Boom collision detection methods, devices, engineering equipment and machine-readable storage media

Abstract

This application discloses a boom collision detection method, apparatus, engineering equipment, and machine-readable storage medium, relating to the field of engineering equipment technology. Upon detecting a collision with the boom, the method determines the measured collision level based on the momentum change information of the boom during the collision. The collision severity is determined based on this momentum change information, providing effective data reference for subsequent safety measures and improving the accuracy of boom collision detection. Furthermore, safety measures are taken for the boom based on the measured collision level and a target collision level, where the target collision level is determined by conducting a collision test on the boom using a preset collision energy. By determining the severity of the collision through the target collision level and implementing targeted safety measures, the effectiveness of boom collision handling and the safety of boom operations are improved.

Description

Technical Field

[0001] This application relates to the field of engineering equipment technology, and specifically to a boom collision detection method, device, engineering equipment, and machine-readable storage medium. Background Technology

[0002] Aerial work platforms are primarily used for high-altitude operations, often in environments surrounded by buildings. The booms of these platforms pose a risk of collision with these structures during lifting, swinging, and extension. When operating aerial work platforms in environments with surrounding obstacles, both workers and the equipment face safety risks. Therefore, real-time collision detection of the boom is necessary to mitigate these risks. Currently, collision risk is primarily identified by manually judging the distance between the boom and obstacles. If a collision risk is confirmed, the boom's movement speed is manually controlled to avoid it. However, in real-world applications, obstacles may exist in blind spots, making them undetectable to workers. Furthermore, relying on manual identification depends heavily on the worker's experience and reaction speed, resulting in limited collision risk avoidance capabilities. Summary of the Invention

[0003] To address the aforementioned shortcomings in the prior art, the purpose of this application is to provide a boom collision detection method, apparatus, engineering equipment, and machine-readable storage medium.

[0004] To achieve the above objectives, the first aspect of this application provides a boom collision detection method, comprising:

[0005] When a collision is detected on the boom, the measured collision level is determined based on the momentum change information of the boom at the time of the collision.

[0006] Safety measures are taken for the boom based on the measured collision level and the target collision level. The target collision level is determined by conducting collision tests on the boom based on a preset collision energy.

[0007] In the embodiments of this application, the preset collision energy includes a first collision energy and a second collision energy, the target collision level includes a safety level and a rollover level, and the boom collision detection method further includes:

[0008] When the preset collision energy is the first collision energy, the boom is controlled to collide with the preset obstacle based on the first collision energy, and the collision level corresponding to the first collision energy is determined to be the safety level. The first collision energy is the energy that will not cause structural damage to the boom.

[0009] When the preset collision energy is the second collision energy, the boom is controlled to collide with the preset obstacle based on the second collision energy. The collision level corresponding to the second collision energy is determined to be the overturning level. The second collision energy is the energy that causes the entire engineering equipment corresponding to the boom to overturn. The second collision energy is greater than the first collision energy, and the overturning level is higher than the safety level.

[0010] In embodiments of this application, safety measures are applied to the boom based on the measured collision level and the target collision level, including:

[0011] When the measured collision level is equal to or higher than the rollover level, the collision direction is determined based on the boom operation information.

[0012] Control the boom to move in the opposite direction of the collision until the measured collision level corresponding to the boom is less than or equal to the safety level.

[0013] In embodiments of this application, safety measures are applied to the boom based on the measured collision level and the target collision level, including:

[0014] If the measured collision level is lower than the rollover level but higher than the safety level, control the boom to stop moving.

[0015] In embodiments of this application, the boom collision detection method further includes:

[0016] If the measured collision level is lower than or equal to the safety level, a warning message will be output.

[0017] In embodiments of this application, the boom collision detection method further includes:

[0018] At multiple preset collision locations, the boom is controlled to collide with preset obstacles based on preset collision energy, and the collision level corresponding to each preset collision location is obtained as the target collision level.

[0019] In embodiments of this application, the boom collision detection method further includes:

[0020] The collision linear velocity is determined based on the mass of the preset obstacle and the preset collision energy.

[0021] The collision angular velocity is determined based on the preset collision position and collision linear velocity;

[0022] The boom is controlled to collide with a preset obstacle based on the collision angular velocity in order to determine the target collision level corresponding to the preset collision energy.

[0023] In embodiments of this application, the boom collision detection method further includes:

[0024] The collision momentum change waveform is determined based on the historical momentum change information of the boom.

[0025] Collision levels are classified based on the peaks of the collision momentum change waveform, resulting in multiple collision levels.

[0026] A second aspect of this application provides a boom collision detection device, comprising:

[0027] The memory is configured to store instructions; and

[0028] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the boom collision detection method as described in the above embodiments.

[0029] A third aspect of this application provides an engineering device, comprising:

[0030] The boom collision detection device as described in the above embodiments.

[0031] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the boom collision detection method as described in the above embodiments.

[0032] The above technical solution determines the measured collision level based on the momentum change information of the boom upon detection of a collision. This momentum change information also determines the severity of the collision, providing valuable data for subsequent safety procedures and improving the accuracy of boom collision detection. Furthermore, safety procedures are implemented based on the measured and target collision levels, where the target collision level is determined through a collision test with a preset collision energy. By determining the severity of the measured collision through the target collision level and implementing targeted safety measures, the effectiveness of boom collision handling and the safety of boom operations are enhanced.

[0033] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0034] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0035] Figure 1 The schematic diagram illustrates a flowchart of a boom collision detection method according to an embodiment of this application;

[0036] Figure 2 The schematic diagram illustrates a boom inspection application process according to an embodiment of this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0038] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0039] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0040] Figure 1 The illustration schematically shows a flowchart of a boom collision detection method according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a boom collision detection method, which may include the following steps.

[0041] Step 100: If a collision is detected on the boom, determine the measured collision level based on the momentum change information of the boom at the time of the collision.

[0042] In this embodiment, it should be noted that the boom undergoes elastic deformation upon impact, resulting in momentum transfer and change. The momentum change information is converted into a waveform image, and the impact level of the current impact on the boom can be determined based on the waveform spikes. The correspondence between waveform spikes and measured impact levels is pre-determined based on a large amount of experimental data. The measured impact level refers to the impact level corresponding to the current impact on the boom. When a collision is detected on the boom, the momentum change information of the boom's elastic deformation is detected by sensors mounted on the boom, and the corresponding measured impact level is determined based on this momentum change information.

[0043] In one embodiment, the boom collision detection method further includes:

[0044] The collision momentum change waveform is determined based on the historical momentum change information of the boom.

[0045] Collision levels are classified based on the peaks of the collision momentum change waveform, resulting in multiple collision levels.

[0046] It should be noted that there are multiple collision levels. This involves acquiring momentum change information of the engineering equipment during boom collisions under different working conditions, determining the collision momentum change waveform corresponding to each momentum change, and classifying the collision level based on the size of the peaks in the waveforms. Different peak thresholds can be set to classify the collision level; a higher peak threshold corresponds to a higher collision level. Historical momentum change information refers to the momentum change information corresponding to boom collisions that occurred during previous applications of the engineering equipment. The collision level classification method for different models of engineering equipment can be determined by considering factors such as the equipment's structure, materials, and application requirements.

[0047] Step 200: Perform safety measures on the boom based on the measured collision level and the target collision level. The target collision level is determined by conducting a collision test on the boom based on a preset collision energy.

[0048] It should be noted that the target collision level is determined based on a collision test of the boom with a preset collision energy. The target collision level may include one or more collision levels. Since the collision intensity varies during operation, the damage to the boom may also differ. In this embodiment, different safety measures are taken for the boom in different collision scenarios. The collision test can classify all collision levels corresponding to the boom, determining which collision levels are safe and which pose a risk. The handling of the boom under collision conditions differs for different collision levels. For example, for collision levels with higher risk, the boom can be stopped; for collision levels with lower risk, a warning message can be output, allowing the operator of the engineering equipment to determine whether to control the boom based on the actual situation.

[0049] Collision testing involves simulating boom collision scenarios. The preset collision energy, determined based on the experience of testing personnel or through extensive prior testing, simulates the energy generated during a boom collision. This preset collision energy includes energy values ​​that may be generated during a boom collision under different conditions, such as energy values ​​that will not cause structural damage to the boom, energy values ​​that will create a safety risk field for the boom, and energy values ​​that may cause the entire construction machinery to overturn. By performing boom collision actions based on the preset collision energy, application scenarios of the boom under different levels of collision are simulated, the corresponding collision level for each application scenario is determined, and each collision level is classified based on the energy value corresponding to the preset collision energy. The target collision level refers to the level corresponding to the preset collision energy and can be used to characterize the category of collision level. For example, if the preset collision energy is an energy value that will not cause structural damage to the boom, then the corresponding target collision level category is a safety level. The target collision level can include safety level, overturning level, etc., and can be specifically classified based on actual needs. When simulating a boom collision scenario based on this preset collision energy, if the boom's corresponding collision level in the simulated scenario is level 5, then collision level 5 will be recorded as a safety level. When conducting collision monitoring on the boom, if a collision is detected and the corresponding collision level of the boom is level 5 at the time of the collision, it can be determined that the boom is currently in a safe state.

[0050] In this embodiment, upon detecting a collision with the boom, the collision level is determined based on the momentum change information of the boom at the time of the collision. This momentum change information determines the degree of boom collision, providing effective data reference for subsequent safety handling of the boom and improving the accuracy of boom collision detection. Then, safety handling is performed on the boom based on the measured collision level and the target collision level. The target collision level is determined based on a collision test of the boom with a preset collision energy. By determining the severity of the measured collision level through the target collision level and implementing targeted safety handling, the effectiveness of boom collision handling and the safety of boom operations are improved.

[0051] In one embodiment, the preset collision energy includes a first collision energy and a second collision energy, the target collision level includes a safety level and a rollover level, and the boom collision detection method further includes:

[0052] When the preset collision energy is the first collision energy, the boom is controlled to collide with the preset obstacle based on the first collision energy, and the collision level corresponding to the first collision energy is determined to be the safety level. The first collision energy is the energy that will not cause structural damage to the boom.

[0053] When the preset collision energy is the second collision energy, the boom is controlled to collide with the preset obstacle based on the second collision energy. The collision level corresponding to the second collision energy is determined to be the overturning level. The second collision energy is the energy that causes the entire engineering equipment corresponding to the boom to overturn. The second collision energy is greater than the first collision energy, and the overturning level is higher than the safety level.

[0054] In this embodiment, it should be noted that the preset collision energy includes a first collision energy and a second collision energy, and the target collision level includes a safety level and a rollover level. The first collision energy corresponds to the safety level, and the second collision energy corresponds to the rollover level. The first collision energy is the energy that will not cause structural damage to the boom. It is understood that, to improve the effectiveness of the first collision energy, its value is close to the energy limit that will not cause structural damage to the boom. That is, if the collision energy is less than the first collision energy, it will not cause structural damage to the boom; if the collision energy is greater than the first collision energy, it may cause structural damage to the boom. The second collision energy is the energy that will cause the entire piece of equipment corresponding to the boom to roll over. That is, if the collision energy is greater than the second collision energy, it is highly likely to cause the entire piece of equipment corresponding to the boom to roll over. By conducting collision tests on the boom for the first and second collision energies respectively, and simulating the boom's collision action with a preset obstacle based on the first or second collision energy, the collision level corresponding to the collision action of the boom is categorized. Specifically, the boom is controlled to collide with a preset obstacle based on the first collision energy, and the collision level corresponding to the first collision energy is determined to be the safety level; the boom is controlled to collide with a preset obstacle based on the second collision energy, and the collision level corresponding to the second collision energy is determined to be the overturning level.

[0055] In this embodiment, by pre-defining the collision level of the boom, the collision level is classified, improving the accuracy of boom collision detection and providing an effective reference for subsequent safe handling of the boom, thereby improving boom safety.

[0056] In one embodiment, safety measures are applied to the boom based on the measured collision level and the target collision level, including:

[0057] When the measured collision level is equal to or higher than the rollover level, the collision direction is determined based on the boom operation information.

[0058] Control the boom to move in the opposite direction of the collision until the measured collision level corresponding to the boom is less than or equal to the safety level.

[0059] In this embodiment, it should be noted that since the collision with the boom usually occurs instantaneously, the momentum change of the boom increases instantaneously. When the collision force is large enough, the collision level of the boom can directly reach the rollover level. When the measured collision level reaches the rollover level, it means that the collision action of the boom is very likely to cause the entire engineering equipment to overturn. At this time, there is a significant safety risk, and both the engineering equipment and the driver operating the engineering equipment are threatened. It is necessary to quickly offset the impact of the collision to reduce the risk to the engineering equipment and the driver. In this embodiment, by controlling the boom to move in the opposite direction to the obstacle, the energy generated by the collision with the obstacle is quickly reduced, thereby reducing the safety risk. The boom operation information includes information associated with the boom during operation, which may include the boom's operating direction, operating speed, and boom attitude, and may also include the collision energy relative to the boom's source direction when it is hit, i.e., the collision direction. The collision direction can be detected by devices such as tilt sensors and gyroscopes in the engineering equipment. Specifically, upon detecting a collision with the boom and determining that the measured collision level is equal to or higher than the overturning level, the collision direction is determined, and the boom is controlled to move in the opposite direction to the collision to quickly mitigate its impact until the measured collision level corresponding to the boom is less than or equal to the safety level. In this embodiment, by controlling the boom to move in the opposite direction, the impact of the collision on the boom is quickly mitigated, avoiding the risk of the engineering equipment overturning, reducing damage to the boom, and improving the safety of the engineering equipment.

[0060] In one embodiment, safety measures are applied to the boom based on the measured collision level and the target collision level, including:

[0061] If the measured collision level is lower than the rollover level but higher than the safety level, control the boom to stop moving.

[0062] In this embodiment, it should be noted that a collision with the boom typically occurs when the boom actively impacts an obstacle during operation, and continued operation leads to damage to the boom. When the measured collision level is less than the rollover level but higher than the safety level, it indicates that although the collision will not cause the entire engineering equipment to overturn, structural damage may occur due to the collision. In this embodiment, the impact of the boom on the obstacle is stopped by controlling the boom to cease its movement, thereby reducing structural damage to the boom. In one embodiment, while controlling the boom to stop, a warning message can also be output to improve the driver's or site management personnel's ability to handle the obstacle. After the obstacle has been cleared, the boom's stop control can be unlocked via the engineering equipment's overload switch, allowing the boom to resume normal operation; if the obstacle cannot be removed, the boom can be moved out of the collision hazard area by unlocking the boom's stop control.

[0063] In this embodiment, by controlling the stop of the boom, the safety risks in active collision scenarios of the boom are improved and the damage to the boom is reduced.

[0064] In one embodiment, the boom collision detection method further includes:

[0065] If the measured collision level is lower than or equal to the safety level, a warning message will be output.

[0066] In this embodiment, it should be noted that when the measured collision level is lower than or equal to the safety level, it can be determined that the collision received by the boom is very minor and will not cause structural damage to the boom. In this case, a warning message is output to prompt the driver, allowing the driver to manually control the boom based on the actual situation on site. It can be understood that when the measured collision level reaches the rollover level or exceeds the safety level, a warning message can also be output to prompt the driver, allowing the driver to flexibly operate the boom based on the work site conditions.

[0067] In this embodiment, a warning message is output in the event of a minor collision, ensuring operational efficiency while guaranteeing the safety of the engineering equipment.

[0068] refer to Figure 2 In one embodiment, multiple collision levels are pre-determined based on the boom's historical momentum change information, and a target collision level, including a safety level and a rollover level, is determined based on collision tests. The boom's operation is monitored in real time. Upon detecting a collision, the collision level is determined and compared with the target collision level to implement safety measures. When the collision level is equal to or higher than the rollover level, the boom is controlled to move in the opposite direction of the collision until the corresponding collision level is less than or equal to the safety level. When the collision level is lower than the rollover level but higher than the safety level, the boom is controlled to stop moving. When the collision level is lower than or equal to the safety level, a warning message is output.

[0069] In one embodiment, the boom collision detection method further includes:

[0070] At multiple preset collision locations, the boom is controlled to collide with preset obstacles based on preset collision energy, and the collision level corresponding to each preset collision location is obtained as the target collision level.

[0071] In this embodiment, it should be noted that the same preset collision energy, when applied to different positions on the boom, may correspond to different collision levels. In this embodiment, collision tests are conducted at multiple preset collision positions to obtain multiple collision levels as target collision levels. For example, for three different preset collision positions, collision tests are conducted on the boom using energy that would cause the entire piece of equipment corresponding to the boom to overturn. The resulting collision levels for the three different preset collision positions are level 9, level 9, and level 10, respectively. Collision levels 9 and 10 are both defined as overturning levels. It is understood that if there is an overlap between the safety level and the overturning level, the overlapping level is used as the overturning level, with the higher level defining the category of the overlapping level.

[0072] In this embodiment, collision tests are conducted at multiple preset collision locations to improve the effectiveness of boom collision detection, thereby enhancing the safety of boom operation.

[0073] In one embodiment, the boom collision detection method further includes:

[0074] The collision linear velocity is determined based on the mass of the preset obstacle and the preset collision energy.

[0075] The collision angular velocity is determined based on the preset collision position and collision linear velocity;

[0076] The boom is controlled to collide with a preset obstacle based on the collision angular velocity in order to determine the target collision level corresponding to the preset collision energy.

[0077] In this embodiment, it should be noted that in the collision test, the method of controlling the boom to collide with the preset obstacle can be by controlling the boom to move and impact the preset obstacle at a certain angular velocity. This certain angular velocity is calculated from a preset collision energy to ensure that the generated collision energy is equal to the preset collision energy. Specifically, assuming the mass of the preset obstacle is m and the preset collision energy is E, the energy is calculated using the formula... The linear velocity of the collision is known. The radius r is determined based on the preset collision position, and the linear velocity is calculated using the formula. The collision angular velocity can be determined. The control boom performs a collision action towards a preset obstacle at the specified collision angular velocity, detects the momentum change information corresponding to the collision action, and determines the collision level corresponding to the momentum change information as the target collision level.

[0078] In this embodiment, the movement speed of the boom during the collision test is determined by preset the conversion between collision energy and collision angular velocity, thereby achieving precise control of the boom and ensuring the accuracy of the collision test, thus improving the effectiveness of determining the target collision level.

[0079] This application also provides a device for boom collision detection, comprising:

[0080] The memory is configured to store instructions; and

[0081] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the boom collision detection method as described in the above embodiments.

[0082] This application also provides an engineering device, including:

[0083] The boom collision detection device as described in the above embodiments.

[0084] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the boom collision detection method as described in the above embodiments.

[0085] 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 embodied 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.

[0086] 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.

[0087] 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 1 The function specified in one or more boxes.

[0088] 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.

[0089] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0090] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0091] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0092] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0093] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A boom collision detection method, characterized in that, include: When a collision is detected on the boom, the measured collision level is determined based on the momentum change information of the boom at the time of the collision. The boom is subjected to safety treatment based on the measured collision level and the target collision level. The target collision level is determined by conducting a collision test on the boom based on a preset collision energy. The target collision level includes a safety level and a rollover level. The safety treatment of the boom based on the measured collision level and the target collision level includes: When the measured collision level is equal to or higher than the rollover level, the collision direction is determined based on the boom operation information; Control the boom to move in the opposite direction to the collision direction until the measured collision level corresponding to the boom is less than or equal to the safety level; If the measured collision level is lower than the rollover level but higher than the safety level, control the boom to stop moving; If the measured collision level is lower than or equal to the safety level, a warning message will be output.

2. The boom collision detection method according to claim 1, characterized in that, The preset collision energy includes a first collision energy and a second collision energy. The steps for determining the target collision level include: When the preset collision energy is the first collision energy, the boom is controlled to collide with the preset obstacle based on the first collision energy, and the collision level corresponding to the first collision energy is determined to be the safety level, wherein the first collision energy is the energy that will not cause structural damage to the boom. When the preset collision energy is the second collision energy, the boom is controlled to collide with the preset obstacle based on the second collision energy, and the collision level corresponding to the second collision energy is determined to be the overturning level. The second collision energy is the energy that causes the entire engineering equipment corresponding to the boom to overturn. The second collision energy is greater than the first collision energy, and the overturning level is higher than the safety level.

3. The boom collision detection method according to claim 1, characterized in that, The steps for determining the target collision level include: At multiple different preset collision locations, the boom is controlled to collide with preset obstacles based on the preset collision energy, and the collision level corresponding to each preset collision location is obtained as the target collision level.

4. The boom collision detection method according to claim 1, characterized in that, The steps for determining the target collision level include: The collision linear velocity is determined based on the mass of the preset obstacle and the preset collision energy. The collision angular velocity is determined based on the preset collision position and the collision linear velocity. Based on the collision angular velocity, the boom is controlled to collide with the preset obstacle in order to determine the target collision level corresponding to the preset collision energy.

5. The boom collision detection method according to claim 1, characterized in that, The boom collision detection method further includes: The collision momentum change waveform is determined based on the historical momentum change information of the boom. The collision level is determined by the peak of the collision momentum change waveform, resulting in multiple collision levels.

6. A device for boom collision detection, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the boom collision detection method according to any one of claims 1 to 5.

7. An engineering device, characterized in that, include: The boom collision detection device according to claim 6.

8. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the boom collision detection method according to any one of claims 1 to 5.

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