in the side working area of the pump truck jib collected by the one or more second sensors.

[0052] In some embodiments, step 110 includes steps (1)-(2).

[0053] (1) Construct a coordinate system with the sensors as the origin and the pump truck jib as one of the coordinate axes.

[0054] (2) Determine the relative position of the obstacles to the pump truck jib according to the position of the obstacles in the coordinate system.

[0055] The coordinate system may, for example, be a three-dimensional rectangular coordinate system.

[0056] Figure 2 A plan view schematic diagram showing some embodiments of the coordinate system of the present disclosure.

[0057] As shown in Figure 2 , the sensors are taken as the origin of the coordinate system, and the extension direction of the pump truck jib is taken as the Y-axis. The Z-axis is not shown. Among them, the X-axis represents the relative distance of the obstacles to the pump truck jib, ID represents the code of the obstacles, A represents the angle between the line connecting the obstacles and the origin (i.e. the sensor) and the Y-axis (i.e. the pump truck jib), R represents the distance between the obstacles and the origin (i.e. the sensor), and Class represents the level of the obstacles, with Class = 0 indicating a higher level.

[0058] In some embodiments, when the energy reflected by the obstacles is higher, the level of the obstacles is higher, and vice versa. According to the direction and energy level of the energy reflected by the obstacles, the direction and distance of the obstacles relative to the sensors can be determined.

[0059] In step 120, the relative distance of the obstacles to the pump truck jib is calculated according to the relative position.

[0060] In some embodiments, by acquiring the data collected by the sensors, the distance between the obstacles and the sensors (i.e. distance R) can be read, and then by the relative position of the obstacles, i.e. by distance R and angle A, the relative distance of the obstacles to the pump truck jib can be calculated using the trigonometric function formula.

[0061] In step 130, the working area of the pump truck jib is divided into multiple sub-zones along the extension direction of the pump truck jib according to the linear velocity of the pump truck jib.

[0062] In some embodiments, a sector area with the shaft end of the pump truck jib as the center and the pump truck jib as the radius is divided into multiple sub-zones.

[0063] Figure 3 The schematic diagram showing some embodiments of the present disclosure for dividing the working area of the pump truck jib into multiple sub-zones.

[0064] As shown in FIG. 1, wherein 1 represents the shaft end of the pump truck jib, 2 represents the pump truck jib, and 3 represents the tail of the pump truck jib. Figure 3

[0065] In some embodiments, as shown in FIG. 2, a sector area with the shaft end 1 of the pump truck jib as the center and the pump truck jib 2 as the radius is divided into four sub-zones, i.e., sub-zone A, sub-zone B, sub-zone C, and sub-zone D. Figure 3

[0066] In some embodiments, as shown in FIG. 3, the pump truck jib 2 makes sector motion around the shaft end 1 of the pump truck jib, and the linear velocity of the pump truck jib 2 close to the shaft end 1 is smaller than that of the pump truck jib 2 far from the shaft end 1. Figure 3

[0067] In step 140, according to the relative position, it is determined that the obstacle is in a target sub-zone of the multiple sub-zones of the pump truck jib.

[0068] In some embodiments, as shown in FIG. 4, after the relative position between the obstacle and the pump truck jib is determined, it can be determined that the obstacle is in a target sub-zone of the multiple sub-zones of the pump truck jib. Figure 3

[0069] In step 150, according to the target sub-zone of the obstacle and the relative distance, the motion of the pump truck jib is controlled.

[0070] Figure 4 The flow chart showing some embodiments of the present disclosure for controlling the motion of the pump truck jib.

[0071] As shown in FIG. 5, controlling the motion of the pump truck jib includes steps 410-460. Figure 4

[0072] In step 410, the relative distance between the obstacle and the pump truck jib is detected.

[0073] In step 420, the pump truck jib keeps the motion state.

[0074] ​​​​​In step 430, whether the relative distance is less than or equal to a first threshold value.

[0075] In some embodiments, the first threshold value at which the pump truck boom starts to decelerate is set to be larger if the target zone is farther away from the shaft end of the pump truck boom. The first threshold value at which the pump truck boom starts to decelerate is set to be smaller if the target zone is closer to the shaft end of the pump truck boom.

[0076] For example, the first threshold value is 4 meters if the target zone is farther away from the shaft end of the pump truck boom, and the first threshold value is 2.5 meters if the target zone is closer to the shaft end of the pump truck boom. If there are more zones, the first threshold value for different zones can be set according to the above setting rules.

[0077] In step 440, the pump truck boom is controlled to decelerate in its working direction.

[0078] In some embodiments, the pump truck boom is controlled to decelerate in its working direction if the relative distance of the obstacle is less than or equal to the first threshold value of the target zone of the obstacle.

[0079] For example, if the target zone is farther away from the shaft end of the pump truck boom, and assuming that the pump truck boom moves downward around the shaft end of the pump truck boom at an angular velocity of a degrees / second, the control of the pump truck boom to decelerate in its working direction can be, for example: controlling the angular velocity to be a*80% if the relative distance is 3.5-4 meters; controlling the angular velocity to be a*70% if the relative distance is 3-3.5 meters; controlling the angular velocity to be a*60% if the relative distance is 2.5-3 meters; controlling the angular velocity to be a*50% if the relative distance is 2-2.5 meters; and controlling the angular velocity to be a*40% if the relative distance is 1.5-2 meters. If the target zone is closer to the shaft end of the pump truck boom, and assuming that the pump truck boom moves downward around the shaft end of the pump truck boom at an angular velocity of a degrees / second, the control of the pump truck boom to decelerate in its working direction can be, for example: controlling the angular velocity to be a*80% if the relative distance is 2-2.5 meters; controlling the angular velocity to be a*60% if the relative distance is 1.5-2 meters; and controlling the angular velocity to be a*40% if the relative distance is 1-1.5 meters.

[0080] In some embodiments, an alarm can also be given if the relative distance of the obstacle is less than or equal to the first threshold value.

[0081] In step 450, whether the relative distance is less than or equal to a second threshold value.

[0082] wherein the second threshold value for the target zone of the obstacle is smaller than the first threshold value for the target zone of the obstacle.

[0083] wherein the second threshold value for the target zone of the obstacle is smaller than the first threshold value for the target zone of the obstacle.

[0084] In some embodiments, the second threshold value is the last safety result reached by testing modifying control parameters.

[0085] In some embodiments, the second threshold value is, for example, 1.5 meters if the target zone is farther away from the shaft end of the pump truck boom, and 1 meter if the target zone is closer to the shaft end of the pump truck boom. If there are more zones, the second threshold value for different zones can be set according to the above setting rules.

[0086] In some embodiments, the second threshold value for each zone can also be the same, for example, 0.3 meters.

[0087] In step 460, the pump truck boom is stopped in its working direction.

[0088] In some embodiments, the pump truck boom is stopped in its working direction if the relative distance of the obstacle is less than or equal to the second threshold value for the target zone of the obstacle.

[0089] In some embodiments, the second threshold value is, for example, 1.5 meters if the target zone is farther away from the shaft end of the pump truck boom. The pump truck boom is stopped in its working direction if the relative distance is 1.5 meters. The second threshold value is, for example, 1 meter if the target zone is closer to the shaft end of the pump truck boom. The pump truck boom is stopped in its working direction if the relative distance is 1 meter.

[0090] In some embodiments, the pump truck boom is stopped in its working direction also includes that the pump truck boom can move in the opposite direction of its working direction.

[0091] In some embodiments, an alarm can also be given if the relative distance of the obstacle is less than or equal to the second threshold value.

[0092] In the above embodiments, the relative position of the obstacle and the pump truck boom is determined by the data collected by the sensor, and then the relative distance of the obstacle and the pump truck boom is obtained, the target partition of the obstacle in the multiple partitions of the pump truck boom is determined by the relative position, and finally the movement of the pump truck boom is controlled according to the target partition and the relative distance. In this way, the collision accident can be accurately prevented from occurring.

[0093] Figure 5 A block diagram of some embodiments of the pump truck boom anti-collision device of the present disclosure is shown.

[0094] As shown in Figure 5 The pump truck boom anti-collision device 50 includes an acquisition module 51, a calculation module 52, a determination module 53, and a control module 54, and also includes a division module 55 as needed.

[0095] The acquisition module 51 is configured to acquire data of a sensor installed on the pump truck boom to determine the relative position of the obstacle and the pump truck boom.

[0096] In some embodiments, the sensor includes a first sensor installed on the shaft end of the pump truck boom and / or one or more second sensors installed on the side of the shaft end of the pump truck boom.

[0097] In some embodiments, the acquisition module 51 is configured to acquire data of the obstacle in the front-end working area of the pump truck boom collected by the first sensor, and / or acquire data of the obstacle in the side working area of the pump truck boom collected by the one or more second sensors.

[0098] In some embodiments, the acquisition module 51 is configured to construct a coordinate system with the sensor as the origin and the pump truck boom as one of the coordinate axes, and determine the relative position of the obstacle and the pump truck boom according to the position of the obstacle in the coordinate system.

[0099] In some embodiments, the sensor includes at least one of a radar sensor and a visual sensor.

[0100] The calculation module 52 is configured to calculate the relative distance of the obstacle and the pump truck boom according to the relative position.

[0101] The determination module 53 is configured to determine the target partition of the obstacle in the multiple partitions of the pump truck boom according to the relative position.

[0102] The control module 54 is configured to control the movement of the pump truck boom according to the target partition of the obstacle and the relative distance.

[0103] In some embodiments, the control module 54 is configured to set a first threshold value for the pump truck boom to start decelerating larger as the target zone is farther away from the shaft end of the pump truck boom, and control the pump truck boom to move at a deceleration in its working direction when the relative distance of the obstacle is less than or equal to the first threshold value of the target zone of the obstacle.

[0104] In some embodiments, the control module 54 is configured to set a first threshold value for the pump truck boom to start decelerating smaller as the target zone is closer to the shaft end of the pump truck boom, and control the pump truck boom to move at a deceleration in its working direction when the relative distance of the obstacle is less than or equal to the first threshold value of the target zone of the obstacle.

[0105] In some embodiments, the control module 54 is further configured to set a second threshold value for the pump truck boom to stop moving larger as the target zone is farther away from the shaft end of the pump truck boom, and control the pump truck boom to stop moving in its working direction when the relative distance of the obstacle is less than or equal to the second threshold value of the target zone of the obstacle; or set a second threshold value for the pump truck boom to stop moving smaller as the target zone is closer to the shaft end of the pump truck boom, and control the pump truck boom to stop moving in its working direction when the relative distance of the obstacle is less than or equal to the second threshold value of the target zone of the obstacle, wherein the second threshold value of the target zone of the obstacle is smaller than the first threshold value of the target zone of the obstacle.

[0106] The division module 55 is configured to divide the working area of the pump truck boom into multiple zones along the extension direction of the pump truck boom according to different linear speeds of the pump truck boom.

[0107] In some embodiments, the division module 55 is configured to divide a sector area with the shaft end of the pump truck boom as the center and the pump truck boom as the radius into multiple zones.

[0108] In the above embodiments, the relative position of the obstacle and the pump truck boom is determined by the data collected by the sensor, and then the relative distance of the obstacle and the pump truck boom is obtained, the target zone of the obstacle in the multiple zones of the pump truck boom is determined by the relative position, and finally the movement of the pump truck boom is controlled according to the target zone and the relative distance. In this way, it is possible to accurately prevent the occurrence of collision accidents.

[0109] Figure 6 A block diagram showing another embodiment of the pump truck boom anti-collision device of the present disclosure.

[0110] As Figure 6 shown, the pump truck boom anti-collision device 60 of this embodiment includes a memory 61 and a processor 62 coupled to the memory 61, the processor 62 being configured to execute the pump truck boom anti-collision method in any one of the preceding embodiments based on instructions stored in the memory 61.

[0111] The memory 61 may, for example, include system memory, fixed non-volatile storage media, etc. The system memory may, for example, store an operating system, application programs, a Boot Loader, and other programs, etc.

[0112] The pump truck boom anti-collision device 60 may, for example, also include an input / output interface 63, a network interface 64, a storage interface 65, etc. These interfaces 63, 64, 65 may, for example, be connected between the memory 61 and the processor 62 through a bus 66. The input / output interface 63 provides a connection interface for input / output devices such as a display, a mouse, a keyboard, a touch screen, a microphone, a speaker, etc. The network interface 64 provides a connection interface for various networking devices. The storage interface 65 provides a connection interface for external storage devices such as an SD card, a U disk, etc.

[0113] Those skilled in the art will appreciate that embodiments of the present disclosure can be provided as methods, systems, or computer program products. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) having computer-usable program code embodied therein.

[0114] Thus far, the pump truck boom anti-collision method, device, and non-volatile computer-readable storage medium according to the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details that are well known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0115] The methods and systems of the present disclosure can be implemented in a number of ways. For example, the methods and systems of the present disclosure can be implemented via software, hardware, firmware, or any combination of software, hardware, and firmware. The above described order of steps for the methods is merely for illustration, and the steps of the methods of the present disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, the present disclosure can also be implemented as programs recorded in recording media, which include machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers recording media storing programs for executing the methods according to the present disclosure.

[0116] While certain embodiments of the disclosure have been described herein in detail as presently preferred, many modifications and variations thereof will be apparent to those skilled in the art, without departing from the scope and spirit of the disclosure. It is to be understood that those skilled in the art, service to which this disclosure will be of assistance, can render modifications and alterations of this disclosure without departing from the scope and spirit of the disclosure. It is the intent, therefore, to be limited only as described by the appended claims.

Claims

1. A method for preventing collisions with a pump truck boom, comprising: Data from sensors mounted on the boom of the pump truck is acquired to determine the relative position of the obstacle to the boom of the pump truck; Calculate the relative distance between the obstacle and the pump truck boom based on the relative position; According to the different linear velocities of the pump truck boom, the working area of ​​the pump truck boom is divided into multiple zones along the extension direction of the pump truck boom; Based on the relative position, the obstacle is determined to be in a target zone among multiple zones of the pump truck boom; as well as Controlling the movement of the pump truck boom based on the target zone of the obstacle and the relative distance includes: setting a larger first threshold for the pump truck boom to begin deceleration when the target zone is further away from the shaft end of the pump truck boom; and controlling the pump truck boom to decelerate in its working direction when the relative distance of the obstacle is less than or equal to the first threshold of the target zone of the obstacle.

2. The pump truck boom anti-collision method according to claim 1, wherein, The step of controlling the movement of the pump truck boom based on the target zone of the obstacle and the relative distance includes: When the target zone is closer to the shaft end of the pump truck boom, the first threshold for the pump truck boom to begin deceleration is set to be smaller. When the relative distance of the obstacle to the target zone is less than or equal to the first threshold of the obstacle, the pump truck boom is controlled to decelerate in its working direction.

3. The pump truck boom anti-collision method according to claim 1 or 2, wherein, The method of controlling the pump truck boom to decelerate in its working direction also includes: The further the target section is from the shaft end of the pump truck boom, the larger the second threshold for stopping the pump truck boom. When the relative distance to the obstacle is less than or equal to the second threshold of the target section of the obstacle, the pump truck boom is controlled to stop moving in its working direction; or The closer the target section is to the shaft end of the pump truck boom, the smaller the second threshold for stopping the pump truck boom. When the relative distance to the obstacle is less than or equal to the second threshold for the target section of the obstacle, the pump truck boom is controlled to stop moving in its operating direction. Wherein, the second threshold of the target partition of the obstacle is less than the first threshold of the target partition of the obstacle.

4. The pump truck boom anti-collision method according to claim 1, wherein, The method of dividing the working area of ​​the pump truck boom into multiple zones along its extension direction according to the different linear velocities of the boom includes: The fan-shaped area, centered on the shaft end of the pump truck boom and with the pump truck boom as the radius, is divided into multiple zones.

5. The pump truck boom anti-collision method according to claim 1 or 2, wherein, The sensor includes a first sensor mounted on the shaft end of the pump truck boom and / or one or more second sensors mounted on the side of the shaft end of the pump truck boom.

6. The pump truck boom anti-collision method according to claim 5, wherein, The acquisition of data from sensors installed on the pump truck boom includes: Acquire data on obstacles in the working area at the front end of the pump truck boom collected by the first sensor; and / or The obstacle data in the working area on the side of the pump truck boom is acquired by one or more second sensors.

7. The pump truck boom anti-collision method according to claim 1 or 2, wherein, The step of acquiring data from sensors mounted on the pump truck boom to determine the relative position of the obstacle to the pump truck boom includes: Construct a coordinate system with the sensor as the origin and the pump truck boom as one of the coordinate axes; and The relative position of the obstacle and the pump truck boom is determined based on the position of the obstacle in the coordinate system.

8. The pump truck boom anti-collision method according to claim 1 or 2, wherein, The sensor includes at least one of a radar sensor and a vision sensor.

9. A pump truck boom anti-collision device, comprising: The acquisition module is configured to acquire data from sensors mounted on the boom of the pump truck to determine the relative position of the obstacle to the boom of the pump truck; The calculation module is configured to calculate the relative distance between the obstacle and the pump truck boom based on the relative position; The partitioning module is configured to divide the working area of ​​the pump truck boom into multiple zones along the extension direction of the pump truck boom according to the different linear velocities of the pump truck boom. The determination module is configured to determine, based on the relative position, that the obstacle is located in a target zone among multiple zones of the pump truck boom; as well as The control module is configured to control the movement of the pump truck boom based on the target partition of the obstacle and the relative distance, including: setting a larger first threshold for the pump truck boom to begin deceleration when the target partition is further away from the shaft end of the pump truck boom; and controlling the pump truck boom to decelerate in its working direction when the relative distance of the obstacle is less than or equal to the first threshold of the target partition of the obstacle.

10. The pump truck boom anti-collision device according to claim 9, wherein the control module is configured to set a smaller first threshold for the pump truck boom to begin deceleration when the target zone is closer to the shaft end of the pump truck boom, and to control the pump truck boom to decelerate in its working direction when the relative distance of the obstacle is less than or equal to the first threshold of the target zone of the obstacle.

11. A pump truck boom anti-collision device, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the pump truck boom anti-collision method according to any one of claims 1-8 based on instructions stored in the memory.

12. A non-volatile computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the pump truck boom anti-collision method according to any one of claims 1-8.

Images