An active safety control system and method based on panoramic monitoring

Abstract

The application relates to the field of active safety technology and discloses an active safety control system and method based on panoramic monitoring, which are applied to a working scene of engineering machinery, wherein: when a main controller detects that a panoramic monitoring module meets a pre-set monitoring condition, the panoramic monitoring module monitors a corresponding active safety monitoring area of the engineering machinery to obtain a safety monitoring result, and detects whether the safety monitoring result meets a pre-set safety control condition; when it is detected that the safety monitoring result meets the safety control condition, the panoramic monitoring module sends alarm information corresponding to the safety monitoring result to the main controller; the main controller controls a corresponding target module to perform an alarm braking operation according to the alarm information; and the target module comprises at least one of a display, an alarm module and a pilot switch module. It can be seen that the application can complete active safety control when a safety risk is detected, improve the timeliness and accuracy of active safety control of the engineering machinery, and improve the working safety of the engineering machinery.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of active safety technology, in particular to an active safety control system and method based on panoramic monitoring. BACKGROUND

[0002] In the prior art, the safety situation around the engineering machinery is usually observed by the driver, and the safety situation of the surrounding environment is subjectively judged to control the engineering machinery to avoid in dangerous situations.

[0003] However, in actual application, if the driver does not observe that a pedestrian enters the whole machine operation range due to human negligence or the driver reacts slowly, the best opportunity to control the engineering machinery to avoid may be missed, which may cause a safety accident.

[0004] Therefore, it is particularly important to provide a technical solution capable of improving the timeliness and accuracy of active safety control of the engineering machinery to improve the work safety of the engineering machinery. SUMMARY

[0005] The present application provides an active safety control system and method based on panoramic monitoring, which can improve the timeliness and accuracy of active safety control of the engineering machinery to improve the work safety of the engineering machinery.

[0006] In order to solve the above technical problems, the first aspect of the present application discloses an active safety control system based on panoramic monitoring, which is applied to the working scene of the engineering machinery, and the system comprises a panoramic monitoring module, a main controller, a display, an alarm module and a pilot switch module, wherein:

[0007] The panoramic monitoring module is used to monitor the active safety monitoring area corresponding to the engineering machinery when the main controller detects that the panoramic monitoring module meets the pre-set monitoring condition, and obtain a safety monitoring result; the active safety monitoring area comprises a first area and a second area;

[0008] The panoramic monitoring module is also used to detect whether the safety monitoring result meets the pre-set safety control condition; when it is detected that the safety monitoring result meets the safety control condition, the safety monitoring result corresponding alarm information is sent to the main controller;

[0009] The main controller is used to control the target module corresponding to the alarm information to perform an alarm braking operation according to the received alarm information; the target module comprises at least one of the display, the alarm module and the pilot switch module.

[0010] As an optional implementation, in the first aspect of the present application, the display is configured to detect whether a limit release instruction triggered by a driver corresponding to the engineering machine exists, obtain an instruction detection result, and send the instruction detection result to the main controller; the limit release instruction is configured to release the safety limit function of the panoramic monitoring module;

[0011] The main controller is further configured to determine that the panoramic monitoring module meets the pre-set monitoring condition when the instruction detection result indicates that the limit release instruction triggered by the driver corresponding to the engineering machine does not exist.

[0012] The main controller is further configured to determine whether the pilot switch module is in a locked state when the instruction detection result indicates that the limit release instruction triggered by the driver corresponding to the engineering machine exists; and release the safety limit function of the panoramic monitoring module and determine that the panoramic monitoring module does not meet the pre-set monitoring condition when it is determined that the pilot switch module is in the locked state.

[0013] As an optional implementation, in the first aspect of the present application, the panoramic monitoring module comprises a camera unit and an AVM host, wherein:

[0014] The camera unit is configured to monitor a proactive safety monitoring area corresponding to the engineering machine, obtain a safety monitoring result, and transmit the safety monitoring result to the AVM host; the safety monitoring result comprises safety monitoring video data and / or safety monitoring image data.

[0015] The AVM host is configured to transmit the safety monitoring result to the display to display the safety monitoring result on the display.

[0016] The specific manner in which the panoramic monitoring module detects whether the safety monitoring result meets the pre-set safety control condition comprises:

[0017] The AVM host detects, according to the safety monitoring result, whether an external object exists in the proactive safety monitoring area corresponding to the engineering machine.

[0018] The AVM host determines that the safety monitoring result meets the pre-set safety control condition when it is detected that the external object exists in the proactive safety monitoring area corresponding to the engineering machine.

[0019] The AVM host determines that the safety monitoring result does not meet the pre-set safety control condition when it is detected that the external object does not exist in the proactive safety monitoring area corresponding to the engineering machine.

[0020] The specific manner in which the panoramic monitoring module sends alarm information corresponding to the safety monitoring result to the main controller comprises:

[0021] The AVM host determines alarm information corresponding to a target region in which the external object is located, and sends the alarm information corresponding to the target region to the main controller; the target region is the first region or the second region.

[0022] As an optional implementation, in the first aspect of the present application, the alarm information comprises first alarm information corresponding to the first region or second alarm information corresponding to the second region;

[0023] The specific manner in which the main controller controls a target module corresponding to the alarm information to perform an alarm braking operation according to the received alarm information comprises:

[0024] The main controller outputs the received alarm information to the display and the alarm module respectively, so as to control the display to perform an internal alarm operation corresponding to the alarm information and control the alarm module to perform an external alarm operation corresponding to the alarm information; the internal alarm operation comprises a warning visualization operation and an internal sound alarm operation for the alarm information; the external alarm operation comprises an external sound and light alarm operation for the alarm information;

[0025] When the alarm information comprises the first alarm information, the main controller controls the engineering machinery to perform a deceleration operation;

[0026] When the alarm information comprises the second alarm information, the main controller controls the pilot switch module to perform a passage disconnection operation, so as to control the engineering machinery to stop operating.

[0027] As an optional implementation, in the first aspect of the present application, the specific manner in which the main controller controls the engineering machinery to perform a deceleration operation comprises:

[0028] The main controller controls the power of the engine of the engineering machinery to be reduced to a target power determined; or,

[0029] The main controller controls the proportional valve current corresponding to the engine of the engineering machinery to be reduced to a target current determined.

[0030] As an optional implementation, in the first aspect of the present application, the pilot switch module comprises a pilot cut-off relay, a pilot unlocking electromagnetic valve and a pilot cut-off valve switch.

[0031] The specific way in which the main controller controls the pilot switch module to perform the passage disconnecting operation to control the engineering machinery to stop operation includes:

[0032] The main controller outputs a high-level signal to the pilot cut-off relay to control the pilot cut-off relay to be disconnected; in the case that the pilot cut-off relay is disconnected, a branch circuit in which the pilot unlocking electromagnetic valve is located is disconnected, so that a branch circuit in which the pilot cut-off valve switch is located is disconnected, thereby disconnecting a pilot oil circuit of the engineering machinery, to control the engineering machinery to stop operation.

[0033] As an optional implementation, in the first aspect of the present application, the main controller is further configured to detect whether the hand and foot pilot pressure signals corresponding to the engineering machinery are received during the control of the pilot switch module to perform the passage disconnecting operation to control the engineering machinery to stop operation.

[0034] The main controller is further configured to continue to perform the control of the pilot switch module to perform the passage disconnecting operation to control the engineering machinery to stop operation when it is detected that the hand and foot pilot pressure signals corresponding to the engineering machinery are received.

[0035] The main controller is further configured to trigger the panoramic monitoring module to perform the detection of whether the safety monitoring result meets the pre-set safety control condition when it is detected that the hand and foot pilot pressure signals corresponding to the engineering machinery are not received.

[0036] The second aspect of the present application discloses an active safety control method based on panoramic monitoring, which is applied to a working scene of engineering machinery, and the method comprises the following steps:

[0037] The panoramic monitoring module monitors an active safety monitoring area corresponding to the engineering machinery to obtain a safety monitoring result when the main controller detects that the panoramic monitoring module meets a pre-set monitoring condition; the active safety monitoring area includes a first area and a second area.

[0038] The panoramic monitoring module detects whether the safety monitoring result meets a pre-set safety control condition; when it is detected that the safety monitoring result meets the safety control condition, the panoramic monitoring module sends alarm information corresponding to the safety monitoring result to the main controller.

[0039] The main controller controls a target module corresponding to the alarm information to perform an alarm braking operation according to the received alarm information; the target module includes at least one of a display, an alarm module and a pilot switch module.

[0040] As an optional implementation, in the second aspect of the present application, the method further comprises the following steps:

[0041] The display detects whether there is a limit release instruction triggered by a driver corresponding to the engineering machinery, obtains an instruction detection result, and sends the instruction detection result to the main controller; the limit release instruction is used to release the safety limit function of the panoramic monitoring module;

[0042] When the instruction detection result indicates that there is no limit release instruction triggered by a driver corresponding to the engineering machinery, the main controller determines that the panoramic monitoring module meets the pre-set monitoring condition;

[0043] When the instruction detection result indicates that there is a limit release instruction triggered by a driver corresponding to the engineering machinery, the main controller determines whether the pilot switch module is in a locked state; when it is determined that the pilot switch module is in the locked state, the safety limit function of the panoramic monitoring module is released and it is determined that the panoramic monitoring module does not meet the pre-set monitoring condition.

[0044] As an optional implementation, in the second aspect of the present application, the panoramic monitoring module comprises a camera unit and an AVM host;

[0045] The panoramic monitoring module monitors a proactive safety monitoring area corresponding to the engineering machinery to obtain a safety monitoring result, comprising:

[0046] The camera unit monitors a proactive safety monitoring area corresponding to the engineering machinery to obtain a safety monitoring result, and transmits the safety monitoring result to the AVM host; the safety monitoring result comprises safety monitoring video data and / or safety monitoring image data;

[0047] The AVM host transmits the safety monitoring result to the display to display the safety monitoring result on the display;

[0048] The panoramic monitoring module detects whether the safety monitoring result meets a pre-set safety control condition, comprising:

[0049] The AVM host detects whether there is an external object in the proactive safety monitoring area corresponding to the engineering machinery according to the safety monitoring result;

[0050] When the AVM host detects that there is an external object in the proactive safety monitoring area corresponding to the engineering machinery, it is determined that the safety monitoring result meets the pre-set safety control condition;

[0051] When the AVM host detects that there is no external object in the proactive safety monitoring area corresponding to the engineering machinery, it is determined that the safety monitoring result does not meet the pre-set safety control condition;

[0052] The panoramic monitoring module sends alarm information corresponding to the safety monitoring result to the main controller, and the alarm information includes:

[0053] The AVM host determines alarm information corresponding to a target region where the external object is located, and sends the alarm information corresponding to the target region to the main controller; the target region is the first region or the second region.

[0054] As an optional implementation, in the second aspect of the application, the alarm information includes first alarm information corresponding to the first region or second alarm information corresponding to the second region;

[0055] The main controller controls a target module corresponding to the alarm information to perform an alarm braking operation according to the received alarm information, and the alarm braking operation includes:

[0056] The main controller outputs the received alarm information to the display and the alarm module respectively, so as to control the display to perform an internal alarm operation corresponding to the alarm information and control the alarm module to perform an external alarm operation corresponding to the alarm information; the internal alarm operation includes a warning visualization operation and an internal sound alarm operation for the alarm information; the external alarm operation includes an external sound and light alarm operation for the alarm information;

[0057] When the alarm information includes the first alarm information, the main controller controls the engineering machinery to perform a speed reduction operation;

[0058] When the alarm information includes the second alarm information, the main controller controls the pilot switch module to perform a path disconnection operation, so as to control the engineering machinery to stop operating.

[0059] As an optional implementation, in the second aspect of the application, the main controller controls the engineering machinery to perform a speed reduction operation, and the speed reduction operation includes:

[0060] The main controller controls the power of the engine of the engineering machinery to be reduced to a target power determined; or

[0061] The main controller controls the proportional valve current corresponding to the engine of the engineering machinery to be reduced to a target current determined.

[0062] As an optional implementation, in the second aspect of the application, the pilot switch module includes a pilot cut-off relay, a pilot unlocking electromagnetic valve, and a pilot cut-off valve switch.

[0063] The main controller controls the pilot switch module to perform a path opening operation to control the engineering machinery to stop operation, including:

[0064] The main controller outputs a high level signal to the pilot cut-off relay to control the pilot cut-off relay to be disconnected; in the case that the pilot cut-off relay is disconnected, a branch circuit in which the pilot unlocking electromagnetic valve is located is disconnected to make a branch circuit in which the pilot cut-off valve switch is located disconnected, thereby disconnecting a pilot oil circuit of the engineering machinery to control the engineering machinery to stop operation.

[0065] As an optional implementation, in the second aspect of the present application, in the process that the main controller controls the pilot switch module to perform a path opening operation to control the engineering machinery to stop operation, the method further includes:

[0066] The main controller detects whether the hand and foot pilot pressure signals corresponding to the engineering machinery are received;

[0067] When it is detected that the hand and foot pilot pressure signals corresponding to the engineering machinery are received, the main controller continues to perform the operation of controlling the pilot switch module to perform a path opening operation to control the engineering machinery to stop operation;

[0068] When it is detected that the hand and foot pilot pressure signals corresponding to the engineering machinery are not received, the panoramic monitoring module is triggered to perform the operation of detecting whether the safety monitoring result meets the pre-set safety control condition.

[0069] The third aspect of the present application discloses another active safety control system based on panoramic monitoring, the system includes:

[0070] A memory in which an executable program code is stored;

[0071] A processor coupled with the memory;

[0072] The processor invokes the executable program code stored in the memory to perform part or all steps of the active safety control method based on panoramic monitoring disclosed in the second aspect of the present application.

[0073] The fourth aspect of the present application discloses a computer storage medium, the computer storage medium stores computer instructions, when the computer instructions are invoked, part or all steps of the active safety control method based on panoramic monitoring disclosed in the second aspect of the present application are executed.

[0074] Compared with the prior art, the present application has the following beneficial effects:

[0075] In the application, the active safety control system based on panoramic monitoring is applied to the working scene of the engineering machinery, and the system comprises a panoramic monitoring module, a main controller, a display, an alarm module and a pilot switch module, wherein: the panoramic monitoring module is used for monitoring the active safety monitoring area corresponding to the engineering machinery to obtain a safety monitoring result when the main controller detects that the panoramic monitoring module meets the pre-set monitoring condition; the active safety monitoring area comprises a first area and a second area; the panoramic monitoring module is further used for detecting whether the safety monitoring result meets the pre-set safety control condition; when it is detected that the safety monitoring result meets the safety control condition, the safety monitoring result corresponding alarm information is sent to the main controller; the main controller is used for controlling the target module corresponding to the alarm information to perform an alarm braking operation according to the received alarm information; the target module comprises at least one of the display, the alarm module and the pilot switch module. It can be seen that, by implementing the application, when it is detected that the panoramic monitoring module meets the pre-set monitoring condition, the active safety monitoring area corresponding to the engineering machinery is monitored by the panoramic monitoring module to obtain a safety monitoring result, if it is detected that the safety monitoring result meets the pre-set safety control condition, corresponding alarm information is sent to the main controller, and then the target module corresponding to the alarm information is controlled by the main controller to perform an alarm braking operation, so that the active safety control is intelligently completed when the safety risk is detected, the driver does not need to make a human judgment or perform a human braking operation on the safety condition of the driving environment, the risk detection accuracy and efficiency of the working environment of the engineering machinery can be improved, the timeliness and accuracy of the active safety control of the engineering machinery are improved, and thus the risk of safety accidents of the engineering machinery in the working process is reduced, and the working safety of the engineering machinery is improved. BRIEF DESCRIPTION OF DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0077] Figure 1 is a structure schematic diagram of an active safety control system based on panoramic monitoring disclosed by the embodiments of the present application;

[0078] Figure 2 is a structure schematic diagram of another active safety control system based on panoramic monitoring disclosed by the embodiments of the present application;

[0079] Figure 3 is a range schematic diagram of an active safety monitoring area disclosed by the embodiments of the present application;

[0080] Figure 4is a schematic diagram of another architecture of an active safety control system based on panoramic monitoring disclosed by an embodiment of the present application;

[0081] Figure 5 is a schematic diagram of another architecture of an active safety control system based on panoramic monitoring disclosed by an embodiment of the present application;

[0082] Figure 6 is a schematic diagram of a logic control flow of an active safety control system based on panoramic monitoring disclosed by an embodiment of the present application;

[0083] Figure 7 is a schematic diagram of a flow of an active safety control method based on panoramic monitoring disclosed by an embodiment of the present application;

[0084] Figure 8 is a schematic diagram of another architecture of an active safety control system based on panoramic monitoring disclosed by an embodiment of the present application. DETAILED DESCRIPTION

[0085] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0086] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product, or end including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or end.

[0087] In this document, the term "embodiment" means that the specific features, structures, or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0088] The application discloses an active safety control system and method based on panoramic monitoring.

[0089] Embodiment one

[0090] Please refer to Figure 1 , Figure 1 is a structure schematic view of an active safety control system based on panoramic monitoring disclosed by the embodiment of the application. Wherein, Figure 1 The active safety control system based on panoramic monitoring described can be applied to engineering machinery, and can also be applied to a control system corresponding to the engineering machinery, and the embodiment of the application does not make a limitation; further, the system can be applied to a working scene of the engineering machinery, and the embodiment of the application does not make a limitation. As shown in the figure, Figure 1 The active safety control system based on panoramic monitoring can include a panoramic monitoring module 101, a main controller 102, a display 103, an alarm module 104 and a pilot switch module 105, wherein,

[0091] The panoramic monitoring module 101 is used for monitoring an active safety monitoring area corresponding to the engineering machinery to obtain a safety monitoring result when the main controller 102 detects that the panoramic monitoring module 101 meets a pre-set monitoring condition; the active safety monitoring area includes a first area and a second area;

[0092] The panoramic monitoring module 101 is further used for detecting whether the safety monitoring result meets a pre-set safety control condition; when it is detected that the safety monitoring result meets the safety control condition, the panoramic monitoring module 101 sends alarm information corresponding to the safety monitoring result to the main controller 102;

[0093] The main controller 102 is used for controlling a target module corresponding to the alarm information to perform an alarm braking operation according to the received alarm information; the target module includes at least one of the display 103, the alarm module 104 and the pilot switch module 105.

[0094] Optionally, the first region can be a deceleration region, and the second region can be a stopping region; this embodiment of the invention does not impose limitations. Further, the active safety monitoring region can be a region centered on the construction machinery, with a first length as its radius, serving as the deceleration region, and a region with a second length as its radius, serving as the stopping region, where the first length is greater than the second length; this embodiment of the invention does not impose limitations. For an example, please refer to [link to example]. Figure 3 , Figure 3 This is a schematic diagram of the range of an active safety monitoring area disclosed in an embodiment of the present invention, wherein, as shown... Figure 3 As shown, located Figure 3 The center is a type of engineering machinery, and the first area is a deceleration area and the second area is a stopping area. This embodiment of the invention is not limited to this.

[0095] Optionally, the panoramic monitoring module 101 can send alarm information to the main controller 102 via the CAN (Controller Area Network) channel, which is not limited in this embodiment of the invention.

[0096] As can be seen, the system described in the embodiments of the present invention can monitor the active safety monitoring area corresponding to the construction machinery through the panoramic monitoring module when it detects that the panoramic monitoring module meets the preset monitoring conditions, and obtain the safety monitoring results. If the safety monitoring results meet the preset safety control conditions, the system sends the corresponding alarm information to the main controller, and then the main controller controls the target module corresponding to the alarm information to perform alarm braking operation. This achieves intelligent active safety control when a safety risk is detected, without requiring the driver to make a human judgment on the safety of the driving environment or to manually perform the braking operation of the entire machine. This can improve the accuracy and efficiency of risk detection in the working environment of construction machinery, while also improving the timeliness and accuracy of active safety control of construction machinery, thereby reducing the risk of safety accidents during the operation of construction machinery and thus improving the operational safety of construction machinery.

[0097] In an optional embodiment, the display 103 is used to detect whether there is a restriction release command triggered by the driver of the construction machinery, obtain the command detection result, and send the command detection result to the main controller 102; the restriction release command is used to release the safety restriction function of the panoramic monitoring module 101.

[0098] The main controller 102 is also used to determine that the panoramic monitoring module 101 meets the preset monitoring conditions when the instruction detection result indicates that there is no restriction release instruction triggered by the driver corresponding to the construction machinery.

[0099] The main controller 102 is further configured to determine whether the pilot switch module 105 is in a locked state when the instruction detection result indicates that there is a limit release instruction triggered by the driver of the engineering machine; and release the safety limit function of the panoramic monitoring module 101 and determine that the panoramic monitoring module 101 does not meet the preset monitoring condition when it is determined that the pilot switch module 105 is in the locked state.

[0100] Optionally, the display 103 can be provided with a limit release switch (e.g., a limit release button), and the driver can trigger the limit release switch to trigger the limit release instruction; or the display 103 can be provided with a touch screen, and the driver can trigger the visual interface displayed on the touch screen to trigger the limit release instruction, which is not limited in the embodiments of the present application.

[0101] Optionally, the safety limit function of the panoramic monitoring module 101 can be used to start the active safety control process, and the safety limit function of the panoramic monitoring module 101 can be started by default, so that the active safety control process can be executed in time, which is not limited in the embodiments of the present application.

[0102] Optionally, when the pilot switch module 105 includes a pilot cut-off valve switch, if the pilot cut-off valve switch is in a horizontal state, the pilot cut-off valve switch is in an unlocked state, and if the pilot cut-off valve switch is in a vertical state, the pilot cut-off valve switch is in a locked state, which is not limited in the embodiments of the present application; further optionally, the pilot cut-off valve switch can be controlled by the driver, which is not limited in the embodiments of the present application.

[0103] It can be seen that the optional embodiment can detect whether there is a limit release instruction triggered by the driver through the display, if there is no limit release instruction, it is determined that the panoramic monitoring module meets the preset monitoring condition, that is, the active safety control function can be started to monitor the active safety monitoring area, if there is the limit release instruction, it is further determined whether the pilot switch module is in the locked state, if yes, it is determined that the panoramic monitoring module does not meet the monitoring condition, that is, the active safety control function is not started, which can improve the accuracy of determining whether the panoramic monitoring module meets the monitoring condition, thereby facilitating the intelligent determination of the starting condition of the active safety control function, improving the starting accuracy and flexibility of the active safety control function of the engineering machine, and further facilitating the improvement of the execution accuracy of the monitoring operation and the alarm operation of the panoramic monitoring module, and further facilitating the improvement of the operation safety of the engineering machine.

[0104] In the optional embodiment, as shown in Figure 2 The panoramic monitoring module 101 can include a camera unit 1011 and an AVM (Around View Monitor) host 1012, wherein:

[0105] The camera unit 1011 is configured to monitor a corresponding active safety monitoring area of the engineering machinery, obtain a safety monitoring result, and transmit the safety monitoring result to the AVM host 1012. The safety monitoring result includes safety monitoring video data and / or safety monitoring image data.

[0106] The AVM host 1012 is configured to transmit the safety monitoring result to the display 103, so as to display the safety monitoring result on the display 103.

[0107] Optionally, the camera unit 1011 can be a camera or a device with a camera function, and the embodiments of the present application are not limited thereto.

[0108] It can be seen that the optional embodiment can also realize monitoring of the environment around the engineering machinery through the panoramic monitoring module composed of the camera unit and the AVM host, so as to provide comprehensive and real-time monitoring data to the driver on the display, which is beneficial to improving the convenience and comprehensiveness of the driver in observing the environment around the engineering machinery during the operation of the engineering machinery, and is beneficial to improving the accuracy of judging whether the safety monitoring result meets the safety control condition, and thus is beneficial to improving the accuracy of the active safety control of the engineering machinery.

[0109] In the optional embodiment, the specific manner in which the panoramic monitoring module 101 detects whether the safety monitoring result meets the pre-set safety control condition includes:

[0110] The AVM host 1012 detects, according to the safety monitoring result, whether there is an external object in the active safety monitoring area of the engineering machinery.

[0111] The AVM host 1012 determines that the safety monitoring result meets the pre-set safety control condition when it is detected that there is an external object in the active safety monitoring area of the engineering machinery.

[0112] The AVM host 1012 determines that the safety monitoring result does not meet the pre-set safety control condition when it is detected that there is no external object in the active safety monitoring area of the engineering machinery.

[0113] It can be seen that the optional embodiment can also determine whether the external object is in the active safety monitoring area by the AVM host, and if it is detected that the external object enters the active safety monitoring area, it is determined that the safety monitoring result meets the safety control condition, that is, the active safety control function needs to be executed, otherwise, it is determined that the safety monitoring result does not meet the safety control condition, which can improve the detection accuracy of the external object entering the active safety monitoring area, thereby improving the judgment accuracy of whether the safety monitoring result meets the safety control condition, and further reducing the risk of collision between the engineering machinery and the external object during the operation process.

[0114] For example, the external object can be one of a motor vehicle, a non-motor vehicle, a pedestrian, and an animal, or other movable objects, and the embodiments of the present application are not limited thereto.

[0115] In the optional embodiment, the specific manner of the panoramic monitoring module sending the alarm information corresponding to the safety monitoring result to the main controller can include:

[0116] The AVM host determines the alarm information corresponding to the target area according to the target area where the external object is located, and sends the alarm information corresponding to the target area to the main controller; the target area is the first area or the second area.

[0117] It can be seen that the optional embodiment can also send different alarm information to the main controller according to the area where the external object is located by the AVM host, which can improve the determination accuracy of the alarm information, thereby facilitating the issuance of different warnings and the execution of different alarm braking operations according to the different distances between the external object and the engineering machinery, facilitating flexible warning of the driver and the external object, and further improving the flexibility and accuracy of the active safety control of the engineering machinery, and improving the operation safety of the engineering machinery.

[0118] In one optional embodiment, the alarm information can include first alarm information corresponding to the first area or second alarm information corresponding to the second area.

[0119] Optionally, the first alarm information can include one or a combination of a first alarm level, a first alarm code, and a first alarm position, and the second alarm information can include one or a combination of a second alarm level, a second alarm code, and a second alarm position, and the embodiments of the present application are not limited thereto.

[0120] The danger level corresponding to the first alarm level is lower than the danger level corresponding to the second alarm level.

[0121] Among them, exemplary, the first alarm level can be yellow alarm level, the first alarm code can be yellow alarm code, the second alarm level can be red alarm level, the second alarm code can be red alarm code, and the first alarm position or the second alarm position can be used to represent the position of the external object, and the embodiments of the application are not limited.

[0122] It can be seen that the optional embodiment can further divide different alarm levels and other specific alarm information contents for the external object entering different monitoring areas, which is beneficial for the driver and the main controller to more accurately obtain the alarm information, thereby improving the alarm accuracy of the active safety control function, and further improving the active safety control accuracy of the engineering machinery.

[0123] In the optional embodiment, optionally, the main controller 102 controls the specific manner of the target module corresponding to the received alarm information to perform the alarm braking operation, which can include:

[0124] The main controller 102 outputs the received alarm information to the display 103 and the alarm module 104 respectively, to control the display 103 to perform internal alarm operation corresponding to the alarm information and control the alarm module 104 to perform external alarm operation corresponding to the alarm information; the internal alarm operation includes warning visualization operation and internal sound alarm operation for the alarm information; the external alarm operation includes external sound and light alarm operation for the alarm information;

[0125] When the alarm information includes the first alarm information, the main controller 102 controls the engineering machinery to perform the deceleration operation;

[0126] When the alarm information includes the second alarm information, the main controller 102 controls the pilot switch module 105 to perform the path disconnecting operation, to control the engineering machinery to stop operation.

[0127] Among them, optionally, the warning visualization operation can be to display the visualization alarm information (such as: text alarm information, graphical alarm information) corresponding to the alarm information on the display 103, and the internal sound alarm operation can be to output the sound alarm information corresponding to the alarm information through the buzzer of the display 103.

[0128] It can be seen that the optional embodiment can also control the display and the alarm module to perform the internal alarm operation and the external alarm operation corresponding to the alarm information through the main controller, can improve the alarm flexibility and comprehensiveness of the active safety control function, so as to facilitate the driver and the external object to know the current safety risk situation in time, facilitate the external object to leave the working influence range of the construction machinery in time, and reduce the risk of safety accidents of the construction machinery in the working process; and when the alarm information includes the first alarm information, the construction machinery is controlled to slow down, and when the alarm information includes the second alarm information, the construction machinery is controlled to stop, which can improve the flexibility of the braking operation when the external object enters different areas, is conducive to improving the control accuracy of the working operation of the construction machinery, and further improves the accuracy of the active safety control of the construction machinery, and further reduces the risk of safety accidents of the construction machinery in the working process.

[0129] In the optional embodiment, as shown in Figure 2 The alarm module 103 can include the alarm 1041 and the warning light 1042.

[0130] Optionally, the main controller 102 outputs the received alarm information to the display 103 and the alarm module 104 respectively, so as to control the display 103 to perform the internal alarm operation corresponding to the alarm information and control the alarm module 104 to perform the external alarm operation corresponding to the alarm information, which can include the following operations:

[0131] The main controller 102 transmits the alarm code to the display 103 through the CAN channel, so as to display the visual alarm information corresponding to the alarm code on the display 103 and output the sound alarm information through the buzzer of the display 103;

[0132] The main controller 102 outputs a high-level signal to the alarm 1041 and the warning light 1042 respectively, so as to control the alarm 1041 and the warning light 1042 to perform the external sound and light alarm operation.

[0133] For example, when the alarm information includes the first alarm information, the content represented by the visual alarm information and the sound alarm information can be "pay attention to pedestrians, the machine has slowed down"; when the alarm information includes the second alarm information, the content represented by the visual alarm information and the sound alarm information can be "pay attention to pedestrians, the pilot has been locked", and the embodiment of the present application is not limited.

[0134] It can be seen that the optional embodiment can also transmit the alarm code to the display through the main controller to control the display to visually display the alarm information and output the alarm information through the buzzer, which can improve the flexibility and comprehensiveness of the internal alarm mode, effectively warn the driver of the safety risk, transmit the high level to the alarm and the warning light through the main controller, improve the control efficiency of the alarm module, improve the flexibility and comprehensiveness of the external alarm mode, effectively warn the external object of the safety risk, and help the external object to leave the working range of the engineering machinery in time.

[0135] In the optional embodiment, the specific way in which the main controller 102 controls the engineering machinery to perform the deceleration operation can include:

[0136] The main controller 102 controls the power of the engine of the engineering machinery to be reduced to the determined target power; or

[0137] The main controller 102 controls the proportional valve current corresponding to the engine of the engineering machinery to be reduced to the determined target current.

[0138] The current power of the engine is lower than the target power, and the current proportional valve current of the engine is lower than the target current.

[0139] It can be seen that the optional embodiment can also control the power of the engine of the engineering machinery to be reduced or the proportional valve current to be reduced through the main controller to control the engineering machinery to decelerate, which can improve the control flexibility and accuracy of the engineering machinery, thereby helping to improve the active safety control accuracy of the engineering machinery.

[0140] In the optional embodiment, the pilot switch module 105 can include a pilot cut-off relay 1051, a pilot unlocking electromagnetic valve 1052, and a pilot cut-off valve switch 1053, as shown in Figure 2

[0141] The specific way in which the main controller 102 controls the pilot switch module 105 to perform the passage disconnection operation to control the engineering machinery to stop operation can include:

[0142] The main controller 102 outputs a high-level signal to the pilot cut-off relay 1051 to control the pilot cut-off relay 1051 to be disconnected; in the case where the pilot cut-off relay 1051 is disconnected, the branch in which the pilot unlocking electromagnetic valve 1052 is located is disconnected, so that the branch in which the pilot cut-off valve switch 1053 is located is disconnected, thereby disconnecting the pilot oil circuit of the engineering machinery to control the engineering machinery to stop operation.

[0143] ​In detail, the main controller 102 outputs a high level signal to the pilot cut-off relay 1051, controls the pilot cut-off relay 1051 to be attracted, and controls the normally closed end point to be disconnected, so as to cut off the pilot unlocking electromagnetic valve 1052, that is, the pilot unlocking electromagnetic valve 1052 is not powered, so that the pilot cut-off valve switch 1053 cannot form a loop in the horizontal state or the vertical state, the pilot oil circuit is disconnected, and the whole machine cannot be controlled to continue operation, that is, the operation of the engineering machinery is stopped.

[0144] It can be seen that the optional embodiment can also output a high level to the pilot cut-off relay through the main controller to disconnect the pilot cut-off relay, so that the pilot unlocking electromagnetic valve is not powered, and the pilot cut-off valve switch cannot form a loop, resulting in the pilot oil circuit being disconnected to control the engineering machinery to stop operation, which can improve the control accuracy and reliability of the engineering machinery to stop operation in dangerous situations, thereby reducing the risk of accidents caused by the collision between the engineering machinery and external objects, and improving the operation safety of the engineering machinery.

[0145] In the optional embodiment, optionally, the main controller 102 is also used for detecting whether the hand and foot pilot pressure signals of the engineering machinery are received during the process of controlling the pilot switch module 105 to perform the path disconnecting operation to control the engineering machinery to stop operation.

[0146] The main controller 102 is also used for continuing to control the pilot switch module 105 to perform the path disconnecting operation to control the engineering machinery to stop operation when it is detected that the hand and foot pilot pressure signals of the engineering machinery are received.

[0147] Optionally, the hand and foot pilot pressure signals can include a hand pilot pressure signal and a foot pilot pressure signal, which are not limited by the embodiments of the present application; the hand pilot pressure signal can be a signal generated by the handle of the driver operating the engineering machinery, and the hand pilot pressure signal can be used to represent the completion of the turning, boom, and upper arm operations of the engineering machinery, which are not limited by the embodiments of the present application; the foot pilot pressure signal can be a signal generated by the foot pedal of the driver operating the engineering machinery, and the foot pilot pressure signal can be used to represent the completion of the forward and backward walking operations of the engineering machinery, which are not limited by the embodiments of the present application.

[0148] Optionally, the main controller 102 is also used for retriggering the panoramic monitoring module 101 to perform the operation of detecting whether the safety monitoring result meets the pre-set safety control condition after controlling the pilot switch module 105 to perform the path disconnecting operation to control the engineering machinery to stop operation when it is detected that the hand and foot pilot pressure signals of the engineering machinery are not received.

[0149] It can be seen that the optional embodiment can also continue the above-mentioned stop operation if the hand and foot pilot pressure signals are detected in the case of needing to control the engineering machinery to stop, so as to prevent the sudden change of the whole machine caused by the sudden change of the alarm signal from the red alarm to the yellow alarm or no alarm state during the red alarm whole vehicle stop action, and further improve the control accuracy and reliability of the control of the engineering machinery to stop in dangerous situations, thereby further improving the operation safety of the engineering machinery.

[0150] In the embodiment of the present application, the architecture of the active safety control system based on panoramic monitoring can be referred to Figure 4 , Figure 4 is another structure diagram of the active safety control system based on panoramic monitoring disclosed by the embodiment of the present application. As shown in Figure 4 , the active safety control system based on panoramic monitoring can include a camera 1, an AVM host 2, a main controller 3, a display 4, a pilot cut-off relay 5, an alarm 6 and a warning light 7, wherein: the camera 1 can shoot images and access the AVM host 2, the AVM host 2 can report alarm information to the main controller through the CAN channel and be video connected with the display 4, the main controller 3 and the display can transmit information related to safety limiting function (such as: release limiting instruction) through the CAN channel, the main controller 3 can be connected with the pilot cut-off relay 5, the alarm 6 and the warning light 7 respectively to control the corresponding operation of each component when outputting a high-level signal, and the main controller can also receive engine speed signals, hand and foot pilot pressure signals, pilot cut-off valve switch signals and can also issue speed limiting instructions, which are not limited by the embodiment of the present application.

[0151] In the embodiment of the present application, the connection relationship between the components in the active safety control system based on panoramic monitoring can be referred to Figure 5 , Figure 5 is another structure diagram of the active safety control system based on panoramic monitoring disclosed by the embodiment of the present application. As shown in Figure 5 , the active safety control system based on panoramic monitoring includes a main controller, a display, an AVM host, a pilot cut-off relay, a pilot unlocking electromagnetic valve, a pilot cut-off valve switch, a warning light and an alarm, wherein:

[0152] ​The first end of the main controller is electrically connected with the first end of the display; the second end of the main controller is electrically connected with the first end of the AVM host; the third end of the main controller is used for receiving hand and foot electric pilot signals (i.e. hand and foot pilot pressure signals); the fourth end of the main controller is used for receiving an engine speed signal, wherein the engine speed signal can be used for judging whether the engine is started; the fourth end of the main controller is electrically connected with the first end of the warning light; the fifth end of the main controller is electrically connected with the first end of the alarm; the second end of the warning light and the second end of the alarm are respectively used for grounding; the sixth end of the main controller is electrically connected with the first end of the pilot cut-off relay; the second end of the pilot cut-off relay is used for grounding; the third end of the pilot cut-off relay is used for electrically connecting a power supply (such as DC 24V); the fourth end of the pilot cut-off relay is electrically connected with the first end of the pilot unlocking electromagnetic valve; the seventh end (the normally open end in the pilot cut-off signal end) of the main controller is respectively electrically connected with the second end of the pilot unlocking electromagnetic valve and the first end of the pilot cut-off valve switch; the eighth end (the normally closed end in the pilot cut-off signal end) of the main controller is electrically connected with the second end of the pilot cut-off valve switch; the third end and the fourth end of the pilot cut-off valve switch are both used for grounding.

[0153] In the embodiment of the present application, the logic control flow of the active safety control system based on panoramic monitoring can refer to Figure 6 , Figure 6 is a logic control flow schematic diagram of an active safety control system based on panoramic monitoring disclosed by the embodiment of the present application. The flow can include the following operations:

[0154] After the active safety control system is powered on, the AVM host starts to monitor pedestrians and uploads an alarm information to the main controller when it is detected that a pedestrian enters the range of the active safety monitoring area; the main controller detects whether the display is triggered to release the limit instruction of the switch of the safety limit function of the AVM host; if there is a release limit instruction, the active safety control system does not execute the whole machine active safety control function; if there is no trigger release limit instruction, it is further judged whether the engine is started and whether the pilot cut-off valve switch is in the unlocked state, if the engine is not started or the pilot cut-off valve switch is in the locked state, the active safety control system does not execute the whole machine active safety control function; if the engine has started and the pilot cut-off valve switch is in the unlocked state, it is further judged whether there is a yellow alarm or a red alarm in the range of the active safety monitoring area; if there is no alarm, the whole machine active safety control function is not executed; if it is a yellow alarm, the whole machine is controlled to execute the deceleration operation, the display is controlled to remind the driver to pay attention to the pedestrian and the whole machine has decelerated, and the external sound and light alarm is controlled; if it is a red alarm, the whole machine is controlled to stop moving through the control of the pilot cut-off relay, the display is controlled to remind the driver to pay attention to the pedestrian and the pilot is locked, and the external sound and light alarm is controlled; in the case of red alarm, if the hand and foot pilot pressure signal is detected, the above-mentioned operation of controlling the whole machine to stop is continued to prevent the sudden movement of the whole machine caused by the alarm signal suddenly entering the yellow alarm or no alarm state during the red alarm vehicle stop operation; if the hand and foot pilot pressure signal is not detected, the next round of logical judgment process can be re-executed.

[0155] Embodiment two

[0156] Please refer to Figure 7 , Figure 7 is a flowchart of an active safety control method based on panoramic monitoring disclosed by the embodiment of the present application. Among them, Figure 7 The active safety control method based on panoramic monitoring described can be applied to an active safety control system based on panoramic monitoring; wherein the system can be applied to engineering machinery, and can also be applied to the control system corresponding to the engineering machinery, which is not limited by the embodiment of the present application; wherein, optionally, the active safety control system based on panoramic monitoring can include a panoramic monitoring module, a main controller, a display, an alarm module and a pilot switch module, which are not limited by the embodiment of the present application; further, the method can be applied to the working scene of the engineering machinery, which is not limited by the embodiment of the present application. As Figure 7 shown, the active safety control method based on panoramic monitoring can include the following operations:

[0157] 201、When the main controller detects that the panoramic monitoring module meets the pre-set monitoring condition, the panoramic monitoring module monitors the active safety monitoring area corresponding to the engineering machinery to obtain a safety monitoring result.

[0158] In the embodiment of the present application, the active safety monitoring area includes a first area and a second area.

[0159] 202. The panoramic monitoring module detects whether the safety monitoring result meets the pre-set safety control condition.

[0160] 203. When it is detected that the safety monitoring result meets the safety control condition, the panoramic monitoring module sends alarm information corresponding to the safety monitoring result to the main controller.

[0161] 204. The main controller controls the target module corresponding to the alarm information to perform an alarm braking operation according to the received alarm information.

[0162] In the embodiment of the present application, the target module includes at least one of a display, an alarm module, and a pilot switch module.

[0163] It can be seen that the method described in the embodiment of the present application can monitor the active safety monitoring area corresponding to the engineering machinery through the panoramic monitoring module when it is detected that the panoramic monitoring module meets the pre-set monitoring condition, obtain a safety monitoring result, send corresponding alarm information to the main controller if it is detected that the safety monitoring result meets the pre-set safety control condition, and then control the target module corresponding to the alarm information to perform an alarm braking operation by the main controller, so as to intelligently complete active safety control when a safety risk is detected, without the need for the driver to make a human judgment or perform a human braking operation on the safety of the driving environment. The method can improve the timeliness and accuracy of the active safety control of the engineering machinery while improving the risk detection accuracy and efficiency of the working environment of the engineering machinery, thereby reducing the risk of safety accidents of the engineering machinery in the working process, and further improving the working safety of the engineering machinery.

[0164] In an optional embodiment, the method can further include the following operations:

[0165] The display detects whether there is a limit release instruction triggered by the driver corresponding to the engineering machinery, obtains an instruction detection result, and sends the instruction detection result to the main controller; the limit release instruction is used to release the safety limit function of the panoramic monitoring module;

[0166] When the instruction detection result indicates that there is no limit release instruction triggered by the driver corresponding to the engineering machinery, the main controller determines that the panoramic monitoring module meets the pre-set monitoring condition;

[0167] When the instruction detection result indicates that there is a limit release instruction triggered by the driver corresponding to the engineering machinery, the main controller determines whether the pilot switch module is in a locked state; when it is determined that the pilot switch module is in the locked state, the safety limit function of the panoramic monitoring module is released and it is determined that the panoramic monitoring module does not meet the pre-set monitoring condition.

[0168] It can be seen that the optional embodiment can detect whether the driver triggers the limit release instruction through the display. If the limit release instruction does not exist, it is determined that the panoramic monitoring module meets the preset monitoring condition, that is, the active safety control function can be started to monitor the active safety monitoring area. If the limit release instruction exists, it is further determined whether the pilot switch module is in the locked state. If yes, it is determined that the panoramic monitoring module does not meet the monitoring condition, that is, the active safety control function is not started. The judgment accuracy of whether the panoramic monitoring module meets the monitoring condition can be improved, thereby facilitating the intelligent determination of the starting condition of the active safety control function, improving the starting judgment accuracy and starting flexibility of the active safety control function of the engineering machinery, and further facilitating the improvement of the execution accuracy of the monitoring operation and the alarm operation of the panoramic monitoring module, and further facilitating the improvement of the operation safety of the engineering machinery.

[0169] In the optional embodiment, optionally, the panoramic monitoring module comprises a camera unit and an AVM host;

[0170] The panoramic monitoring module monitors the active safety monitoring area corresponding to the engineering machinery to obtain a safety monitoring result, which can include the following operations:

[0171] The camera unit monitors the active safety monitoring area corresponding to the engineering machinery to obtain a safety monitoring result, and transmits the safety monitoring result to the AVM host. The safety monitoring result includes safety monitoring video data and / or safety monitoring image data;

[0172] The AVM host transmits the safety monitoring result to the display to display the safety monitoring result on the display;

[0173] The panoramic monitoring module detects whether the safety monitoring result meets the pre-set safety control condition, which can include the following operations:

[0174] The AVM host detects whether there is an external object in the active safety monitoring area corresponding to the engineering machinery according to the safety monitoring result;

[0175] The AVM host determines that the safety monitoring result meets the pre-set safety control condition when it is detected that there is an external object in the active safety monitoring area corresponding to the engineering machinery;

[0176] The AVM host determines that the safety monitoring result does not meet the pre-set safety control condition when it is detected that there is no external object in the active safety monitoring area corresponding to the engineering machinery;

[0177] Optionally, the panoramic monitoring module sends alarm information corresponding to the safety monitoring result to the main controller, which can include the following operations:

[0178] The AVM host determines the alarm information corresponding to the target region according to the target region where the external object is located, and sends the alarm information corresponding to the target region to the main controller; the target region is the first region or the second region.

[0179] It can be seen that the optional embodiment can also realize monitoring of the environment around the engineering machinery conveniently and comprehensively through the panoramic monitoring module composed of the camera unit and the AVM host, so as to provide comprehensive and real-time monitoring data to the driver on the display, which is conducive to improving the convenience and comprehensiveness of the driver observing the surrounding environment of the engineering machinery during the operation of the engineering machinery, and is conducive to improving the judgment accuracy of whether the safety monitoring result meets the safety control condition, thereby improving the active safety control accuracy of the engineering machinery; and the AVM host can also judge whether there is an external object in the active safety monitoring region, if it is detected that an external object enters the active safety monitoring region, it is determined that the safety monitoring result meets the safety control condition, that is, the active safety control function needs to be executed, otherwise, it is determined that the safety monitoring result does not meet the safety control condition, which can improve the detection accuracy of the external object entering the active safety monitoring region, thereby improving the judgment accuracy of whether the safety monitoring result meets the safety control condition, and further reducing the risk of collision between the engineering machinery and the external object during the operation process, thereby reducing the risk of safety accidents; and the AVM host can also send different alarm information to the main controller according to the region where the external object is located, which can improve the determination accuracy of the alarm information, thereby facilitating the issuance of different warnings and the execution of different alarm braking operations according to different distances between the external object and the engineering machinery, and facilitating flexible warning of the driver and the external object, and further improving the flexibility and accuracy of the active safety control of the engineering machinery, thereby improving the operation safety of the engineering machinery.

[0180] In another optional embodiment, the alarm information includes first alarm information corresponding to the first region or second alarm information corresponding to the second region;

[0181] The main controller controls the target module corresponding to the alarm information to perform the alarm braking operation according to the received alarm information, which can include the following operations:

[0182] The main controller outputs the received alarm information to the display and the alarm module respectively, to control the display to perform the internal alarm operation corresponding to the alarm information and control the alarm module to perform the external alarm operation corresponding to the alarm information; the internal alarm operation includes a warning visualization operation and an internal sound alarm operation corresponding to the alarm information; the external alarm operation includes an external sound and light alarm operation corresponding to the alarm information;

[0183] When the alarm information includes the first alarm information, the main controller controls the engineering machinery to perform a deceleration operation;

[0184] When the alarm information includes the second alarm information, the main controller controls the pilot switch module to perform the passage disconnecting operation to control the engineering machine to stop operating.

[0185] It can be seen that the optional embodiment can specifically divide different alarm levels and other specific alarm information contents for the external object entering different monitoring areas, which is beneficial for the driver and the main controller to more accurately obtain the alarm information, thereby improving the alarm accuracy of the active safety control function, and further improving the active safety control accuracy of the engineering machine. In addition, the main controller can control the display and the alarm module to perform the internal alarm operation and the external alarm operation corresponding to the alarm information, which can improve the alarm flexibility and comprehensiveness of the active safety control function, thereby benefiting the driver and the external object to timely obtain the current safety risk situation, benefiting the external object to timely leave the working influence range of the engineering machine, and reducing the risk of safety accidents of the engineering machine in the working process. When the alarm information includes the first alarm information, the engineering machine is controlled to slow down, and when the alarm information includes the second alarm information, the engineering machine is controlled to stop, which can improve the flexibility of the braking operation when the external object enters different areas, improve the control accuracy of the working operation of the engineering machine, and further improve the accuracy of the active safety control of the engineering machine, and further reduce the risk of safety accidents of the engineering machine in the working process.

[0186] In the optional embodiment, optionally, the main controller controls the engineering machine to perform the slowing down operation, which can include the following operations:

[0187] The main controller controls the power of the engine of the engineering machine to reduce to the determined target power; or,

[0188] The main controller controls the proportional valve current corresponding to the engine of the engineering machine to reduce to the determined target current.

[0189] It can be seen that the optional embodiment can also control the power of the engine of the engineering machine to reduce or the proportional valve current to reduce through the main controller, thereby controlling the engineering machine to slow down, which can improve the control flexibility and accuracy of the engineering machine, thereby improving the active safety control accuracy of the engineering machine.

[0190] In the optional embodiment, optionally, the pilot switch module includes a pilot cut-off relay, a pilot unlocking electromagnetic valve, and a pilot cut-off valve switch;

[0191] The main controller controls the pilot switch module to perform the passage disconnecting operation to control the engineering machine to stop operating, which can include the following operations:

[0192] The main controller outputs a high level signal to the pilot cut-off relay to control the pilot cut-off relay to be disconnected; in the case that the pilot cut-off relay is disconnected, the branch circuit in which the pilot unlocking electromagnetic valve is located is disconnected to make the branch circuit in which the pilot cut-off valve switch is located disconnected, thereby disconnecting the pilot oil circuit of the engineering machinery to control the engineering machinery to stop operating.

[0193] It can be seen that the optional embodiment can also output a high level to the pilot cut-off relay by the main controller to disconnect the pilot cut-off relay, so that the pilot unlocking electromagnetic valve is not powered, and the pilot cut-off valve switch cannot form a loop, resulting in the pilot oil circuit being disconnected to control the engineering machinery to stop operating, which can improve the control accuracy and reliability of controlling the engineering machinery to stop operating in dangerous situations, thereby reducing the risk of accidents caused by the collision between the engineering machinery and external objects and improving the operation safety of the engineering machinery.

[0194] In the optional embodiment, optionally, during the process that the main controller controls the pilot switch module to perform the path disconnection operation to control the engineering machinery to stop operating, the method can further include the following operations:

[0195] The main controller detects whether the hand and foot pilot pressure signals corresponding to the engineering machinery are received;

[0196] When it is detected that the hand and foot pilot pressure signals corresponding to the engineering machinery are received, the main controller continues to perform the operation of controlling the pilot switch module to perform the path disconnection operation to control the engineering machinery to stop operating;

[0197] When it is detected that the hand and foot pilot pressure signals corresponding to the engineering machinery are not received, the panoramic monitoring module is triggered to perform the operation of detecting whether the safety monitoring result meets the pre-set safety control condition.

[0198] It can be seen that the optional embodiment can also continue the above-mentioned stop operation if the hand and foot pilot pressure signals are detected when it is necessary to control the engineering machinery to stop, so as to prevent the sudden change of the whole machine caused by the sudden change of the alarm signal from the red alarm to the yellow alarm or no alarm state during the red alarm whole machine stop operation, which can further improve the control accuracy and reliability of controlling the engineering machinery to stop operating in dangerous situations, and is beneficial to further improve the operation safety of the engineering machinery.

[0199] Embodiment three

[0200] Please refer to Figure 8 , Figure 8 is another structure diagram of the active safety control system based on panoramic monitoring disclosed by the embodiment of the present application. As shown in Figure 8 , the active safety control system based on panoramic monitoring can include:

[0201] a memory 401 storing executable program codes;

[0202] a processor 402 coupled with the memory 401;

[0203] The processor 402 invokes the executable program codes stored in the memory 401 to execute part or all of the steps of the active security control method based on panoramic monitoring described in Embodiment Two.

[0204] Embodiment Four

[0205] The embodiments of the present application disclose a computer storage medium storing computer instructions, which, when invoked, are used to execute part or all of the steps of the active security control method based on panoramic monitoring described in Embodiment Two.

[0206] Embodiment Five

[0207] The embodiments of the present application disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of the active security control method based on panoramic monitoring described in Embodiment Two.

[0208] The system embodiments described above are only illustrative, wherein the modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, i.e., can be located in one place, or can be distributed to multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0209] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and necessary general hardware platforms through the above specific description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that contributes to the present application can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other medium that can be used to carry or store data in a computer readable manner.

[0210] Finally, it should be noted that: the active safety control system and method based on panoramic monitoring disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An active safety control system based on panoramic monitoring, characterized in that, The system is applied in the operation scenarios of construction machinery, and includes a panoramic monitoring module, a main controller, a display, an alarm module, and a pilot switch module, wherein: The panoramic monitoring module is used to monitor the active safety monitoring area corresponding to the construction machinery and obtain safety monitoring results when the main controller detects that the panoramic monitoring module meets the preset monitoring conditions; the active safety monitoring area includes a first area and a second area. The panoramic monitoring module is also used to detect whether the security monitoring result meets the preset security control conditions; when the security monitoring result meets the security control conditions, it sends the alarm information corresponding to the security monitoring result to the main controller. The main controller is used to control the target module corresponding to the received alarm information to perform an alarm braking operation based on the received alarm information; the target module includes at least one of the display, the alarm module, and the pilot switch module; The display is used to detect whether there is a restriction release command triggered by the driver of the construction machinery, obtain the command detection result, and send the command detection result to the main controller; the restriction release command is used to release the safety restriction function of the panoramic monitoring module. The main controller is also used to determine that the panoramic monitoring module meets the preset monitoring conditions when the instruction detection result indicates that there is no restriction release instruction triggered by the driver corresponding to the construction machinery. The main controller is further configured to determine whether the pilot switch module is in a locked state when the instruction detection result indicates that there is a restriction release instruction triggered by the driver corresponding to the construction machinery; when it is determined that the pilot switch module is in the locked state, the safety restriction function of the panoramic monitoring module is released and it is determined that the panoramic monitoring module does not meet the preset monitoring conditions.

2. The active safety control system based on panoramic monitoring according to claim 1, characterized in that, The panoramic monitoring module includes a camera unit and an AVM host, wherein: The camera unit is used to monitor the active safety monitoring area corresponding to the engineering machinery, obtain safety monitoring results, and transmit the safety monitoring results to the AVM host; the safety monitoring results include safety monitoring video data and / or safety monitoring image data. The AVM host is used to transmit the security monitoring results to the display so as to display the security monitoring results on the display; The specific methods by which the panoramic monitoring module detects whether the security monitoring results meet the preset security control conditions include: The AVM host detects whether there are any external objects within the active safety monitoring area corresponding to the construction machinery based on the security monitoring results. When the AVM host detects that an external object is within the active safety monitoring area corresponding to the construction machinery, it determines that the safety monitoring result meets the preset safety control conditions. When the AVM host detects that no external object is in the active safety monitoring area corresponding to the construction machinery, it determines that the safety monitoring result does not meet the preset safety control conditions. The specific method by which the panoramic monitoring module sends the alarm information corresponding to the security monitoring result to the main controller includes: The AVM host determines the alarm information corresponding to the target area based on the target area where the external object is located, and sends the alarm information corresponding to the target area to the main controller; the target area is either the first area or the second area.

3. The active safety control system based on panoramic monitoring according to claim 1 or 2, characterized in that, The alarm information includes a first alarm information corresponding to the first area or a second alarm information corresponding to the second area; The specific method by which the main controller controls the target module corresponding to the received alarm information to perform an alarm braking operation includes: The main controller outputs the received alarm information to the display and the alarm module respectively, so as to control the display to perform the internal alarm operation corresponding to the alarm information and control the alarm module to perform the external alarm operation corresponding to the alarm information; the internal alarm operation includes a warning visualization operation and an internal sound alarm operation for the alarm information; the external alarm operation includes an external sound and light alarm operation for the alarm information. When the alarm information includes the first alarm information, the main controller controls the construction machinery to perform a deceleration operation; When the alarm information includes the second alarm information, the main controller controls the pilot switch module to perform a circuit disconnection operation to control the construction machinery to stop operating.

4. The active safety control system based on panoramic monitoring according to claim 3, characterized in that, The specific methods by which the main controller controls the construction machinery to perform deceleration operations include: The main controller controls the engine power of the construction machinery to reduce to a determined target power; or, The main controller controls the proportional valve current corresponding to the engine of the construction machinery to reduce it to the determined target current.

5. The active safety control system based on panoramic monitoring according to claim 3, characterized in that, The pilot switch module includes a pilot cut-off relay, a pilot unlocking solenoid valve, and a pilot cut-off valve switch; The specific methods by which the main controller controls the pilot switch module to perform a circuit disconnection operation to control the engineering machinery to stop operation include: The main controller outputs a high-level signal to the pilot cut-off relay to control the pilot cut-off relay to disconnect; when the pilot cut-off relay is disconnected, the branch where the pilot unlocking solenoid valve is located is disconnected, so that the branch where the pilot cut-off valve switch is located is disconnected, thereby disconnecting the pilot oil circuit of the construction machinery to control the construction machinery to stop operation.

6. The active safety control system based on panoramic monitoring according to claim 3, characterized in that, The main controller is also used to detect whether it receives the corresponding hand and foot pilot pressure signal of the construction machinery during the process of controlling the pilot switch module to perform a circuit disconnection operation to control the construction machinery to stop operation; The main controller is also used to continue executing the operation of controlling the pilot switch module to disconnect the circuit when it detects and receives the pilot pressure signal corresponding to the engineering machinery, so as to control the engineering machinery to stop operating.

7. A proactive safety control method based on panoramic monitoring, characterized in that, The method is applied to the operation scenarios of construction machinery, and the method includes: When the main controller detects that the panoramic monitoring module meets the preset monitoring conditions, the panoramic monitoring module monitors the active safety monitoring area corresponding to the construction machinery and obtains the safety monitoring results; the active safety monitoring area includes a first area and a second area. The panoramic monitoring module detects whether the security monitoring result meets the preset security control conditions; when the security monitoring result meets the security control conditions, it sends the alarm information corresponding to the security monitoring result to the main controller. The main controller controls the target module corresponding to the received alarm information to perform an alarm braking operation; the target module includes at least one of a display, an alarm module, and a pilot switch module. Furthermore, the method further includes: The display detects whether there is a restriction release command triggered by the driver of the construction machinery, obtains the command detection result, and sends the command detection result to the main controller; the restriction release command is used to release the security restriction function of the panoramic monitoring module; When the command detection result indicates that there is no restriction release command triggered by the driver corresponding to the construction machinery, the main controller determines that the panoramic monitoring module meets the preset monitoring conditions; When the command detection result indicates that there is a restriction release command triggered by the driver corresponding to the construction machinery, the main controller determines whether the pilot switch module is in a locked state; when it is determined that the pilot switch module is in the locked state, the safety restriction function of the panoramic monitoring module is released and it is determined that the panoramic monitoring module does not meet the preset monitoring conditions.

8. An active safety control system based on panoramic monitoring, characterized in that, The system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the active safety control method based on panoramic monitoring as described in claim 7.

9. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the active safety control method based on panoramic monitoring as described in claim 7.

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