Early warning method and system for collision prevention of loading machine and loading machine

Abstract

The invention provides an anti-collision early warning method and system for a loading machine and the loading machine, and is applied to the technical field of engineering machine.The method comprises the steps that firstly, environment information around the loading machine and working conditions and power parameters of the loading machine are obtained, and the type of obstacles around the loading machine, the distance between the obstacles and the loading machine and movement information of the obstacles are determined; the method comprises the following steps of: firstly, calculating the motion information of the obstacle, then calculating first predicted collision time according to the power parameters of the loader, the distance between the obstacle and the loader and the motion information of the obstacle, and finally, generating early warning information when judging that the loader has a collision risk with the obstacle according to the working condition and the power parameters of the loader, the type of the obstacle and the first predicted collision time. According to the method, when collision risks exist in the operation process of the loader under different working conditions, early warning can be conducted in time, and the safety of the loader in the construction operation process is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a loader anti-collision warning method, system, and loader. Background Art

[0002] With the rapid development of infrastructure construction and mining, the use of loaders in the heavy machinery industry has increased dramatically. The working conditions of loaders change frequently during operation, and the workload of loader drivers is heavy, which makes them prone to fatigue driving and has a high risk of accidents.

[0003] The anti-collision warning method in the prior art calculates the distance and relative speed between the vehicle and the obstacle to predict the possible collision time. The system promptly sends an alarm signal to the driver before the collision may occur. However, this method is only applicable to general vehicles and cannot provide anti-collision warnings for the specific working conditions of the loader. If applied to a loader with a high frequency of working condition changes, it will cause frequent false alarms and seriously affect the operation. Therefore, this method is not applicable to the loader. Summary of the invention

[0004] In view of this, the present application is committed to providing a loader anti-collision warning method, system, and loader. According to the working conditions and power parameters of the loader, the type of obstacle, and the first predicted collision time, when it is judged that there is a risk of collision between the loader and the obstacle, warning information is generated. When there is a risk of collision during the loader's operation under different working conditions, timely warnings can be issued to ensure the safety of the loader during construction operations.

[0005] In a first aspect, the present application provides a loader anti-collision warning method, comprising:

[0006] Acquiring environmental information around the loader and the operating conditions and power parameters of the loader;

[0007] Determine, based on environmental information around the loader, the type of obstacles around the loader, the distance between the obstacles and the loader, and movement information of the obstacles;

[0008] Calculating a first predicted collision time according to a power parameter of the loader, a distance between the obstacle and the loader, and movement information of the obstacle;

[0009] Determining whether there is a collision risk between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time;

[0010] When there is a risk of collision between the loader and the obstacle, a warning message is generated.

[0011] Optionally, the working conditions of the loader include unloading and shoveling, the power parameters of the loader include the speed and acceleration of the loader, and the types of obstacles include stockpiles, unloading port retaining walls and silo retaining walls;

[0012] Judging whether there is a collision risk between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time, includes:

[0013] When the operating condition of the loader is unloading, the type of the obstacle is a unloading port retaining wall, the speed of the loader is lower than a preset speed threshold, and the first predicted collision time is less than a first preset warning time, it is determined that there is a risk of collision between the loader and the obstacle.

[0014] Optionally, judging whether there is a collision risk between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time includes:

[0015] When the working condition of the loader is shoveling, the type of the obstacle is a silo retaining wall or a material pile, and the first predicted collision time is less than the first preset warning time, it is determined that there is a risk of collision between the loader and the obstacle.

[0016] Optionally, obtaining the working condition of the loader includes:

[0017] Obtaining the gear information of the loader and the IMU data of the boom;

[0018] The working condition of the loader is determined according to the gear information of the loader and the IMU data of the boom.

[0019] Optionally, obtaining environmental information around the loader includes:

[0020] Determining the movement of the bucket of the loader according to the IMU data of the boom of the loader;

[0021] According to the movement of the bucket of the loader, a target sensor corresponding to the movement is controlled to operate, so as to obtain environmental information around the loader detected by the target sensor.

[0022] Optionally, determining the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles according to the environmental information around the loader includes:

[0023] Acquiring image information and radar information around the loader;

[0024] When a marked image is identified in the image information, it is determined that there are obstacles around the loader, and the category of the obstacle is a discharge port retaining wall or a silo retaining wall, and the distance between the discharge port retaining wall or the silo retaining wall and the loader is calculated according to the position of the marked image in the image information;

[0025] When the marker image is not recognized in the image information, the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles are determined based on the image information and the radar information.

[0026] Optionally, the loader anti-collision warning method described in the first aspect further includes:

[0027] Get the opening of the brake pedal;

[0028] When the opening degree of the brake pedal is 0 and the working condition of the loader is not unloading and shoveling, the emergency braking system is activated to perform emergency braking on the loader.

[0029] Optionally, the loader anti-collision warning method described in the first aspect further includes:

[0030] When the opening degree of the brake pedal is greater than 0, and the working condition of the loader is not unloading and shoveling, the speed of the loader is extracted from the power parameters of the loader;

[0031] calculating the acceleration of the loader according to the opening degree of the brake pedal;

[0032] calculating a second predicted collision time according to the speed and the acceleration of the loader;

[0033] When the second predicted collision time is less than the second preset warning time, the emergency braking system is activated to perform emergency braking on the loader.

[0034] In a second aspect, a loader anti-collision system is characterized by comprising:

[0035] A sensor assembly, wherein the sensor assembly is used to detect environmental information around the loader, power parameters of the loader, and IMU data of the loader boom;

[0036] A controller, the controller comprising:

[0037] A data acquisition module, used to acquire environmental information around the loader and the working condition and power parameters of the loader;

[0038] An obstacle recognition module, used to determine the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles according to the environmental information around the loader;

[0039] a calculation module, configured to calculate a first predicted collision time according to a power parameter of the loader, a distance between the obstacle and the loader, and movement information of the obstacle;

[0040] an early warning generation module, configured to determine whether there is a risk of collision between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time; and to generate early warning information when there is a risk of collision between the loader and the obstacle; and

[0041] The early warning device, the controller is communicatively connected with the sensor assembly and the early warning device respectively.

[0042] In a third aspect, the present application provides a loader, comprising:

[0043] The loader anti-collision system described in the second aspect.

[0044] Based on the above content, the loader anti-collision warning method provided by the present application first obtains the environmental information around the loader and the working condition and power parameters of the loader, determines the type of obstacles around the loader, the distance between the obstacles and the loader, and the motion information of the obstacles, and then calculates the first predicted collision time based on the power parameters of the loader, the distance between the obstacles and the loader, and the motion information of the obstacles. Finally, based on the working condition and power parameters of the loader, the type of obstacle and the first predicted collision time, when it is judged that there is a risk of collision between the loader and the obstacle, a warning information is generated. The present application can ensure that when there is a risk of collision during the loader's operation under different working conditions, timely warnings are issued to ensure the safety of the loader during construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 A schematic diagram of a loader provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of a process flow of a loader anti-collision warning method provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of a process flow of a loader anti-collision warning method provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of a process flow of a loader anti-collision warning method provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of a process flow of a loader anti-collision warning method provided in an embodiment of the present application;

[0051] Figure 6 A schematic diagram of a process flow of a loader anti-collision warning method provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of a process flow of a loader anti-collision warning method provided in an embodiment of the present application;

[0053] Figure 8 A structural block diagram of a loader anti-collision controller provided in an embodiment of the present application.

[0054] Reference numerals:

[0055] 1- bucket, 2- boom, 3- hydraulic cylinder, 4- cab. DETAILED DESCRIPTION

[0056] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of this specification shall have the common meanings understood by persons with ordinary skills in the field to which this specification belongs. The words "first", "second" and similar words used in the embodiments of this specification do not indicate any order, quantity or importance, but are only used to avoid confusion of constituent elements.

[0057] Unless the context requires otherwise, throughout the specification, "plurality" means "at least two", and "including" is interpreted as an open, inclusive meaning, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" are intended to indicate that a particular feature, structure, material or characteristic associated with the embodiment or example is included in at least one embodiment or example of the specification. The schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0058] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0059] Basic Overview

[0060] With the rapid development of infrastructure construction and mining, the investment in construction machinery is also gradually increasing, and loaders are used frequently in construction projects. In order to complete the construction schedule on time, loader drivers have a heavy workload and are prone to fatigue driving due to overtime work. The frequency of working conditions changing during the operation of loaders is high, which can easily cause safety accidents.

[0061] The anti-collision warning method in the prior art calculates the distance and relative speed between the vehicle and the obstacle to predict the possible collision time. The system sends an alarm signal to the driver in time before the possible collision. The driver takes effective measures based on the alarm signal to avoid safety accidents.

[0062] However, the existing method is only applicable to general vehicles. Without considering the working conditions of construction machinery such as loaders, applying the existing method to loaders with a high frequency of working condition changes will lead to frequent false alarms and seriously affect operations. Therefore, the existing method is not applicable to the specific working environment of construction machinery.

[0063] In order to solve the above technical problems, the present application provides a loader anti-collision warning method, system, and loader. According to the working condition and power parameters of the loader, the type of obstacle, and the first predicted collision time, when it is judged that the loader has a collision risk with the obstacle, a warning message is generated, which can ensure that when the loader is in different working conditions and there is a collision risk, a timely warning is issued to ensure the safety of the loader during the construction operation. The specific implementation scheme is described in detail below through embodiments and examples.

[0064] Example scenario

[0065] The present application provides an example of an application scenario of a loader anti-collision warning method, and the application scenario is a loader, such as Figure 1 As shown, the loader in the present application includes components such as a bucket 1, a boom 2, a hydraulic cylinder 3, and a cab 4. The loader is equipped with a sensor component, which may be one or more of a radar, a camera device, an inertial sensor, a wheel speed sensor, a brake pedal sensor, and a gear position sensor. The radar can detect the point cloud data around the loader, and can also determine the environmental information around the loader based on the point cloud data (such as whether there are obstacles around the loader, the distance between the obstacle and the loader, etc.). The radar may be a millimeter wave radar or a laser radar. The camera device can take pictures of the environment around the loader to obtain pictures around the loader, and then obtain the environmental information around the loader based on the pictures. The camera device may be any device with camera and communication functions, such as a camera, a smart device with a camera, etc.

[0066] The wheel speed sensor can detect the speed of the loader. The brake pedal sensor can detect the opening of the brake pedal. The gear sensor can detect the gear information of the loader, such as whether the loader is in the forward gear. The wheel speed sensor, brake pedal sensor and gear sensor can detect the power parameters (such as speed, acceleration) and working condition information (such as gear information) of the loader.

[0067] Inertial sensors are used to detect the IMU data of the boom. Inertial sensors (Inertial Measurement Unit, referred to as IMU) are devices that measure the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signals of the object in the independent three axes of the carrier coordinate system, and the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system. Therefore, the inertial sensor can measure the angular velocity and acceleration of the object in three-dimensional space, and use this to calculate the attitude of the object, such as calculating the rotational degree of freedom of the object. The rotational degree of freedom refers to the degree of freedom related to the three positions of up and down, front and back, and left and right. The IMU data is the result data of the inertial sensor detecting the object, that is, the degree of freedom data related to the three positions of the boom in up and down, front and back, and left and right. The position information of the boom can be detected by the inertial sensor, and the movement of the bucket can be determined based on the position information of the boom.

[0068] Optionally, the sensor assembly may include two radars and two cameras, the two radars are respectively mounted on the top of the cab and below the hydraulic cylinder of the loader, and the two cameras are respectively mounted on the top of the cab and below the hydraulic cylinder of the loader. When the bucket is in different actions, the radars and cameras at different positions may be enabled respectively to identify obstacle information at different positions of the loader, thereby avoiding the blind spot problem caused by the up and down lifting of the forward bucket.

[0069] Exemplary Methods

[0070] like Figure 2 As shown, in this exemplary embodiment, a loader anti-collision warning method is provided, which is applied to Figure 1 The loader shown, wherein the method may include the following steps:

[0071] S100: Acquire environmental information around the loader and the working condition and power parameters of the loader.

[0072] The environmental information around the loader and the working condition and power parameters of the loader are obtained through the above sensor components. The controller is connected to the above sensor components in communication, and the controller will obtain various data information obtained by the above sensor components, wherein the working condition of the loader includes unloading and shoveling, and the power parameters of the loader include the speed and acceleration of the loader. Specifically, the environmental information around the loader can be obtained through the camera device and radar, the power parameters of the loader can be obtained through the wheel speed sensor and the brake pedal sensor, and the working condition of the loader can be obtained through the inertial sensor and the gear position sensor.

[0073] S200: Determine the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles according to the environmental information around the loader.

[0074] According to the environmental information around the loader, the controller can determine whether there are obstacles around the loader, and if there are obstacles, determine the category of the obstacle, the distance between the obstacle and the loader, and the movement information of the obstacle. The categories of obstacles can be divided into the first category of obstacles related to the loader's construction work and the second category of obstacles not related to the loader's construction work. For example, the first category of obstacles includes material piles, unloading port retaining walls and silo retaining walls, and the second category of obstacles includes people, other vehicles, etc. The movement information of the obstacles includes the speed and acceleration of the obstacles. The first category of obstacles is a stationary obstacle, which does not move and has a speed of 0. The second category of obstacles is a movable obstacle, which will generate speed and acceleration when it moves.

[0075] The surrounding environment information can be calculated based on the pictures taken by the camera and the point cloud data detected by the radar. For example, the pictures taken by the camera can be identified to identify whether there is an obstacle and the type of obstacle. The point cloud data detected by the radar can be calculated to determine whether there is an obstacle, the distance between the obstacle and the loader, and the speed and acceleration of the obstacle.

[0076] S300: Calculating a first predicted collision time according to the power parameters of the loader, the distance between the obstacle and the loader, and the movement information of the obstacle.

[0077] Specifically, the power parameter of the loader may be the speed of the loader, and the movement information of the obstacle may include the speed of the obstacle. S300 calculates the first predicted collision time according to the speed of the loader, the distance between the obstacle and the loader, and the speed of the obstacle.

[0078] TTC1=d / (v el +0.01)

[0079] In the formula,

[0080] TTC1 is the first preset collision time, and d represents the distance between the current loader and the obstacle in front, in meters.

[0081] v el It indicates the relative speed between the loader and the obstacle in front. The relative speed can be calculated based on the speed of the loader and the speed of the obstacle. The unit is meter per second.

[0082] For example, when the obstacle is a first-class obstacle, the speed v1 of the obstacle is 0. Assuming the speed of the loader is v2, the relative speed between the loader and the obstacle in front is v el When the obstacle is a second-class obstacle, the speed v1 of the obstacle is not 0, then the relative speed v between the loader and the obstacle in front is el is v1+v2.

[0083] 0.01 represents a small positive number, which is used to avoid division by zero errors in calculations caused by a speed of 0.

[0084] S400: Determine whether there is a risk of collision between the loader and the obstacle based on the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time.

[0085] When the operating condition and power parameters of the loader, the type of obstacle and the first predicted collision time all meet the preset conditions at the same time, it is judged that there is a risk of collision between the loader and the obstacle. When the operating condition and power parameters of the loader, the type of obstacle and the first predicted collision time do not meet the preset conditions at the same time, that is, at least one of them does not meet the preset conditions, it is judged that there is no risk of collision between the loader and the obstacle.

[0086] S500: When there is a risk of collision between the loader and an obstacle, a warning message is generated.

[0087] When there is a risk of collision between the loader and an obstacle, a warning message is generated, the human-machine interface of the loader is controlled to display the warning message, and the horn is sounded to remind the driver.

[0088] The loader anti-collision warning method provided by the present application first obtains the environmental information around the loader and the working condition and power parameters of the loader, determines the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles, and then calculates the first predicted collision time according to the power parameters of the loader, the distance between the obstacles and the loader, and the movement information of the obstacles. Finally, according to the working condition and power parameters of the loader, the type of obstacle and the first predicted collision time, when it is judged that there is a risk of collision between the loader and the obstacle, a warning message is generated. The present application can ensure that when there is a risk of collision during the loader's operation under different working conditions, timely warning is issued to ensure the safety of the loader during construction operations.

[0089] In some embodiments of the present application, Figure 3 As shown, the step of obtaining the environmental information around the loader in S100 includes:

[0090] S111: Determine the movement of the bucket of the loader based on the IMU data of the loader's boom.

[0091] An inertial sensor is installed on the boom of the loader. The IMU data of the boom can be detected by the inertial sensor. The movement of the loader bucket can be determined through the IMU data of the loader boom. For example, the movement of the bucket includes bucket lifting and bucket lowering.

[0092] S112: According to the movement of the bucket of the loader, the target sensor corresponding to the movement is controlled to operate, so as to obtain the environmental information around the loader detected by the target sensor.

[0093] Specifically, a correspondence table between actions and target sensors is preset. When the action of the bucket is determined, the target sensor corresponding to the action can be queried in the correspondence table, and the target sensor can be controlled to start to obtain corresponding environmental information.

[0094] When the loader bucket moves in different ways, the corresponding target sensors to be activated are different. For example, the target sensors include two radars and two cameras. When the bucket moves to lift, the camera and radar under the hydraulic cylinder are activated to detect the environmental information around the loader. When the bucket moves to lower, the camera and radar on the top of the cab are activated to detect the environmental information around the loader. When the bucket is in different movements, radars and cameras at different positions can be activated respectively to identify obstacle information at different positions of the loader, avoiding the blind spot problem caused by the up and down lifting of the forward bucket.

[0095] In some embodiments of the present application, Figure 4 As shown, the working conditions of the loader are obtained, including:

[0096] S121: Obtain the gear information of the loader and the IMU data of the boom.

[0097] Start the gear sensor, which can identify the gear of the loader. The gear information of the loader is forward gear or reverse gear. The inertial sensor can detect the IMU data of the boom, so as to obtain the IMU data of the boom.

[0098] S122: Determine the working condition of the loader according to the gear information of the loader and the IMU data of the boom.

[0099] When the gear information of the loader is the forward gear, and according to the IMU data of the boom of the loader, it is determined that the action of the bucket of the loader is bucket lifting, it is determined that the working condition of the loader is unloading.

[0100] When the gear information of the loader is the forward gear, and according to the IMU data of the boom of the loader, it is determined that the action of the bucket of the loader is the bucket being lowered, it is determined that the working condition of the loader is the shovel impacting condition.

[0101] In some embodiments of the present application, Figure 5 As shown, in S200, determining the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles based on the environmental information around the loader may specifically include:

[0102] S201: Acquire image information and radar information around the loader;

[0103] Two-dimensional code marking images with different IDs are pre-deployed at the center positions of the discharge port retaining wall and the material storage retaining wall in the first category of obstacles. The marking images contain category information and local positioning information of each category of discharge ports and corresponding silos. By scanning the marking images with a camera device, it is possible to identify which discharge port retaining wall or material storage retaining wall the obstacle is.

[0104] Specifically, the radar information may be point cloud data. By scanning the area around the loader with radar, point cloud data around the loader can be obtained. Based on the point cloud data, it can be determined whether there are obstacles around the loader and the distance between the obstacles and the loader.

[0105] The image information around the loader captured by the camera device and the distance between the loader and the obstacle detected by the radar are obtained, wherein the image information around the loader captured may have a marked image or may not have a marked image.

[0106] S202: When a marked image is recognized in the image information, it is determined that there are obstacles around the loader, and the category of the obstacles is a discharge port retaining wall or a silo retaining wall, and the distance between the discharge port retaining wall or the silo retaining wall and the loader is calculated according to the position of the marked image in the image information.

[0107] When there is a marked image in the image information around the loader captured by the camera device, the marked image is identified, and it is determined that there are obstacles around the loader, and the category of the obstacle is the retaining wall of a specific discharge port or the retaining wall of a silo. The image information is subjected to a dedistortion operation, which includes converting the pixel coordinate system of the image to the camera coordinate system through the camera's intrinsic parameter matrix (including focal length and principal point coordinates), obtaining a two-dimensional coordinate system of the corner points of the marked image in the pixel coordinate system, further obtaining a three-dimensional coordinate system of the corner points of the marked image in the world coordinate system, and finally obtaining the pose information of the marked image, and calculating the distance between the retaining wall of the discharge port or the retaining wall of the silo and the loader according to the pose information of the marked image.

[0108] S203: When the marker image is not recognized in the image information, the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles are determined based on the image information and the radar information.

[0109] When the marker image is not recognized in the image information, the type of the obstacle is determined based on the image information, and the distance between the obstacle and the loader and the movement information of the obstacle are determined based on the radar information.

[0110] In some embodiments of the present application, the specific steps of determining whether there is a collision risk between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time in S400 may include:

[0111] When the working condition of the loader is unloading, the type of obstacle is a unloading port retaining wall, the speed of the loader is lower than the preset speed threshold, and the first predicted collision time is less than the first preset warning time, it is determined that the loader has a collision risk with the obstacle. The first preset warning time can be set in advance, for example, the first preset warning time can be set to 1 second.

[0112] The construction operation of the loader is special. When the working condition of the loader is different, the control method used for the loader is different. For example, during the unloading process, the front wheels of the loader need to be close to the unloading port retaining wall to reduce the occurrence of material spillage. However, for the early warning system or the automatic emergency braking system, the loader is at risk of collision during the unloading process. If the emergency braking function is used in this application, it will inevitably cause the loader operation to be frequently interrupted, the operation is not smooth, and the operation efficiency is seriously reduced. Therefore, when the working condition of the loader is unloading, this application only uses early warning, and does not use emergency braking. This can not only ensure the normal unloading operation of the loader, but also ensure the safety of the loader's unloading operation.

[0113] In some embodiments of the present application, the specific steps of determining whether there is a collision risk between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time in S400 may also include:

[0114] When the working condition of the loader is shoveling, the type of the obstacle is a silo retaining wall or a material pile, and the first predicted collision time is less than the first preset warning time, it is determined that there is a risk of collision between the loader and the obstacle.

[0115] During the shoveling process, it is necessary to rush to the material pile at full speed to dig and ensure that the bucket is full. Similarly, during the shoveling process, the loader is at risk of collision with the early warning system or the automatic emergency braking system. When the loader is in the shoveling process, this application only uses early warning, and does not use emergency braking. This can not only ensure the normal shoveling operation of the loader, but also ensure the safety of the loader's shoveling operation.

[0116] By accurately identifying the position of the unloading port retaining wall and the silo, the false alarm problem of the traditional collision warning system during the loader operation can be avoided, and the reliability and intelligence level of the system can be improved.

[0117] In some embodiments of the present application, Figure 6 As shown, the above-mentioned loader anti-collision warning method also includes:

[0118] S600: Acquire the opening degree of the brake pedal.

[0119] The system detects the opening of the brake pedal and can determine whether the driver has actively braked based on the status of the brake pedal.

[0120] S700: When the opening of the brake pedal is 0 and the loader is not in the unloading and shoveling mode, the emergency braking system is activated to perform emergency braking on the loader.

[0121] When the system detects that the opening of the brake pedal is 0, it means that the driver did not actively brake after receiving the warning information. At this time, it is necessary to continue to judge the current working condition of the loader. When the working condition of the loader is unloading or shoveling, the current loader is operating normally. When the working condition of the loader is not unloading and shoveling, it is necessary to start the emergency braking system to perform emergency braking on the loader. By identifying the working condition of the loader, the false alarm problem of the traditional collision warning system during the operation of the loader can be avoided, while ensuring the safety of the loader operation and ensuring uninterrupted operation of the loader.

[0122] In some embodiments, when the opening degree of the brake pedal is 0, the obstacle is a second-category obstacle, and the working condition of the loader is unloading and shoveling, the emergency braking system is activated to perform emergency braking on the loader.

[0123] In some embodiments of the present application, Figure 7 As shown, the above-mentioned loader anti-collision warning method also includes:

[0124] S800: When the opening degree of the brake pedal is greater than 0 and the working condition of the loader is not unloading and shoveling, the speed of the loader is extracted from the power parameters of the loader.

[0125] When the opening of the brake pedal is greater than 0, it means that the driver has actively braked after receiving the warning information. It is necessary to determine whether the loader is in the unloading and shoveling state. When the loader is in the unloading and shoveling state, the driver's active braking is generally required for normal operation and no emergency braking is required. When the loader is not in the unloading and shoveling state, whether the driver can prevent the loader from colliding with obstacles after active braking requires further judgment.

[0126] The speed of the loader is obtained by extracting the data of the wheel speed sensor from the power parameters of the loader.

[0127] S900: Calculate the acceleration of the loader according to the opening degree of the brake pedal.

[0128] The acceleration of the loader can be calculated by the following formula

[0129] a2=k*θ

[0130] In the formula,

[0131] a2 represents acceleration, in meters per second 2 , which is a negative value.

[0132] k is a constant related to the performance of the vehicle's braking system, which represents the ratio of the brake pedal opening to the deceleration.

[0133] θ represents the opening of the brake pedal, usually expressed in degrees (degrees or percentage).

[0134] Specifically, the acceleration of the loader can be extracted through the brake pedal sensor.

[0135] S1000: Calculating a second predicted collision time according to the speed and acceleration of the loader.

[0136] The second predicted collision time can be calculated by the following formula

[0137] TTC2=TTC1+v el / a

[0138] In the formula,

[0139] TTC2 is the second predicted collision time.

[0140] a represents the relative acceleration of the vehicle, unit: m / s 2 , used to modify TTC1 to take into account the vehicle's deceleration ability, and is a negative value.

[0141] v el Indicates the relative speed between the loader and the obstacle in front.

[0142] When the obstacle is a first-class obstacle, the acceleration a1 of the obstacle is 0. Assuming the acceleration of the loader is a2, the relative acceleration a between the loader and the obstacle in front is a2. When the obstacle is a second-class obstacle, the speed a1 of the obstacle is not 0, and the relative speed a between the loader and the obstacle in front is a1+a2.

[0143] S1100: When the second predicted collision time is less than the second preset warning time, the emergency braking system is activated to perform emergency braking on the loader.

[0144] A second preset warning time is set in advance, for example, the second preset warning time is set to 2 seconds. When the second predicted collision time is less than the second preset warning time, the controller starts the emergency braking system to perform emergency braking on the loader, slowing the loader down to a stop and avoiding safety accidents.

[0145] Exemplary Controller

[0146] In some embodiments of the present application, Figure 8 As shown, a loader anti-collision controller is provided, including: a data acquisition module 801, an obstacle recognition module 802, a calculation module 803 and a warning generation module 804.

[0147] The data acquisition module 801 is used to acquire the environmental information around the loader and the working condition and power parameters of the loader.

[0148] The obstacle recognition module 802 is used to determine the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles according to the environmental information around the loader.

[0149] The calculation module 803 is used to calculate the first predicted collision time according to the power parameters of the loader, the distance between the obstacle and the loader, and the movement information of the obstacle.

[0150] The warning generation module 804 is used to determine whether there is a risk of collision between the loader and the obstacle based on the working condition and power parameters of the loader, the type of the obstacle and the first predicted collision time; when there is a risk of collision between the loader and the obstacle, generate warning information.

[0151] The loader anti-collision controller provided in this embodiment can be integrated into the vehicle controller.

[0152] The loader anti-collision controller provided in this embodiment belongs to the same application concept as the loader anti-collision warning method provided in the above embodiments of this application, and can execute the loader anti-collision warning method provided in any of the above embodiments of this application, and has the corresponding functional units and beneficial effects of executing the loader anti-collision warning method. For technical details not fully described in this embodiment, please refer to the specific processing content of the loader anti-collision warning method provided in the above embodiments of this application, and will not be repeated here.

[0153] Exemplary Systems

[0154] In some embodiments of the present application, a loader collision avoidance system is provided, comprising: a sensor assembly, the sensor assembly is used to detect environmental information around the loader, power parameters of the loader and IMU data of the loader boom, a controller, and an early warning device, the controller is respectively communicated with the sensor assembly and the early warning device.

[0155] The controller extracts various data information about the loader from the sensor components, such as the environmental information around the loader, the power parameters of the loader, and the IMU data of the loader's boom, and determines whether the loader has a collision risk based on the various data information of the loader. When the loader has a collision risk, the controller controls the warning device to issue a warning.

[0156] In some embodiments of the present application, the above-mentioned loader anti-collision system further includes: an emergency braking system, and the emergency braking system is communicatively connected to the controller.

[0157] In some embodiments of the present application, the sensor component of the above-mentioned loader collision avoidance system includes: any one or two of a camera device and a laser radar, an inertial sensor, a wheel speed sensor, a brake pedal sensor, and a gear position sensor.

[0158] Either or both of the camera device and the laser radar are used to obtain environmental information around the camera loader.

[0159] Inertial sensors are used to detect IMU data of the loader's boom.

[0160] Wheel speed sensors are used to detect the speed of the loader.

[0161] The brake pedal sensor is used to detect the opening of the brake pedal.

[0162] The gear position sensor is used to detect the gear position of the loader.

[0163] Environmental information around the loader can be obtained based on the camera device, or based on the laser radar, or based on the camera device and the laser radar. Based on the obtained environmental information around the loader, it can be determined whether there are obstacles around the loader and the type of the obstacle, and the distance between the obstacle and the loader and the movement information of the obstacle can be obtained.

[0164] The working condition of the loader is determined based on the data obtained from the gear position sensor and the inertial sensor. The working condition of the loader includes unloading and shoveling.

[0165] The power parameters of the loader are obtained according to the data obtained by the wheel speed sensor and the brake pedal sensor. The power parameters of the loader include the speed and acceleration of the loader.

[0166] In some embodiments of the present application, the sensor assembly of the loader collision avoidance system includes two laser radars and two camera devices.

[0167] Two laser radars are installed on the top of the loader's cab and below the hydraulic cylinder, and two camera devices are installed on the top of the loader's cab and below the hydraulic cylinder.

[0168] Example Loader

[0169] In some embodiments of the present application, a loader is provided, comprising: the loader anti-collision system described in any one of the above items.

[0170] Exemplary Electronic Devices

[0171] In some embodiments of the present application, an electronic device is provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, any of the above-mentioned loader anti-collision warning methods is implemented.

[0172] Specifically, the electronic device may further include: a bus, a communication interface, an input device and an output device. The processor, the memory, the communication interface, the input device and the output device are interconnected through the bus. The bus may include a path to transmit information between various components of the computer system.

[0173] The processor may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0174] The processor may include a main processor and may also include a baseband chip, a modem, etc.

[0175] The memory stores a computer program for executing the technical solution of the present application, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes computer operation instructions. More specifically, the memory may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0176] The computer program may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present specification, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0177] The input device may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0178] Output devices may include means that allow information to be output to a user, such as display screens, printers, speakers, etc.

[0179] The communication interface may include using any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0180] The processor executes the program stored in the memory and calls other devices, which can be used to implement each step of the loader anti-collision warning method provided in the above-mentioned embodiment of the present application.

[0181] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0182] Those skilled in the art will appreciate that all or part of the steps in the above method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a read-only memory, etc. Optionally, all or part of the steps in the above embodiment can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiment can be implemented in the form of hardware or in the form of a software functional module. The present disclosure is not limited to any particular form of combination of hardware and software.

[0183] Unless otherwise defined, all terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present disclosure belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined as such herein.

[0184] The above is an explanation of the present disclosure and should not be considered as a limitation thereof. Although several exemplary embodiments of the present disclosure are described, it will be readily understood by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Therefore, all such modifications are intended to be included within the scope of the present disclosure as defined in the claims. It should be understood that the above is an explanation of the present disclosure and should not be considered to be limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present disclosure is defined by the claims and their equivalents.

Claims

1. A loader anti-collision warning method, characterized in that: The method comprises: Acquiring environmental information around the loader and the operating conditions and power parameters of the loader; Determine, based on environmental information around the loader, the type of obstacles around the loader, the distance between the obstacles and the loader, and movement information of the obstacles; Calculating a first predicted collision time according to a power parameter of the loader, a distance between the obstacle and the loader, and movement information of the obstacle; Determining whether there is a collision risk between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time; When there is a risk of collision between the loader and the obstacle, a warning message is generated.

2. The loader anti-collision warning method according to claim 1, characterized in that: The working conditions of the loader include unloading and shoveling, the power parameters of the loader include the speed and acceleration of the loader, and the types of obstacles include material piles, unloading port retaining walls and silo retaining walls; Judging whether there is a collision risk between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time, includes: When the operating condition of the loader is unloading, the type of the obstacle is a unloading port retaining wall, the speed of the loader is lower than a preset speed threshold, and the first predicted collision time is less than a first preset warning time, it is determined that there is a risk of collision between the loader and the obstacle.

3. The loader anti-collision warning method according to claim 2, characterized in that: Judging whether there is a collision risk between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time, includes: When the working condition of the loader is shoveling, the type of the obstacle is a silo retaining wall or a material pile, and the first predicted collision time is less than the first preset warning time, it is determined that there is a risk of collision between the loader and the obstacle.

4. The loader anti-collision warning method according to claim 1, characterized in that: The obtaining of the working condition of the loader comprises: Obtaining the gear information of the loader and the IMU data of the boom; The working condition of the loader is determined according to the gear information of the loader and the IMU data of the boom.

5. The loader anti-collision warning method according to claim 4, characterized in that: Obtain environmental information around the loader, including: Determining the movement of the bucket of the loader according to the IMU data of the boom of the loader; According to the movement of the bucket of the loader, a target sensor corresponding to the movement is controlled to operate, so as to obtain environmental information around the loader detected by the target sensor.

6. The loader anti-collision warning method according to claim 1, characterized in that: The determining, based on the environmental information around the loader, the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles includes: Acquiring image information and radar information around the loader; When a marked image is identified in the image information, it is determined that there are obstacles around the loader, and the category of the obstacle is a discharge port retaining wall or a silo retaining wall, and the distance between the discharge port retaining wall or the silo retaining wall and the loader is calculated according to the position of the marked image in the image information; When the marker image is not recognized in the image information, the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles are determined based on the image information and the radar information.

7. The loader anti-collision warning method according to claim 1, characterized in that: The method further comprises: Get the opening of the brake pedal; When the opening degree of the brake pedal is 0 and the working condition of the loader is not unloading and shoveling, the emergency braking system is activated to perform emergency braking on the loader.

8. The loader anti-collision warning method according to claim 7, characterized in that: The method further comprises: When the opening degree of the brake pedal is greater than 0, and the working condition of the loader is not unloading and shoveling, the speed of the loader is extracted from the power parameters of the loader; calculating the acceleration of the loader according to the opening degree of the brake pedal; calculating a second predicted collision time according to the speed and the acceleration of the loader; When the second predicted collision time is less than the second preset warning time, the emergency braking system is activated to perform emergency braking on the loader.

9. A loader anti-collision system, characterized in that: include: A sensor assembly, wherein the sensor assembly is used to detect environmental information around the loader, power parameters of the loader, and IMU data of the loader boom; A controller, the controller comprising: A data acquisition module, used to acquire environmental information around the loader and the working condition and power parameters of the loader; An obstacle recognition module, used to determine the type of obstacles around the loader, the distance between the obstacles and the loader, and the movement information of the obstacles according to the environmental information around the loader; a calculation module, configured to calculate a first predicted collision time according to a power parameter of the loader, a distance between the obstacle and the loader, and movement information of the obstacle; an early warning generation module, configured to determine whether there is a risk of collision between the loader and the obstacle according to the working condition and power parameters of the loader, the type of the obstacle, and the first predicted collision time; and to generate early warning information when there is a risk of collision between the loader and the obstacle; and The early warning device, the controller is communicatively connected with the sensor assembly and the early warning device respectively.

10. A loader, characterized in that: include: The loader collision avoidance system as claimed in claim 9.

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