Anti-collision early warning system

Abstract

The invention relates to an anti-collision early warning system. The anti-collision early warning system comprises a distance sensor, an electric field sensor, an image acquisition device and a control module. The control module is used for determining a first safety distance corresponding to the electric field intensity information, determining a second spacing distance between an operation bucket of the high-altitude operation equipment and an obstacle according to the first image, and determining a target spacing distance based on the first spacing distance and the second spacing distance; when it is determined that the target interval distance exceeds the first safety distance, early warning information used for indicating that the interval between the high-altitude operation equipment and the obstacle is too close is output, and the target interval distance is jointly determined through the first interval distance obtained through direct measurement and the second interval distance obtained based on the first image; the accuracy of the target spacing distance is improved, and the first safety distance is determined through the electric field intensity information, so that the flexibility of the first safety distance in different scenes can be improved, and the accuracy of early warning information is improved.

Description

Technical Field

[0001] The present application relates to the field of electric power safety technology, and in particular to an anti-collision warning system. Background Art

[0002] The power system often needs to use aerial work equipment, such as aerial work equipment or cranes, when conducting equipment maintenance tests. Due to the dense installation of equipment, if the operator's vision is blocked or the operator and the commander do not cooperate properly, there is a risk of accidentally hitting other power equipment when the aerial work equipment retracts or swings the aerial work bucket, causing equipment damage, huge safety risks and economic losses. Therefore, it is necessary to use an anti-collision device to prevent the aerial work bucket of the aerial work equipment from colliding with other power equipment.

[0003] However, conventional anti-collision devices have a problem of low accuracy when determining whether the aerial work bucket of aerial work equipment will collide with other electrical equipment. Summary of the invention

[0004] Based on this, it is necessary to provide an anti-collision warning system that can improve the accuracy of the anti-collision device in response to the above technical problems.

[0005] The present application provides an anti-collision warning system. The anti-collision warning system includes: a distance sensor, an electric field sensor, an image acquisition device, and a control module, wherein the distance sensor, the electric field sensor, and the image acquisition device are arranged in a bumper outside a working bucket of an aerial work device, and the control module is arranged in a cab of the aerial work device;

[0006] The distance sensor is used to measure a first spacing distance between the working bucket of the aerial working equipment and an obstacle, and send the distance to the control module;

[0007] The electric field sensor is used to measure the electric field strength information around the aerial work equipment and send the electric field strength information to the control module;

[0008] The image acquisition device is used to acquire a first image within a preset range around the aerial work equipment and send the first image to the control module;

[0009] The control module is used to determine a first safety distance corresponding to the electric field strength information, determine a second spacing distance between the working bucket of the aerial work equipment and the obstacle according to the first image, and determine a target spacing distance based on the first spacing distance and the second spacing distance; and when it is determined that the target spacing distance exceeds the first safety distance, output a warning message; the warning message is used to indicate that the working bucket of the aerial work equipment is too close to the obstacle.

[0010] In one of the embodiments, the anti-collision warning system further includes an image acquisition device, which is disposed in a bumper outside a working bucket of the aerial work equipment;

[0011] The image acquisition device is used to acquire a first image within a preset range around the aerial work equipment and send the first image to the control module;

[0012] The control module is used to determine the second interval distance between the aerial work equipment and the obstacle according to the first image, determine the target interval distance based on the first interval distance and the second interval distance, and output the warning information when it is determined that the target interval distance exceeds the first safety distance.

[0013] In one embodiment, the control module is used to determine the target voltage level of the obstacle, determine a second safety distance corresponding to the target voltage level according to the target voltage level and a preset corresponding relationship, and output warning information when it is determined that the target interval distance exceeds the first safety distance and / or the second safety distance;

[0014] The preset corresponding relationship includes a corresponding relationship between a voltage level and a preset safety distance.

[0015] In one embodiment, the control module is specifically used to determine the target warning level corresponding to the offset range of the distance offset according to the distance offset between the target interval distance and the first safety distance when determining that the target interval distance exceeds the first safety distance, and output the warning information corresponding to the target warning level.

[0016] The distance offset is positively correlated with the warning level, the target warning level is one of a plurality of warning levels, and the control module pre-stores a corresponding relationship between different warning levels and different offset ranges.

[0017] In one embodiment, the warning information includes: ranging information, the electric field strength information and the first image, and the ranging information includes: at least one of the first interval distance, the second interval distance and the target interval distance;

[0018] The system also includes: a display module disposed in the cab of the aerial work equipment;

[0019] The control module is also used to send the warning information to the display module;

[0020] The display module is used to display the warning information.

[0021] In one of the embodiments, the control module is further used to receive a control instruction input by a user, and control the working bucket to move in a direction away from the obstacle based on the control instruction.

[0022] In one embodiment, the control instruction includes: movement parameters;

[0023] The control module is further used to control the working bucket to move in a direction away from the obstacle based on the movement parameter when it is determined that the movement distance corresponding to the movement parameter is greater than the distance offset;

[0024] When it is determined that the moving distance corresponding to the moving parameter is less than or equal to the distance offset, generating instruction confirmation information and sending it to the display module;

[0025] The display module is also used to display the instruction confirmation information;

[0026] The instruction confirmation information includes: inquiry information and prompt information, wherein the inquiry information is used for the user to confirm whether to continue to execute the control instruction, and the prompt information is used to prompt that the movement trajectory indicated by the control instruction cannot meet the safety requirements.

[0027] In one of the embodiments, the anti-collision warning system also includes a wireless communication module, which is arranged in the bumper outside the work bucket of the aerial work equipment, and the electric power Hongmeng system is deployed in the wireless communication module; the distance sensor, the electric field sensor, and the image acquisition device transmit data with the control module through the network security standard structure WAPI network supported by the electric power Hongmeng system.

[0028] In one embodiment, the anti-collision warning system further includes a remote terminal device; the control module is in communication connection with the remote terminal device;

[0029] The control module is also used to send the warning information to the remote terminal device;

[0030] The remote terminal device is used to display the warning information, receive the control instruction input by the user, and send the control instruction to the control module.

[0031] In one embodiment, the anti-collision warning system further includes a monitoring information collection device, the monitoring information collection device is arranged in a target operation area, the target operation area includes at least one aerial operation equipment, and the control module is in communication connection with the monitoring information collection device;

[0032] The monitoring information acquisition device is used to acquire a second image of the target operation area and send the second image to the control module;

[0033] The control module is also used to determine the operating status of at least one aerial work equipment in the target working area based on the second image, and generate monitoring alarm information when the operating status of the at least one aerial work equipment is abnormal; the monitoring alarm information is used to indicate that the operating status of the aerial work equipment in the target working area is abnormal.

[0034] In one embodiment,

[0035] The distance sensor includes a radar sensor and / or a laser phase sensor.

[0036] The above-mentioned anti-collision warning system includes: a distance sensor, an electric field sensor and an image acquisition device arranged in the bumper outside the working bucket of the aerial work equipment, and a control module arranged in the cab of the aerial work equipment. Among them, the distance sensor is used to measure the first interval distance between the aerial work equipment and the obstacle, and send the first interval distance to the control module. The electric field sensor is used to measure the electric field strength information around the aerial work equipment and send the electric field strength information to the control module. The image acquisition device is used to capture a first image within a preset range around the aerial work equipment and send the first image to the control module. The control module is used to determine the first safety distance corresponding to the electric field strength information, determine the second interval distance between the working bucket of the aerial work equipment and the obstacle according to the first image, and determine the target interval distance based on the first interval distance and the second interval distance; and when it is determined that the target interval distance exceeds the first safety distance, output a warning message indicating that the distance between the aerial work equipment and the obstacle is too close. In the embodiment of the present application, not only the target interval distance is determined by directly measuring the first interval distance and the second interval distance obtained based on the first image, thereby improving the accuracy of the target interval distance, but the first safety distance is also determined by the electric field strength information measured by the electric field sensor, thereby improving the flexibility of the first safety distance in different scenarios, thereby improving the accuracy of the warning information. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of an anti-collision warning system provided in an embodiment of the present application;

[0038] Figure 2 It is a structural schematic diagram of another anti-collision warning system provided in an embodiment of the present application.

[0039] Description of reference numerals:

[0040] 101: distance sensor; 102: electric field sensor; 103: control module;

[0041] 104: image acquisition device; 201: display module; 202: wireless communication module;

[0042] 203: Remote terminal equipment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] When conducting equipment maintenance tests, power systems often require the use of aerial work equipment to transport operators to high places near the equipment for work. Due to the dense installation of equipment, if the operator's line of sight is blocked or the operator and the commander do not cooperate properly, there is a risk of accidentally hitting other power equipment when the aerial work equipment extends or swings the manned platform, causing equipment damage, huge safety risks and economic losses. Therefore, it is necessary to use anti-collision devices to prevent the manned platform of the aerial work equipment from colliding with other power equipment.

[0045] However, traditional anti-collision devices have the problem of low accuracy when judging whether the manned platform of aerial work equipment will collide with other power equipment.

[0046] In one embodiment, Figure 1 As shown, Figure 1 1 is a schematic diagram of a structure of an anti-collision warning system provided in an embodiment of the present application, and the anti-collision warning system includes: a distance sensor 101, an electric field sensor 102, a control module 103, and an image acquisition device 104. The distance sensor 101, the electric field sensor 102, and the image acquisition device 104 are arranged in the bumper outside the working bucket of the aerial work equipment, and the control module 103 is arranged in the cab of the aerial work equipment.

[0047] In one embodiment, a bumper is provided outside the working bucket of the aerial work equipment, and the distance sensor 101 and the electric field sensor 102 are installed inside the bumper. Since the distance sensor 101 and the electric field sensor 102 need to send and receive signals when measuring distance and electric field strength information, the signal transmitting device and the signal receiving device of the distance sensor 101 and the electric field sensor 102 should be set in a neutral position of the bumper to protect the distance sensor 101 and the electric field sensor 102 through the bumper while avoiding interference of the bumper with the transmission and reception of the sensor signals.

[0048] Similarly, the image acquisition device 104 is installed in the bumper. In order to prevent the bumper from interfering with the captured first image when protecting the image acquisition device 104, the image acquisition device 104 also needs to be set in a neutral position of the bumper.

[0049] The distance sensor 101 is used to measure a first distance between the aerial work equipment and an obstacle, and send the first distance to the control module 103 .

[0050] Optionally, the distance sensor 101 may include a radar sensor and / or a laser phase sensor. The radar sensor measures the distance between the aerial work equipment and the obstacle through electromagnetic wave signals, and the laser phase sensor measures the distance between the aerial work equipment and the obstacle through laser signals.

[0051] Optionally, if the distance sensor 101 only includes a radar sensor, the distance between the aerial work equipment and the obstacle measured by the radar sensor can be determined as the first distance; if the distance sensor 101 only includes a laser phase sensor, the distance between the aerial work equipment and the obstacle measured by the laser phase sensor can be determined as the first distance; if the distance sensor 101 includes a radar sensor and a laser phase sensor, the distance between the aerial work equipment and the obstacle measured by the radar sensor and the laser phase sensor can be weighted and summed to obtain the first distance.

[0052] It should be noted that the laser phase sensor has higher measurement accuracy than the radar sensor. Therefore, when taking the weighted sum of the distances between the aerial work equipment and the obstacle measured by the radar sensor and the laser phase sensor, a higher weight can be set for the distance measured by the laser phase sensor to improve the accuracy of the first distance.

[0053] In one embodiment, the distance sensor 101 and the control module 103 transmit data through the WAPI network built into the power Hongmeng system.

[0054] The electric field sensor 102 is used to measure the electric field strength information around the aerial work equipment and send the electric field strength information to the control module 103.

[0055] In one embodiment, the electric field sensor 102 can sense the surrounding electric field strength through an internal sensing element, and convert the electric field strength into an electrical signal, namely the above-mentioned electric field strength information, and then send the electric field strength information to the control module 103 .

[0056] Exemplarily, the electric field sensor 102 and the control module 103 transmit data through the WAPI network built into the power Hongmeng system.

[0057] The image acquisition device 104 is used to acquire a first image within a preset range around the aerial work equipment and send the first image to the control module 103 .

[0058] Exemplarily, the image acquisition device 104 may be, for example, a visible light camera and / or an infrared camera.

[0059] In a possible implementation, the image acquisition device 104 may acquire a first image within a preset range around the working bucket of the aerial work equipment once at a preset time interval, and send the acquired first image to the control module 103 .

[0060] Among them, the image acquisition device 104 and the control module 103 transmit data through the WAPI network built into the power Hongmeng system.

[0061] The control module 103 is used to determine a first safety distance corresponding to the electric field strength information, determine a second spacing distance between the working bucket of the aerial work equipment and the obstacle according to the first image, determine a target spacing distance based on the first spacing distance and the second spacing distance; and output a warning message when it is determined that the target spacing distance exceeds the first safety distance.

[0062] Among them, the early warning information is used to indicate that the distance between the working bucket of the aerial work equipment and the obstacle is too close.

[0063] In one embodiment, the control module 103 may receive the first spacing distance sent by the distance sensor 101 and the electric field strength information sent by the electric field sensor 102, and then determine the corresponding first safety distance according to the electric field strength information.

[0064] The magnitude of the electric field strength indicated by the electric field strength information is positively correlated with the magnitude of the first safety distance, that is, the greater the electric field strength indicated by the electric field strength information, the greater the value of the corresponding first safety distance.

[0065] Exemplarily, the control module 103 can train the initial first image recognition model based on the historical first image captured by the image acquisition device 104 and the standard interval distance corresponding to the historical first image to obtain the target first image recognition model. Then, the first image received from the image acquisition device 104 is input into the target first image recognition model to obtain the second interval distance output by the target first image recognition model.

[0066] In a possible implementation, a weighted sum may be performed on the first interval distance and the second interval distance to obtain a target interval distance.

[0067] Alternatively, the first interval distance may be corrected based on the second interval distance to obtain the target interval distance.

[0068] In one embodiment, after determining the target interval distance, the control module 103 can compare the target interval distance with the first safety distance. If the target interval distance is less than the first safety distance, it means that the distance between the working bucket of the aerial work equipment and the obstacle is too close, so an early warning message is generated to remind relevant operating personnel through the early warning message so that the operating personnel can take timely measures to avoid the collision between the working bucket of the aerial work equipment and the obstacle.

[0069] In an embodiment of the present application, the anti-collision warning system includes: a distance sensor, an electric field sensor and an image acquisition device arranged in a bumper outside the working bucket of the aerial work equipment, and a control module arranged in the cab of the aerial work equipment. Among them, the distance sensor is used to measure the first interval distance between the aerial work equipment and the obstacle, and send the first interval distance to the control module. The electric field sensor is used to measure the electric field strength information around the aerial work equipment, and send the electric field strength information to the control module. The image acquisition device is used to capture a first image within a preset range around the aerial work equipment, and send the first image to the control module. The control module is used to determine a first safety distance corresponding to the electric field strength information, determine the second interval distance between the working bucket of the aerial work equipment and the obstacle according to the first image, and determine the target interval distance based on the first interval distance and the second interval distance; and when it is determined that the target interval distance exceeds the first safety distance, output a warning message indicating that the distance between the aerial work equipment and the obstacle is too close. In the embodiment of the present application, not only the target interval distance is determined by directly measuring the first interval distance and the second interval distance obtained based on the first image, thereby improving the accuracy of the target interval distance, but the first safety distance is also determined by the electric field strength information measured by the electric field sensor, thereby improving the flexibility of the first safety distance in different scenarios, thereby improving the accuracy of the early warning information and reducing the probability of the working bucket of the aerial work equipment colliding with obstacles.

[0070] Based on the above embodiment, the control module 103 is specifically used to determine the target warning level corresponding to the offset range of the distance offset according to the distance offset between the target interval distance and the first safety distance when it is determined that the target interval distance exceeds the first safety distance, and output warning information corresponding to the target warning level.

[0071] The distance offset is positively correlated with the warning level, the target warning level is one of multiple warning levels, and the control module 103 pre-stores a corresponding relationship between different warning levels and different offset ranges.

[0072] In one embodiment, the distance offset may be an absolute value of a distance difference between the target interval distance and the first safety distance, and is used to characterize a degree of offset between the target interval distance and the first safety distance.

[0073] It should be noted that it is usually necessary to determine the distance offset between the target interval distance and the first safety distance after determining that the target interval distance exceeds the first safety distance. That is to say, it is necessary to determine the distance offset between the target interval distance and the first safety distance when it is determined that the distance between the working bucket of the aerial work equipment and the obstacle is too close.

[0074] In the embodiment of the present application, the distance offset is positively correlated with the warning level, that is, the larger the distance offset, the higher the warning level. In other words, the larger the distance offset, the closer the distance between the working bucket of the aerial work equipment and the obstacle, so the higher the warning level.

[0075] In a possible implementation, a correspondence between an offset range and a warning level may be preset, and the offset range in which the distance offset is located may be determined first, and then a target warning level corresponding to the offset range in which the distance offset is located may be determined according to the preset correspondence.

[0076] Optionally, the warning information may include at least one of the following forms: sound warning information, light warning, first image warning, and text warning.

[0077] For example, when the warning information is a sound warning information, different warning levels may correspond to sound signals of different frequencies, for example, the higher the warning level, the higher the frequency of the corresponding sound warning information. Alternatively, if the warning information is a light warning, different warning levels may correspond to lights of different colors.

[0078] In the embodiment of the present application, the control module is specifically used to determine the target warning level corresponding to the offset range of the distance offset according to the distance offset between the target interval distance and the first safety distance when it is determined that the target interval distance exceeds the first safety distance, and output warning information corresponding to the target warning level. Among them, the distance offset is positively correlated with the warning level, the target warning level is one of multiple warning levels, and the control module pre-stores the corresponding relationship between different warning levels and different offset ranges. Therefore, different levels of warning information can be output according to different distance offsets, which is convenient for relevant operators to take different processing measures according to different levels of warning information, further improving the reliability of the anti-collision warning system and reducing the probability of collision between the working bucket of the aerial work equipment and obstacles.

[0079] Based on the above embodiment, the control module 103 is used to determine the target voltage level of the obstacle, determine the second safety distance corresponding to the target voltage level according to the target voltage level and a preset correspondence, and output a warning message when it is determined that the target interval distance exceeds the first safety distance and / or the second safety distance.

[0080] Among them, the preset corresponding relationship includes the corresponding relationship between each voltage level and each preset safety distance.

[0081] Optionally, the voltage level of the power equipment can be obtained, and preset safety distances corresponding to each voltage level can be set, and then each voltage level and the preset safety distance corresponding to each voltage level can be stored in a data table to obtain a preset corresponding relationship.

[0082] Exemplarily, the preset corresponding relationship can be shown in Table 1 below. Referring to Table 1, it can be seen that there are three voltage levels for power equipment, namely voltage level I, voltage level II and voltage level III. The preset safety distance corresponding to voltage level I is 0.5, the preset safety distance corresponding to voltage level II is 0.8, and the preset safety distance corresponding to voltage level III is 1. Assuming that the target voltage level of the obstacle is voltage level II, the second safety distance corresponding to the target voltage level is 0.8.

[0083]

[0084] Table 1

[0085] In one embodiment, as long as it is determined that the target interval distance exceeds any one of the first safety distance and the second safety distance, a warning message is output.

[0086] In the embodiment of the present application, the control module is used to determine the target voltage level of the obstacle, determine the second safety distance corresponding to the target voltage level according to the preset correspondence between the target voltage level and each voltage level and each preset safety distance, and output warning information when it is determined that the target interval distance exceeds the first safety distance and / or the second safety distance. Since the electric field strength is related to environmental factors such as temperature and humidity, the first safety distance may be affected by environmental factors. The introduction of the second safety distance corresponding to the standard voltage level can improve the accuracy and flexibility of the warning information, thereby further improving the safety of the operation of the aerial work equipment.

[0087] On the basis of the above embodiment, the warning information includes: distance measurement information, electric field strength information and the first image.

[0088] The distance measurement information includes at least one of a first interval distance, a second interval distance and a target interval distance.

[0089] In a possible implementation, the warning information includes: ranging information, electric field strength information and the first image, that is, the warning information carries ranging information, electric field strength information and the first image, which can be used to characterize the ranging information, electric field strength information and the first image.

[0090] Reference Figure 2 , Figure 2It is a structural diagram of another anti-collision warning system provided in an embodiment of the present application. The anti-collision warning system also includes: a display module 201 arranged in the cab of the aerial work equipment.

[0091] The control module 103 is also used to send the warning information to the display module 201 .

[0092] The display module 201 is used to display warning information.

[0093] Exemplarily, the display module 201 may include at least one display device such as a liquid crystal display screen, an LED (light emitting diode) display screen, etc.

[0094] In one embodiment, the control module 103 may send the warning information carrying the distance measurement information, the electric field strength information and the first image to the display module 201. The display module 201 may receive the warning information sent by the control module 103, and then display the warning information to remind the relevant operators through the warning information, so that the operators can take timely measures to avoid the collision between the working bucket of the aerial work equipment and obstacles.

[0095] It should be noted that when the warning information is displayed through the display module 201, the warning information may include at least one form of sound warning information, light warning, first image warning, and text warning.

[0096] In a possible implementation, after the control module 103 obtains the distance measurement information, the electric field strength information and the first image, the distance measurement information, the electric field strength information and the first image can be temporarily stored in a local database. The display module 201 can obtain the distance measurement information, the electric field strength information and the first image data from the local database of the control module 103 in response to a display instruction input by a user, and display the obtained data.

[0097] On the basis of the above embodiment, the control module 103 is further used to receive a control instruction input by a user, and control the working bucket to move in a direction away from the obstacle based on the control instruction.

[0098] For example, the control instruction may include the moving direction and moving distance of the working bucket, and the user may input the control instruction according to the warning information. After receiving the control instruction, the control module 103 may determine the moving direction and moving distance carried by the control instruction, and then control the movement of the working bucket according to the moving direction and moving distance.

[0099] Alternatively, the control instruction may include the target position coordinates of the working bucket, and the user may input the control instruction according to the warning information. After receiving the control instruction, the control module 103 may determine the target position coordinates of the working bucket carried by the control instruction, and then control the working bucket to move according to the target position coordinates.

[0100] In an embodiment of the present application, the control module 103 is also used to receive control instructions input by the user, and control the work bucket to move in a direction away from the obstacle based on the control instructions, so that the user can promptly control the work bucket to move in a direction away from the obstacle after receiving the warning information, thereby further improving the reliability of the anti-collision warning system and reducing the probability of the work bucket of the aerial work equipment colliding with obstacles.

[0101] Based on the above embodiment, the control instruction includes: movement parameters. The control module 103 is further configured to control the working bucket to move in a direction away from the obstacle based on the movement parameters when it is determined that the movement distance corresponding to the movement parameters is greater than the distance offset.

[0102] Exemplarily, the movement parameters may include the movement direction and movement distance of the working bucket, or the movement parameters may include the target position coordinates of the working bucket.

[0103] In one embodiment, after receiving the control instruction input by the user, the control module 103 can determine the moving distance of the working bucket according to the moving parameters in the control instruction. If the moving distance is greater than the distance offset, the working bucket can be moved to a safe position. Therefore, the working bucket is controlled to move in a direction away from the obstacle based on the moving parameters.

[0104] The control module 103 is further configured to generate instruction confirmation information and send the information to the display module 201 when it is determined that the moving distance corresponding to the moving parameter is less than or equal to the distance offset.

[0105] The instruction confirmation information includes: inquiry information and prompt information. The inquiry information is used for the user to confirm whether to continue to execute the control instruction, and the prompt information is used to prompt that the movement trajectory indicated by the control instruction cannot meet the safety requirements.

[0106] In an embodiment of the present application, if the moving distance is less than or equal to the distance offset, the work bucket may not be able to be moved to a safe position, so it is necessary to generate instruction confirmation information to remind that the moving trajectory indicated by the control instruction cannot meet the safety requirements, and confirm whether to continue executing the control instruction through the instruction confirmation information.

[0107] The display module 201 is also used to display instruction confirmation information.

[0108] In one embodiment, the display module 201 may be used to receive and display instruction confirmation information sent by the control module 103. After displaying the instruction confirmation information, the display module 201 may also receive a confirmation or cancellation instruction input by the user, and then send the confirmation or cancellation instruction to the control module 103. The control module 103 may continue to execute the control instruction in response to the confirmation instruction, or stop executing the control instruction in response to the cancellation instruction.

[0109] In an embodiment of the present application, the control module is also used to control the working bucket to move in a direction away from the obstacle based on the moving parameters when it is determined that the moving distance corresponding to the moving parameters is greater than the distance offset; when it is determined that the moving distance corresponding to the moving parameters is less than or equal to the distance offset, generate instruction confirmation information and send it to the display module. The display module is also used to display the instruction confirmation information. Among them, the instruction confirmation information includes: inquiry information and prompt information, the inquiry information is used for the user to confirm whether to continue to execute the control instruction, and the prompt information is used to prompt that the moving trajectory indicated by the control instruction cannot meet the safety requirements. In this way, the feasibility of the control instruction input by the user can be judged based on the moving distance corresponding to the moving parameters being greater than and the distance offset, and the user is reminded to re-determine the instruction when the moving trajectory indicated by the control instruction cannot meet the safety requirements, thereby improving the feasibility of the control instruction input by the user, further improving the reliability of the anti-collision warning system, and reducing the probability of the working bucket of the aerial work equipment colliding with obstacles.

[0110] On the basis of the above embodiment, the anti-collision warning system further includes a wireless communication module 202, and the wireless communication module 202 is arranged in the bumper outside the working bucket of the aerial work equipment.

[0111] The power Hongmeng system is deployed in the wireless communication module 202. The distance sensor 101, the electric field sensor 102, and the image acquisition device 104 transmit data with the control module 103 through the network security standard structure WAPI network supported by the power Hongmeng system.

[0112] In one embodiment, the electric power Hongmeng system is deployed in the wireless communication module 202 connected to the control module 103. The electric power Hongmeng host of the electric power Hongmeng system has a built-in WAPI module. Therefore, the control module 103 can transmit data with the distance sensor 101, the electric field sensor 102, and the image acquisition device 104 through the WAPI network supported by the electric power Hongmeng system.

[0113] In the embodiment of the present application, the electric power Hongmeng system is deployed in the wireless communication module 202. The distance sensor 101, the electric field sensor 102, and the image acquisition device 104 transmit data with the control module 103 through the network security standard structure WAPI network supported by the electric power Hongmeng system. Since the electric power Hongmeng system is an autonomous and controllable operating system, it provides a stable and reliable operating environment for the anti-collision warning system, effectively avoiding the risk of intrusion of external malware and data leakage, and the WAPI network has higher security and anti-interference ability than the traditional wireless communication network. Therefore, data transmission based on the electric power Hongmeng system and the WAPI network can improve the security of the anti-collision warning system and provide a strong guarantee for the stable operation and data security of the anti-collision warning system.

[0114] On the basis of the above embodiment, the anti-collision warning system further includes a remote terminal device 203. The control module 103 is in communication connection with the remote terminal device 203.

[0115] The control module 103 is also used to send the warning information to the remote terminal device 203.

[0116] The remote terminal device 203 is used to display warning information, receive control instructions input by the user, and send the control instructions to the control module 103.

[0117] In one embodiment, the anti-collision warning system further includes a portable remote terminal device 203, and the control module 103 can send warning information carrying ranging information, electric field strength information and the first image to the remote terminal device 203. The remote terminal device 203 can receive the warning information sent by the control module 103, and then display the warning information to remind the remote operator through the warning information, so that the remote operator can take timely measures to avoid the collision between the working bucket of the aerial work equipment and the obstacle.

[0118] Similar to the above, the control instruction may include the moving direction and moving distance of the working bucket, and the user may input the control instruction according to the warning information. After receiving the control instruction, the control module 103 may determine the moving direction and moving distance carried by the control instruction, and then control the movement of the working bucket according to the moving direction and moving distance.

[0119] In the embodiment of the present application, the anti-collision warning system also includes a remote terminal device. The control module is also used to send warning information to the remote terminal device, and the remote terminal device is used to display the warning information, receive control instructions input by the user, and send the control instructions to the control module, so that the warning information can be sent to the remote operator through the remote terminal device, so that the remote operator can take timely measures to avoid the collision between the working bucket of the aerial work equipment and the obstacle, further improving the flexibility and reliability of the anti-collision warning system, and reducing the probability of the working bucket of the aerial work equipment colliding with the obstacle.

[0120] Based on the above embodiment, the anti-collision warning system also includes a monitoring information collection device, which is arranged in the target operation area. The target operation area includes at least one high-altitude operation equipment, and the control module is communicatively connected with the monitoring information collection device.

[0121] Exemplarily, the target operation area may be preset according to operation requirements. For example, the area where a substation is located may be determined as the target operation area.

[0122] Optionally, the monitoring information collection device may be set at a preset height of the target operating area so that the collection range of the monitoring information collection device can cover the entire target operating area.

[0123] In one embodiment, there is at least one aerial work equipment in operation in the target work area.

[0124] The monitoring information acquisition device is used to acquire a second image of the target operation area and send the second image to the control module.

[0125] In one embodiment, the monitoring information collection device can obtain a second image of the target operation area, and the second image includes images of all the aerial operation equipment operating in the target operation area.

[0126] The control module is also used to determine the operating status of at least one aerial work equipment in the target working area based on the second image, and generate monitoring alarm information when the operating status of at least one aerial work equipment is abnormal; the monitoring alarm information is used to indicate that the operating status of the aerial work equipment in the target working area is abnormal.

[0127] Optionally, after receiving the second image sent by the monitoring information acquisition device, the control module can determine the position and operating status of all aerial work equipment operating in the target work area based on the image recognition algorithm, and monitor the position and operating status of all aerial work equipment operating in the target work area based on the pre-trained monitoring model; when the monitoring results output by the monitoring model indicate that an abnormality has occurred in the aerial work equipment in the target work area, a monitoring alarm information is generated.

[0128] Among them, abnormalities in the aerial work equipment in the target work area may include, for example: the distance between two aerial work equipment in operation exceeds the first safety distance, or the distance between at least one aerial work equipment in operation and an obstacle exceeds the first safety distance, etc.

[0129] Exemplarily, the monitoring alarm information may be at least one of sound information, image information, text information, etc.

[0130] In an embodiment of the present application, the anti-collision warning system also includes a monitoring information acquisition device, which is arranged in the target operation area, and the target operation area includes at least one aerial operation equipment, and the control module is communicatively connected with the monitoring information acquisition device. The monitoring information acquisition device is used to acquire a second image of the target operation area and send the second image to the control module. The control module is also used to determine the operating status of at least one aerial operation equipment in the target operation area based on the second image, and to generate monitoring alarm information when the operating status of at least one aerial operation equipment is abnormal. In this way, all the aerial operation equipment in operation in the target operation area can be uniformly monitored based on the monitoring information acquisition device, which further improves the flexibility and reliability of the anti-collision warning system and reduces the probability of collision between the working bucket of the aerial operation equipment and obstacles.

[0131] 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.

[0132] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An anti-collision warning system, characterized in that: The anti-collision warning system includes: a distance sensor, an electric field sensor, an image acquisition device, and a control module, wherein the distance sensor, the electric field sensor, and the image acquisition device are arranged in a bumper outside a working bucket of the aerial work equipment, and the control module is arranged in a cab of the aerial work equipment; The distance sensor is used to measure a first interval distance between the working bucket of the aerial work equipment and an obstacle, and send the first interval distance to the control module; The electric field sensor is used to measure the electric field strength information around the aerial work equipment and send the electric field strength information to the control module; The image acquisition device is used to acquire a first image within a preset range around the aerial work equipment and send the first image to the control module; The control module is used to determine a first safety distance corresponding to the electric field strength information, determine a second interval distance between the working bucket of the aerial work equipment and an obstacle based on the first image, and determine a target interval distance based on the first interval distance and the second interval distance; and when it is determined that the target interval distance exceeds the first safety distance, output a warning message; the warning message is used to indicate that the distance between the working bucket of the aerial work equipment and the obstacle is too close.

2. The anti-collision warning system according to claim 1, characterized in that: The control module is specifically configured to determine, when determining that the target interval distance exceeds the first safety distance, a target warning level corresponding to the offset range of the distance offset according to the distance offset between the target interval distance and the first safety distance, and output the warning information corresponding to the target warning level; The distance offset is positively correlated with the warning level, the target warning level is one of a plurality of warning levels, and the control module pre-stores a correspondence between different warning levels and different offset ranges.

3. The anti-collision warning system according to claim 1, characterized in that: The control module is used to determine the target voltage level of the obstacle, determine a second safety distance corresponding to the target voltage level according to the target voltage level and a preset corresponding relationship, and output warning information when it is determined that the target interval distance exceeds the first safety distance and / or the second safety distance; The preset corresponding relationship includes the corresponding relationship between each voltage level and each preset safety distance.

4. The anti-collision warning system according to claim 2, characterized in that: The warning information includes: ranging information, the electric field strength information and the first image, and the ranging information includes: at least one of the first interval distance, the second interval distance and the target interval distance; The anti-collision warning system further includes: a display module disposed in the cab of the aerial work equipment; The control module is further used to send the warning information to the display module; The display module is used to display the warning information.

5. The anti-collision warning system according to claim 4, characterized in that: The control module is further used to receive a control instruction input by a user, and control the working bucket to move in a direction away from the obstacle based on the control instruction.

6. The anti-collision warning system according to claim 5, characterized in that: The control instruction includes: movement parameters; The control module is further configured to control the working bucket to move in a direction away from the obstacle based on the movement parameter when it is determined that the movement distance corresponding to the movement parameter is greater than the distance offset; The control module is further configured to generate instruction confirmation information and send the information to the display module when it is determined that the moving distance corresponding to the moving parameter is less than or equal to the distance offset; The display module is further used to display the instruction confirmation information; The instruction confirmation information includes: inquiry information and prompt information, the inquiry information is used for the user to confirm whether to continue to execute the control instruction, and the prompt information is used to prompt that the movement trajectory indicated by the control instruction cannot meet the safety requirements.

7. The anti-collision warning system according to claim 1, characterized in that: The anti-collision warning system also includes a wireless communication module, which is arranged in the bumper outside the work bucket of the aerial work equipment, and the electric power Hongmeng system is deployed in the wireless communication module; the distance sensor, the electric field sensor, and the image acquisition device transmit data with the control module through the network security standard structure WAPI network supported by the electric power Hongmeng system.

8. The anti-collision warning system according to claim 4, characterized in that: The anti-collision warning system further includes a remote terminal device; the control module is in communication connection with the remote terminal device; The control module is further used to send the warning information to the remote terminal device; The remote terminal device is used to display the warning information, receive control instructions input by the user, and send the control instructions to the control module.

9. The anti-collision warning system according to claim 1, characterized in that: The anti-collision warning system further includes a monitoring information collection device, which is arranged in a target operation area, wherein the target operation area includes at least one aerial operation equipment, and the control module is in communication connection with the monitoring information collection device; The monitoring information acquisition device is used to acquire a second image of the target operation area and send the second image to the control module; The control module is further used to determine the operating status of at least one aerial work equipment in the target working area according to the second image, and generate monitoring alarm information when the operating status of the at least one aerial work equipment is abnormal; The monitoring alarm information is used to indicate that the operating status of the aerial work equipment in the target working area is abnormal.

10. The anti-collision warning system according to any one of claims 1 to 9, characterized in that: The distance sensor includes a radar sensor and / or a laser phase sensor.

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