Method and device for detecting and warning collision of aerial work platform, electronic device

Abstract

The application discloses a kind of aerial work lift platform collision detection and early warning method, device, electronic equipment, the method includes the following steps: the data of 360 ° laser radar in its scanning range is screened, only the data in effective scanning interval is retained, wherein, effective scanning interval is determined by the size structure of the upper surface of current aerial work lift platform;All real-time slant ranges Dis 实时 The projection DisY in vertical Y direction is calculated, and the minimum projection MinY is obtained;The minimum projection MinY is compared with the set safety threshold Min 阈值 If MinY>Min 阈值 , it is determined that the current is safe state, if MinY≤Min 阈值 , it is determined that the current is collision state and triggers alarm.The application improves the timeliness, reliability, accuracy of aerial work lift platform safety protection, reduces the number of safety personnel, reduces labor intensity, reduces operation cost.

Description

Technical Field

[0001] This application relates to the field of aerial work platform technology, and in particular, to a collision detection and early warning method, device, and electronic equipment for aerial work platforms. Background Technology

[0002] During the construction of existing lifting work platforms, there is a risk of collision with the guardrails around the platform. If a collision warning for foreign objects intruding from above can be issued based on the position information of the lifting platform during the lifting process, it can provide safety protection for the operation process and avoid accidents such as mechanical damage and loss of property.

[0003] Currently, in China, frontline workers still rely on visual inspection for on-site safety during high-altitude operations. Construction workers face numerous challenges, such as manual operation of lifting controls (using buttons or knobs), the risk of mechanical impact or collisions, the need for multiple safety officers to observe from different angles, and reliance on voice communication for risk warnings. Furthermore, on-site safety largely depends on the safety officer's self-judgment and frontline safety experience. In addition, there is a lag in the reaction time and warning measures taken by on-site safety officers in the event of an emergency. In conclusion, the reliance on manual methods for safety protection during high-altitude operations poses significant safety risks.

[0004] In recent years, various safety protection technologies have developed rapidly. With the advancement of collision detection devices, millimeter-wave radar, 3D lidar, and other ranging technologies, both hardware and software-based protection can, to a certain extent, compensate for the lag in relying solely on manual observation for on-site safety issues and improve the safety of personnel and property in frontline operations. However, there is still no satisfactory solution for collision detection safety protection technology in the application of aerial work platforms.

[0005] In conclusion, given the aforementioned problems faced by actual aerial work platforms, it is essential to research a collision detection and early warning method for aerial work platforms that is highly timely, reliable, and accurate during operation. Summary of the Invention

[0006] This application provides a collision detection and early warning method for aerial work platforms to solve the technical problems of insufficient timeliness, reliability and accuracy in existing collision detection safety protection technologies in the application field of aerial work platforms.

[0007] The technical solution adopted in this application is as follows:

[0008] A collision detection and early warning method for an aerial work platform, wherein the aerial work platform is equipped with a 360° lidar, comprising the following steps:

[0009] The data from the 360° lidar within its scanning range are sieved, retaining only the data within the effective scanning interval, wherein the effective scanning interval is determined by the size and structure of the upper surface of the current aerial work platform.

[0010] Calculate all real-time slant ranges Dis in the radar data packets within the effective scan range. 实时 Project DisY in the vertical Y direction, and find the minimum projection MinY;

[0011] Compare the minimum projection MinY with the set safety threshold Min. If MinY > Min 阈值 If MinY≤Min, then the current state is considered safe. 阈值 The system will then determine that the current state is a collision and trigger an alarm.

[0012] Furthermore, before filtering the data from the 360° lidar within its scanning range and retaining only the data within the valid scanning interval, the following steps are also included:

[0013] The 360° lidar installed on the aerial work platform was calibrated to determine the angular difference θ between the actual installation zero point RealZero of the 360° lidar 1 and the zero point RadarZero of its own radar coordinate system. 差 =RealZero-RadarZero, StartAngel and StartDis, EndAngel and EndDis, wherein the StartAngel and StartDis, and the EndAngel and EndDis are determined by the dimensions and structure of the upper surface of the current aerial work platform.

[0014] Furthermore, the EndAngel and StartAngel are the angle values ​​when the 360° lidar scans to the leftmost and rightmost ends of the surface of the current aerial work platform, respectively.

[0015] Furthermore, the End Dis and Start Dis are the distance values ​​when the 360° laser radar scans to the leftmost and rightmost ends of the surface of the current aerial work platform, respectively.

[0016] Furthermore, the step of filtering the data from the 360° lidar within its scanning range, retaining only the data within the valid scanning interval, specifically includes the following steps:

[0017] Real-time radar angle θ for acquiring real-time radar scanning data 实时 and real-time slant distance Dis 实时 ;

[0018] Calculate the projection DisY of the real-time radar scan data in the vertical Y direction:

[0019] DisY = Did 实时 ×Cos(θ 实时 -θ 差 );

[0020] If StartDis×Cos(StartAngel-θ 差 )≤DisY≤EndDis×Cos(EndAngel-θ 差 If the real-time scanning data is within the effective scanning range, it is considered to be within the effective scanning range; otherwise, it is considered to be outside the effective scanning range and is discarded.

[0021] Furthermore, all real-time slant range Dis are calculated in the radar data packets within the effective scanning range. 实时 The projection DisY in the vertical Y direction includes the following steps:

[0022] When the radar real-time scanning angle θ in the radar coordinate system 实时 When less than 90°:

[0023] DisY = Dis 实时 ×Sin(θ 实时 -θ 差 );

[0024] When the radar real-time scanning angle θ in the radar coordinate system 实时 When the angle is greater than 90°:

[0025] DisY = Dis 实时 ×Sin(π-(θ 实时 -θ 差 )).

[0026] Furthermore, when a collision is determined to be occurring and an alarm is triggered,

[0027] The distance level status is divided into three warning levels: A, B, and C, with A being the highest warning level and A>B>C.

[0028] When 0≤MinY-Min 阈值 If the distance value is less than the distance value corresponding to warning level A, a collision warning corresponding to level A will be triggered;

[0029] When the distance value corresponding to warning level A is ≤ MinY-Min 阈值If the distance value corresponding to warning level B is less than the distance value, a collision warning corresponding to level B will be triggered.

[0030] When the distance value corresponding to warning level B is ≤ MinY-Min 阈值 If the distance value corresponding to warning level C is less than the distance value, a collision warning corresponding to level C will be triggered.

[0031] This application also provides a collision detection and early warning device for aerial work platforms, including:

[0032] The data screening module is used to screen the data of the 360° lidar within its scanning range, retaining only the data within the effective scanning interval, wherein the effective scanning interval is determined by the size and structure of the upper surface of the current aerial work platform.

[0033] The minimum projection calculation module is used to calculate all real-time slant ranges Dis within the radar data packets of the effective scan range. 实时 Project DisY in the vertical Y direction, and find the minimum projection MinY;

[0034] The collision detection and alarm module compares the minimum projection MinY with the set safety threshold Min. If MinY > Min... 阈值 If MinY≤Min, then the current state is considered safe. 阈值 The system will then determine that the current state is a collision and trigger an alarm.

[0035] Furthermore, it also includes:

[0036] The calibration module is used to calibrate the 360° lidar installed on the aerial work platform, determining the angular difference θ between the actual installation zero point RealZero of the 360° lidar 1 and its own radar coordinate system zero point RadarZero. 差 =RealZero-RadarZero, StartAngel and StartDis, EndAngel and EndDis, wherein the StartAngel and StartDis, and the EndAngel and EndDis are determined by the dimensions and structure of the upper surface of the current aerial work platform.

[0037] In another aspect, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the collision detection and early warning method for the aerial work platform.

[0038] This application also provides a storage medium including a stored program that, when the program is executed, controls the device containing the storage medium to perform the steps of the collision detection and early warning method for the aerial work platform.

[0039] Compared with the prior art, this application has the following advantages:

[0040] (1) This application improves the performance of real-time detection of foreign object intrusion and reduces the processing time due to human judgment, thereby improving timeliness.

[0041] (2) This application can process and analyze data through real-time refreshed data packets and provide collision status warnings, thereby reducing errors caused by human factors and improving the stability of collision detection risk warnings.

[0042] (3) This application uses a specific collision detection algorithm, which has been proven by a large number of experiments to be effective in warning of foreign object intrusion. Therefore, this invention can improve the accuracy of collision detection warning results.

[0043] (4) This application can reduce the number of safety officers in the actual on-site construction process, reduce the labor intensity of personnel, and realize the operation of fewer people.

[0044] In addition to the purposes, features, and advantages described above, this application provides other purposes, features, and advantages. The application will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0045] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0046] Figure 1 This is a schematic diagram of the collision detection and early warning method for a high-altitude work platform according to a preferred embodiment of this application.

[0047] Figure 2 This is a schematic diagram illustrating the installation principle of the aerial work platform and the 360° lidar in this application.

[0048] Figure 3 This is a schematic diagram of a collision detection and early warning method for an aerial work platform according to another preferred embodiment of this application.

[0049] Figure 4 This is a flowchart illustrating a sub-step of step S2 in a preferred embodiment of this application.

[0050] Figure 5 This is a flowchart illustrating a sub-step of step S3 in a preferred embodiment of this application.

[0051] Figure 6 This is a flowchart illustrating a sub-step of step S4 in a preferred embodiment of this application.

[0052] Figure 7 This is a schematic diagram of a collision detection and early warning device module for an aerial work platform according to a preferred embodiment of this application.

[0053] Figure 8 This is a schematic diagram of a collision detection and early warning device module for an aerial work platform according to another preferred embodiment of this application.

[0054] Figure 9 This is a schematic block diagram of an electronic device according to a preferred embodiment of this application.

[0055] Figure 10 This is an internal structural diagram of a computer device according to a preferred embodiment of this application. Detailed Implementation

[0056] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] Reference Figure 1 A preferred embodiment of this application provides a collision detection and early warning method for an aerial work platform, wherein the aerial work platform is equipped with a 360° lidar (see...). Figure 2 ), including the following steps:

[0058] S2. The data of the 360° lidar within its scanning range is sieved, and only the data within the effective scanning interval is retained. The effective scanning interval is determined by the size and structure of the upper surface of the current aerial work platform.

[0059] S3. Calculate all real-time slant ranges Dis in the radar data packets within the effective scanning range. 实时 Project DisY in the vertical Y direction, and find the minimum projection MinY;

[0060] S4. Compare the minimum projection MinY with the set safety threshold Min. If MinY > Min 阈值 If MinY≤Min, then the current state is considered safe. 阈值 The system will then determine that the current state is a collision and trigger an alarm.

[0061] This embodiment improves the real-time detection performance of foreign object intrusion and reduces processing time caused by human judgment, thus improving timeliness. This embodiment processes and analyzes data through real-time refreshed data packets and provides collision status warnings, reducing errors caused by human factors and improving the stability of collision detection risk warnings. Because this embodiment uses a specific collision detection algorithm, extensive experiments have proven its effectiveness in providing warnings after foreign object intrusion; therefore, this invention improves the accuracy of collision detection warning results. This embodiment can reduce the number of safety officers required during actual on-site construction, lowering labor intensity and enabling minimally staffed operations.

[0062] Preferably, such as Figure 3 As shown, before filtering the data from the 360° lidar within its scanning range and retaining only the data within the valid scanning interval, the following steps are also included:

[0063] S1. Calibrate the 360° lidar installed on the aerial work platform and determine the angle difference θ between the actual installation zero position RealZero of the 360° lidar 1 and its own radar coordinate system zero position RadarZero. 差 =RealZero-RadarZero, StartAngel and StartDis, EndAngel and EndDis, wherein the StartAngel and StartDis, and the EndAngel and EndDis are determined by the dimensions and structure of the upper surface of the current aerial work platform.

[0064] After the radar is installed, it is necessary to calibrate it to avoid the accuracy of the detection data being affected by the error in the radar installation position, as there is an angular deviation between the radar's own coordinate system and the actual coordinate system, as well as the different angle ranges and slant ranges of the target area.

[0065] Preferably, the EndAngel and StartAngel are the angle values ​​when the 360° lidar scans to the leftmost and rightmost ends of the surface of the current aerial work platform.

[0066] Preferably, the termination slope distance EndDis and the starting slope distance StartDis are the distance values ​​when the 360° lidar scans to the leftmost and rightmost ends of the surface of the current aerial work platform.

[0067] Preferably, such as Figure 4 As shown, the process of filtering the data from the 360° lidar within its scanning range, retaining only the data within the valid scanning interval, specifically includes the following steps:

[0068] S21. Obtain the real-time radar angle θ from the real-time radar scanning data. 实时 and real-time slant distance Dis 实时 ;

[0069] S22. Calculate the projection DisY of the real-time radar scan data in the vertical Y direction:

[0070] DisY = Did 实时 ×Cos(θ 实时 -θ 差 );

[0071] S23. If StartDis×Cos(StartAngel-θ 差 )≤DisY≤EndDis×Cos

[0072] (EndAngel-θ 差 If the real-time scanning data is within the valid scanning range, it is considered to be within the valid scanning range; otherwise, it is considered to be outside the valid scanning range and is discarded to reduce interference from invalid data.

[0073] Preferably, such as Figure 5 As shown, all real-time slant ranges Dis are calculated in the radar data packets within the effective scan range. 实时 The projection DisY in the vertical Y direction includes the following steps:

[0074] S31, When the radar real-time scanning angle θ in the radar coordinate system 实时 When less than 90°:

[0075] DisY = Dis 实时 ×Sin(θ 实时 -θ 差 );

[0076] S32, When the radar real-time scanning angle θ in the radar coordinate system 实时 When the angle is greater than 90°:

[0077] DisY = Dis 实时 ×Sin(π-(θ 实时 -θ 差 )).

[0078] Preferably, such as Figure 6 As shown, when a collision is determined and an alarm is triggered,

[0079] S41. The distance level status is divided into three warning levels: A, B, and C, where A is the highest warning level and A>B>C.

[0080] S42. When 0≤MinY-Min 阈值If the distance value is less than the distance value corresponding to warning level A, a collision warning corresponding to level A will be triggered;

[0081] S43, When the distance value corresponding to warning level A is ≤ MinY-Min 阈值 If the distance value corresponding to warning level B is less than the distance value, a collision warning corresponding to level B will be triggered.

[0082] S44. When the distance value corresponding to warning level B is ≤ MinY-Min 阈值 If the distance value corresponding to warning level C is less than the distance value, a collision warning corresponding to level C will be triggered.

[0083] This embodiment can issue different levels of collision warnings based on the distance level status, thereby reminding people of different urgency of the collision and facilitating different response measures to ensure operational safety.

[0084] like Figure 7 As shown, this application also provides a collision detection and early warning device for aerial work platforms, including:

[0085] The data screening module is used to screen the data of the 360° lidar within its scanning range, retaining only the data within the effective scanning interval, wherein the effective scanning interval is determined by the size and structure of the upper surface of the current aerial work platform.

[0086] The minimum projection calculation module is used to calculate all real-time slant ranges Dis within the radar data packets of the effective scan range. 实时 Project DisY in the vertical Y direction, and find the minimum projection MinY;

[0087] The collision detection and alarm module compares the minimum projection MinY with the set safety threshold Min. If MinY > Min... 阈值 If MinY≤Min, then the current state is considered safe. 阈值 The system will then determine that the current state is a collision and trigger an alarm.

[0088] Preferably, such as Figure 8 As shown, the collision detection and early warning device for the aerial work platform also includes:

[0089] The calibration module is used to calibrate the 360° lidar installed on the aerial work platform, determining the angular difference θ between the actual installation zero point RealZero of the 360° lidar 1 and its own radar coordinate system zero point RadarZero. 差=RealZero-RadarZero, StartAngel and StartDis, EndAngel and EndDis, wherein the StartAngel and StartDis, and the EndAngel and EndDis are determined by the dimensions and structure of the upper surface of the current aerial work platform.

[0090] like Figure 9 As shown, a preferred embodiment of this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the collision detection and early warning method for the aerial work platform described in the above embodiments.

[0091] like Figure 10 As shown, a preferred embodiment of this application also provides a computer device, which may be a terminal or a liveness detection server, and its internal structure diagram may be as follows. Figure 10 As shown. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with other external computer devices via a network connection. When the computer program is executed by the processor, it implements the steps of the aforementioned collision detection and early warning method for aerial work platform lifts.

[0092] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0093] A preferred embodiment of this application also provides a storage medium, the storage medium including a stored program, which, when the program is executed, controls the device where the storage medium is located to perform the steps of the collision detection and early warning method for the aerial work platform described in the above embodiments.

[0094] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0095] If the functions described in this embodiment are implemented as software functional units and sold or used as independent products, they can be stored in one or more computing device-readable storage media. Based on this understanding, the parts of this application's embodiments that contribute to the prior art or the technical solutions can be embodied in the form of software products. These software products are stored in a storage medium and include several instructions to cause a computing device (which may be a personal computer, server, mobile computing device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage media include: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0096] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0097] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0098] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1The function specified in one or more boxes.

[0099] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0100] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0101] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A collision detection and early warning method for aerial work platform, wherein, The aerial work platform is equipped with a 360° lidar, characterized by the following steps: The 360° lidar installed on the aerial work platform was calibrated to determine the angular difference θ between the actual installation zero point RealZero of the 360° lidar 1 and the zero point RadarZero of its own radar coordinate system. 差 = RealZero-RadarZero, StartAngel and StartDis, EndAngel and EndDis, wherein the StartAngel and StartDis, and the EndAngel and EndDis are determined by the dimensions and structure of the upper surface of the current aerial work platform; the EndAngel and StartAngel are the angle values ​​when the 360° lidar scan reaches the leftmost and rightmost ends of the upper surface of the current aerial work platform, respectively; the EndDis and StartDis are the distance values ​​when the 360° lidar scan reaches the leftmost and rightmost ends of the upper surface of the current aerial work platform, respectively. The data from the 360° lidar within its scanning range is filtered, retaining only the data within the effective scanning interval. The effective scanning interval is determined by the dimensions and structure of the upper surface of the current aerial work platform. The specific steps include: Real-time radar angle θ for acquiring real-time radar scanning data 实时 and real-time slant distance Dis 实时 ; Calculate the projection DisY of the real-time radar scan data in the vertical Y direction: DisY=Did 实时 ×Cos(θ 实时 -θ 差 ); If StartDis×Cos(StartAngel-θ 差 )≤DisY≤EndDis×Cos(EndAngel-θ 差 If the radar real-time scanning data is within the effective scanning range, then it is considered to be within the effective scanning range; otherwise, it is considered to be outside the effective scanning range and is discarded. Calculate all real-time slant ranges Dis in the radar data packets within the effective scan range. 实时 Project DisY in the vertical Y direction, and find the minimum projection MinY; Compare the minimum projection MinY with the set safety threshold Min. If MinY > Min 阈值 If MinY≤Min, then the current state is considered safe. 阈值 The system will then determine that the current state is a collision and trigger an alarm.

2. The collision detection and early warning method for aerial work platform according to claim 1, characterized in that, Calculate all real-time slant ranges Dis in the radar data packets within the effective scan range. 实时 The projection DisY in the vertical Y direction includes the following steps: When the radar real-time scanning angle θ in the radar coordinate system 实时 When less than 90°: DisY=Dis 实时 ×Sin(θ 实时 -θ 差 ); When the radar real-time scanning angle θ in the radar coordinate system 实时 When the angle is greater than 90°: DisY=Dis 实时 ×Sin(π-(θ) 实时 -θ 差 ))。 3. The collision detection and early warning method for aerial work platform according to claim 1, characterized in that, When a collision is detected and an alarm is triggered, The distance level status is divided into three warning levels: A, B, and C, with A being the highest warning level and A>B>C. 0 ≤ MinY - Min 阈值 <The distance between the police and the police, the distance between the police and the police; When the distance value corresponding to warning level A is ≤ MinY-Min 阈值 If the distance value corresponding to warning level B is less than the distance value, a collision warning corresponding to level B will be triggered. When the distance value corresponding to warning level B is ≤ MinY-Min 阈值 If the distance value corresponding to warning level C is less than the distance value, a collision warning corresponding to level C will be triggered.

4. A collision detection and early warning device for an aerial work platform, characterized in that, include: The calibration module is used to calibrate the 360° lidar installed on the aerial work platform, determining the angular difference θ between the actual installation zero point RealZero of the 360° lidar 1 and its own radar coordinate system zero point RadarZero. 差 =RealZero-RadarZero, StartAngel and StartDis, EndAngel and EndDis, wherein the StartAngel and StartDis, and the EndAngel and EndDis are determined by the dimensions and structure of the upper surface of the current aerial work platform; the EndAngel and StartAngel are the angle values ​​when the 360° laser radar scans to the leftmost and rightmost ends of the upper surface of the current aerial work platform, respectively; the EndDis and StartDis are the distance values ​​when the 360° laser radar scans to the leftmost and rightmost ends of the upper surface of the current aerial work platform, respectively. The data screening module is used to screen the data from the 360° lidar within its scanning range, retaining only the data within the valid scanning interval. The valid scanning interval is determined by the dimensions and structure of the upper surface of the current aerial work platform. Specifically, it is used for: Real-time radar angle θ for acquiring real-time radar scanning data 实时 and real-time slant distance Dis 实时 ; Calculate the projection DisY of the real-time radar scan data in the vertical Y direction: DisY=Did 实时 ×Cos(θ 实时 -θ 差 ); If StartDis×Cos(StartAngel-θ 差 )≤DisY≤EndDis×Cos(EndAngel-θ 差 If the radar real-time scanning data is within the effective scanning range, then it is considered to be within the effective scanning range; otherwise, it is considered to be outside the effective scanning range and is discarded. The minimum projection calculation module is used to calculate all real-time slant ranges Dis within the radar data packets of the effective scan range. 实时 Project DisY in the vertical Y direction, and find the minimum projection MinY; The collision detection and alarm module compares the minimum projection MinY with the set safety threshold Min. If MinY > Min... 阈值 If MinY≤Min, then the current state is considered safe. 阈值 The system will then determine that the current state is a collision and trigger an alarm.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the collision detection and early warning method for aerial work platform as described in any one of claims 1 to 3.

6. A storage medium comprising a stored program, characterized in that, When the program is running, it controls the device containing the storage medium to perform the steps of the collision detection and early warning method for aerial work platform as described in any one of claims 1 to 3.

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