Anti-collision method and anti-collision device for high-altitude operation equipment

Abstract

The invention relates to the technical field of arm type engineering machinery, in particular to an anti-collision method and an anti-collision device for high-altitude operation equipment. A first millimeter-wave radar and a second millimeter-wave radar are arranged at the starting point of an arm support and are diagonally arranged relative to the cross section of the arm support; the detection view fields of the first millimeter-wave radar and the second millimeter-wave radar are mutually orthogonal and cover the boom, the anti-collision method comprises the steps that position coordinate data of an obstacle detected by the first millimeter-wave radar and the second millimeter-wave radar are acquired, and the position coordinate data comprise multiple pieces of coordinate data detected at multiple sampling moments; fitting the plurality of coordinate data to obtain a fitting equation of the obstacle under the arm support coordinate system; determining the movement direction of the arm support; determining coordinates of the obstacle on a coordinate axis corresponding to the movement direction according to the fitting equation; and executing an anti-collision strategy according to the coordinate of the coordinate axis. According to the anti-collision method, the risk that the millimeter-wave radar misses detection of obstacles is reduced, and the collision probability of the cantilever crane is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of arm-type engineering machinery, and in particular to an anti-collision method for aerial work equipment, a controller, an anti-collision device for aerial work equipment, aerial work equipment and a storage medium. Background Art

[0002] There are a large number of aerial work scenes in daily life and engineering operations. In most scenes, the operator stands on the aerial work platform and controls the boom to send the platform to the work site for aerial work. During the operation, the operator needs to control the boom to change the target position of the platform operation. For the operator, there are many blind spots around the boom, especially in the gaps between the floors, complex steel structure workshops, scaffolding and other complex construction environments. Boom collision accidents occur from time to time, and the boom and its drag chain are seriously damaged, endangering the safety of the equipment. What is more serious is that it endangers the safety of buildings and personnel at the construction site, causing greater safety accidents. Therefore, the aerial work machinery industry has also developed boom anti-collision technology for boom-type aerial vehicles. Sensors are installed on the boom to detect the position coordinates of obstacles around the boom from the direction of the boom's movement, and realize voice warning, deceleration and shutdown, aiming to maintain the efficiency and dexterity of aerial work while greatly improving equipment safety and construction safety.

[0003] However, millimeter waves are not sensitive to wood, plastic, and metal rods and wires with smaller diameters. Relying solely on millimeter wave output for environmental perception is prone to missed detections, leading to collision accidents. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide an anti-collision method, a controller, an anti-collision device, an aerial work equipment and a storage medium for aerial work equipment, so as to solve the technical problem in the prior art that millimeter-wave radar detection of obstacles is prone to missed detection.

[0005] In order to achieve the above-mentioned object, the first aspect of the present invention provides an anti-collision method for aerial work equipment, the aerial work equipment comprising a boom, a first millimeter-wave radar and a second millimeter-wave radar, the first millimeter-wave radar and the second millimeter-wave radar are arranged at the starting point of the boom and are arranged diagonally with respect to the cross-section of the boom, the detection fields of the first millimeter-wave radar and the second millimeter-wave radar are orthogonal to each other and cover the boom, and the anti-collision method comprises:

[0006] Acquire position coordinate data of obstacles detected by the first millimeter-wave radar and the second millimeter-wave radar, where the position coordinate data includes multiple coordinate data detected at multiple sampling moments;

[0007] Fitting multiple coordinate data to obtain the fitting equation of the obstacle in the boom coordinate system;

[0008] Determine the direction of movement of the boom;

[0009] Determine the coordinates of the obstacle on the coordinate axis corresponding to the direction of motion according to the fitting equation;

[0010] Executes collision avoidance strategy based on the coordinates of the axes.

[0011] In an embodiment of the present invention, fitting multiple coordinate data to obtain a fitting equation for an obstacle in the boom coordinate system includes: determining a type of the fitting equation based on the multiple coordinate data; determining a general expression formula of the fitting equation based on the determined type; and substituting coordinate points in the multiple coordinate data into the general expression formula through the least squares method to fit the fitting equation.

[0012] In an embodiment of the present invention, determining the type of the fitting equation based on multiple coordinate data includes: determining the positions of multiple coordinate points in the multiple coordinate data; determining the obstacle contour based on the multiple coordinate point positions; when the obstacle contour is a straight line, determining the type of the fitting equation to be a linear equation; when the obstacle contour is a curve, determining the type of the fitting equation to be an inverse proportional equation or an Nth-order equation, where N is greater than 1.

[0013] In an embodiment of the present invention, executing an anti-collision strategy according to the coordinates of the coordinate axis includes: when the distance between the coordinates of the coordinate axis and the origin is greater than L2 and less than or equal to L3, starting a voice alarm; when the distance between the coordinates of the coordinate axis and the origin is greater than L1 and less than or equal to L2, starting a voice alarm and controlling the boom to stop to avoid obstacles; wherein, L3 is greater than L2, L2 is greater than L1, and L1 is greater than zero.

[0014] In an embodiment of the present invention, the position coordinate data is the coordinate data in the boom coordinate system, the origin of the boom coordinate system is the starting point of the boom, the x-axis of the boom coordinate system is along the length direction of the boom, the y-axis is along the length direction of the cross section of the boom, and the z-axis is along the height direction of the cross section of the boom. Acquiring the position coordinate data of obstacles detected by the first millimeter-wave radar and the second millimeter-wave radar includes: determining a first conversion matrix between the detection coordinate system of the first millimeter-wave radar and the boom coordinate system; determining a second conversion matrix between the detection coordinate system of the second millimeter-wave radar and the boom coordinate system; and transforming the coordinate data detected by the first millimeter-wave radar and the coordinate data detected by the second millimeter-wave radar according to the first conversion matrix and the second conversion matrix, respectively, to obtain the position coordinate data.

[0015] In an embodiment of the present invention, the anti-collision method also includes: when there is an angular deviation between the first millimeter-wave radar or the second millimeter-wave radar and a preset installation position, obtaining a first angular deviation between a detection coordinate system of the first millimeter-wave radar and a preset coordinate system of the first millimeter-wave radar, or a second angular deviation between a detection coordinate system of the second millimeter-wave radar and a preset coordinate system of the second millimeter-wave radar; determining a deviation rotation matrix based on the first angular deviation or the second angular deviation; and correcting the coordinate data detected by the first millimeter-wave radar or the second millimeter-wave radar based on the deviation rotation matrix.

[0016] In an embodiment of the present invention, the anti-collision method also includes: determining multiple first deviation angles corresponding to each coordinate axis based on the first angle deviation; determining multiple second deviation angles corresponding to each coordinate axis based on the second angle deviation; and initiating a correction alarm when any first deviation angle or second deviation angle is greater than a preset deviation threshold.

[0017] A second aspect of the present invention provides a controller, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and implement the above-mentioned anti-collision method for aerial work equipment when executing the instructions.

[0018] A third aspect of the present invention provides an anti-collision device for aerial work equipment, the aerial work equipment includes a boom, and the anti-collision device includes: a first millimeter-wave radar; a second millimeter-wave radar, the first millimeter-wave radar and the second millimeter-wave radar are arranged at the starting point of the boom and are arranged diagonally with respect to the cross-section of the boom, the detection fields of the first millimeter-wave radar and the second millimeter-wave radar are orthogonal to each other and cover the boom; and the above-mentioned controller.

[0019] In an embodiment of the present invention, the aerial work equipment also includes a drag chain installed on one side of the boom, a first millimeter-wave radar is installed on a side of the boom close to the drag chain, a detection end of the first millimeter-wave radar is facing the extension direction of the boom and is installed vertically, and the first millimeter-wave radar is used to detect obstacle coordinate data in the boom's amplitude variation motion direction, a second millimeter-wave radar is installed on a side of the boom away from the drag chain, a detection end of the second millimeter-wave radar is facing the extension direction of the boom and is installed horizontally, and the second millimeter-wave radar is used to detect obstacle coordinate data in the boom's rotational motion direction.

[0020] A fourth aspect of the present invention provides an aerial work equipment, comprising: a boom and the above-mentioned anti-collision device for the aerial work equipment.

[0021] A fifth aspect of the present invention provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned anti-collision method for aerial work equipment.

[0022] By adopting the above-mentioned anti-collision method for aerial work equipment, the position coordinate data of the obstacle detected by the first millimeter-wave radar and the second millimeter-wave radar can be obtained, and the position coordinate data includes multiple coordinate data detected at multiple sampling moments. Then, the multiple coordinate data are fitted to obtain the fitting equation of the obstacle in the boom coordinate system. Among them, the boom coordinate system takes the boom starting point as the origin, the boom extension direction as the first coordinate axis, and the boom rotation direction and amplitude change direction as the second coordinate axis and the third coordinate axis respectively. In addition, the boom movement direction and the coordinate axis corresponding to the movement direction can be obtained, and the coordinates of the obstacle in the corresponding coordinate axis can be determined according to the fitting equation, and the corresponding anti-collision strategy is executed according to the coordinates of the coordinate axis to prevent the boom from colliding with the obstacle. The boom anti-collision method provided by the present invention can determine the fitting equation of the obstacle according to the position coordinate data obtained at multiple moments, and determine the coordinates of the coordinate axis corresponding to the obstacle and the movement direction according to the fitting equation to determine the anti-collision strategy of the boom. The millimeter-wave radar improves detection sensitivity when detecting wood, plastic, metal rods and wires with smaller diameters, and determines the fitted outline of the obstacle based on the fitting equation, so that the boom can perform obstacle avoidance operations, reducing the probability of collision between the boom and obstacles, improving the safety of the boom movement, and protecting the safety of equipment and personal property.

[0023] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0025] Figure 1 A schematic diagram of a flow chart of a collision prevention method for aerial work equipment according to an embodiment of the present invention is shown;

[0026] Figure 2 A schematic diagram of the space division area of ​​the ring arm frame provided according to an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of a boom coordinate system provided according to an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of a millimeter wave radar coordinate system according to an embodiment of the present invention;

[0029] Figure 5 Schematic diagram of millimeter wave radar detection field of view.

[0030] Description of Reference Numerals

[0031] 1 The first millimeter-wave radar

[0032] 2 Second millimeter wave radar

[0033] 3 Boom

[0034] S1 Body filter area

[0035] S2 Slowdown obstacle zone

[0036] S3 Danger Warning Zone DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of the present invention are in compliance with the relevant provisions of national laws and regulations. In the embodiments of the present invention, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary, and their purpose is only to illustrate the feasibility of the implementation of the technical solution of the present invention, but it does not mean that the applicant has or will necessarily use the solution.

[0039] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0040] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] Aerial work equipment usually includes a retractable boom 3, the starting point of the boom 3 is connected to a turntable, and the end of the boom 3 is provided with an aerial work platform. Aerial work equipment is often used in complex spatial environments, and there are often obstacles such as buildings and tree branches in the movement range of the boom 3. The collision between the boom 3 and the obstacle will not only cause certain property losses, but also bring safety risks to the operators on the aerial work platform. Therefore, during the movement of the boom 3, it is necessary to detect the distance between the boom 3 and the obstacle in real time to ensure the safe operation of the boom 3.

[0042] In the embodiment of the present invention, the aerial work equipment includes a boom 3, a first millimeter wave radar 1 and a second millimeter wave radar 2, both of which are arranged at the starting point of the boom 3, and the detection fields of the first millimeter wave radar 1 and the second millimeter wave radar 2 are mutually orthogonal and cover the entire boom 3, so as to facilitate position detection of the boom 3 and obstacles around the boom 3. The millimeter wave radar can be installed at the starting point of the boom 3, and detect the coordinate data of the boom 3 and the surroundings of the boom 3 to determine the distance between the boom 3 and the obstacle.

[0043] Figure 1 The following is a schematic diagram showing a flow chart of a collision prevention method for aerial work equipment according to an embodiment of the present invention. Figure 1 As shown, an embodiment of the present invention provides an anti-collision method for aerial work equipment, and the anti-collision method includes the following steps.

[0044] S101, obtaining position coordinate data of obstacles detected by the first millimeter-wave radar 1 and the second millimeter-wave radar 2, where the position coordinate data includes a plurality of coordinate data detected at a plurality of sampling moments.

[0045] S102, fitting the plurality of coordinate data to obtain a fitting equation of the obstacle in the coordinate system of the boom 3.

[0046] S103, determining the movement direction of the arm 3.

[0047] S104: Determine the coordinates of the obstacle on the coordinate axis corresponding to the moving direction according to the fitting equation.

[0048] S105: Execute an anti-collision strategy according to the coordinates of the coordinate axis.

[0049] First, the controller of the aerial work equipment obtains the position coordinate data of the obstacle detected by the first millimeter-wave radar 1 and the second millimeter-wave radar 2, wherein the position coordinate data includes multiple coordinate data detected at multiple sampling moments. The controller fits the multiple coordinate data, and then determines the fitting equation of the obstacle in the coordinate system of the boom 3. The coordinate points corresponding to the coordinate data are usually discrete coordinate points. Multiple discrete coordinate points can determine the analytical expression of the fitting equation of the obstacle. According to the analytical expression of the fitting equation and the coordinate axis corresponding to the direction of movement, the coordinate of the coordinate axis corresponding to the direction of movement of the obstacle can be determined. And further determine the distance between the obstacle and the boom 3 based on the coordinates, and determine the corresponding anti-collision strategy based on the distance to prevent the boom 3 from colliding with the obstacle.

[0050] In the prior art, millimeter wave radar is not sensitive to wood, plastic, metal rods and wires with a small diameter. When the millimeter wave radar detects the above-mentioned types of obstacles, it can only detect a limited number of coordinate data. It is difficult to fit the outline of the obstacle completely with the limited number of coordinate data, which causes the arm 3 to collide with the obstacle. The anti-collision method provided in the embodiment of the present invention can accumulate multiple coordinate data detected at multiple sampling moments and fit the multiple coordinate data to enhance the perception ability of the millimeter wave radar, avoid missing wood, plastic, metal rods and wires with a small diameter, etc., so as to improve the safety performance of the arm 3 and prevent the risk of collision.

[0051] By adopting the above-mentioned anti-collision method, the fitting equation of the obstacle can be obtained by fitting the position coordinate data detected by the first millimeter wave radar 1 and the second millimeter wave radar 2. According to the fitting equation, the position coordinate data missed by the millimeter wave radar can be fitted, so that the obstacle position detection is more accurate, and then the controller can control the boom 3 to better perform the anti-collision operation.

[0052] In one embodiment, fitting multiple coordinate data to obtain the fitting equation of the obstacle in the coordinate system of the boom 3 includes: determining the type of the fitting equation according to the multiple coordinate data; determining the expression formula of the fitting equation according to the determined type; substituting the coordinate points in the multiple coordinate data into the expression formula by the least square method to fit the fitting equation. In the process of determining the fitting equation of the obstacle, the type of the fitting equation can be first determined according to the multiple coordinate data, and the expression formula of the fitting equation can be determined according to the type. For example, the coordinate points corresponding to the multiple coordinate data are all on the same straight line, the type of the fitting equation is determined to be a linear equation, and the expression formula of the fitting equation is determined to be the expression formula corresponding to the linear equation. Substituting the coordinate points in the multiple coordinate data into the expression formula by the least square method can obtain the fitting equation. Using the above method, the coordinate data can be fitted in a scientific way to fit the fitting equation corresponding to the obstacle, so that the boom 3 can perform the obstacle avoidance operation more accurately, prevent the boom 3 from colliding with the obstacle, and prevent the boom 3 from being too sensitive to avoidance and causing frequent misjudgments.

[0053] In one embodiment, determining the type of the fitting equation according to the plurality of coordinate data includes: determining the positions of the plurality of coordinate points in the plurality of coordinate data; determining the obstacle contour according to the plurality of coordinate point positions; determining the type of the fitting equation as a linear equation when the obstacle contour is a straight line; and determining the type of the fitting equation as an inverse proportional equation or an Nth-order equation when the obstacle contour is a curve, wherein N is greater than 1. When determining the type of the obstacle fitting equation, the controller can first determine the positions of the plurality of coordinate points according to the plurality of coordinate data, and further determine the obstacle contour, and can determine the obstacle fitting equation according to the obstacle contour. For example, when the obstacle contour is a straight line, the type of the fitting equation can be determined as a linear equation, and when the obstacle contour is a curve, the type of the fitting equation can be determined as an inverse proportional equation or an Nth-order equation, wherein N is greater than 1. Specifically, obstacles that are easily missed by millimeter-wave radars are usually thin rod-shaped, and therefore, the controller can preferentially determine that the obstacle contour is a straight line. By adopting the above method, the type of obstacle fitting equation can be determined according to the outline of the obstacle, so as to perform fitting according to the coordinate data of the obstacle in a targeted manner. The fitting result is more accurate, and the obstacle position can be determined more accurately, so that the boom 3 can perform anti-collision operations.

[0054] In a specific embodiment, after determining that the type of the fitting equation is a linear equation, the fitting equation is set to the following equation (p):

[0055]

[0056] Where m and n are the coefficients of the fitting equation, x, y, z are the equation variables, and x0 and y0 are the fitting parameters.

[0057] Expressed in matrix form, for the i-th point, there is the following equation (q):

[0058]

[0059] Among them, x i ,y i 、z i are the horizontal, vertical and vertical coordinates corresponding to the i-th position coordinates respectively.

[0060] Substituting the n coordinate data into the above fitting equation, the following matrix equation (c) can be obtained:

[0061]

[0062] Among them, x n ,y n 、z n They are the horizontal, vertical and vertical coordinates corresponding to the nth position coordinates respectively.

[0063] The following equation (d) can be obtained by fitting using the least squares method:

[0064]

[0065] Solving equation (d) can calculate the coefficients m, n and fitting parameters x0, y0. The parameter expression is as follows equation (e):

[0066]

[0067] The coefficients and fitting parameters calculated according to equation (e) can be used to obtain the fitting equation (f):

[0068]

[0069] In one embodiment, executing the anti-collision strategy according to the coordinates of the coordinate axis includes: when the distance between the coordinates of the coordinate axis and the origin is greater than L2 and less than or equal to L3, starting a voice alarm; when the distance between the coordinates of the coordinate axis and the origin is greater than L1 and less than or equal to L2, starting a voice alarm and controlling the boom 3 to stop and avoid obstacles; wherein L3 is greater than L2, L2 is greater than L1, and L1 is greater than zero. In the process of executing the anti-collision strategy, after determining the coordinates of the coordinate axis, the distance between the coordinates of the coordinate axis and the origin can be determined, and the distance is the distance between the boom 3 and the obstacle in the direction of movement. When the distance is greater than L2 and less than or equal to L3, it can be determined that the obstacle is in the direction of movement of the boom 3 and the distance is relatively far, and the controller starts a voice alarm to warn the operator. When the distance is greater than L1 and less than or equal to L2, it can be determined that the obstacle is in the direction of movement of the boom 3 and the distance is relatively close, and the controller starts a voice alarm and controls the boom 3 to stop and avoid obstacles to prevent the boom 3 from colliding with the obstacle. When the distance is greater than L3, it can be determined that the distance between the obstacle and the boom 3 is far, and the controller does not respond. The above-mentioned anti-collision method can be used to perform multi-level warning and obstacle avoidance measures according to the distance between the boom 3 and the obstacle to better protect the safety of equipment and personal property.

[0070] In a specific embodiment, Figure 2 As shown in FIG. 1 , it is a schematic diagram of the space division area of ​​the ring arm frame 3 provided according to an embodiment of the present invention, such as Figure 3 As shown, it is a schematic diagram of the coordinate system of the boom 3 provided according to an embodiment of the present invention. The cross section of the boom 3 is respectively established from the inside to the outside as the main body filtering area S1, the deceleration and obstacle stopping area S2 and the danger warning area S3. The boom 3 and the millimeter wave radar are covered in a rectangle with a length and width of L1. When the identification position coordinate falls into the square with a length and width of L1, it is determined that the position coordinate falls into the main body filtering area S1, and the position coordinate corresponds to the boom 3 or the millimeter wave radar. When the identification position coordinate falls into the annular area between L1 and L2 (i.e., the deceleration and obstacle stopping area S2), and the movement direction of the boom 3 is the same as the direction of the obstacle, the controller activates a voice alarm and controls the boom 3 to stop and avoid obstacles to prevent the boom 3 from colliding with the obstacle. When the identification position coordinate falls into the annular area between L2 and L3 (i.e., the danger warning area S3), and the movement direction of the boom 3 is the same as the direction of the obstacle, the controller activates a voice alarm to warn the operator. When the identification position coordinate falls into the annular area outside L3, the controller does not respond.

[0071] In one embodiment, the position coordinate data is the coordinate data in the coordinate system of the boom 3, the origin of the coordinate system of the boom 3 is the starting point of the boom 3, the x-axis of the coordinate system of the boom 3 is along the length direction of the boom 3, the y-axis is along the length direction of the cross section of the boom 3, and the z-axis is along the height direction of the cross section of the boom 3. Acquiring the position coordinate data of the obstacles detected by the first millimeter-wave radar 1 and the second millimeter-wave radar 2 includes: determining a first conversion matrix between the detection coordinate system of the first millimeter-wave radar 1 and the coordinate system of the boom 3; determining a second conversion matrix between the detection coordinate system of the second millimeter-wave radar 2 and the coordinate system of the boom 3; and converting the coordinate data detected by the first millimeter-wave radar 1 and the coordinate data detected by the second millimeter-wave radar 2 according to the first conversion matrix and the second conversion matrix, respectively, to obtain the position coordinate data. There is a position offset between the installation position of the first millimeter wave radar 1 and / or the second millimeter wave radar 2 and the starting point of the boom 3, and there is also an angle offset between the coordinate system angle of the first millimeter wave radar 1 and / or the second millimeter wave radar 2 and the coordinate system angle of the boom 3. Therefore, in the process of determining the coordinate data of the obstacle, it is necessary to determine the first conversion matrix between the coordinate system of the first millimeter wave radar 1 and the coordinate system of the boom 3 and the second conversion matrix between the coordinate system of the second millimeter wave radar 2 and the coordinate system of the boom 3, and perform data conversion on the coordinate data detected by the millimeter wave radar according to the first conversion matrix and the second conversion matrix to obtain the above-mentioned position coordinate data. By adopting the above-mentioned method, the conversion matrix can be determined according to the position offset and angle offset between the coordinate system of the millimeter wave radar and the coordinate system of the boom 3, and the position data detected by the millimeter wave radar can be converted into position coordinate data according to the conversion matrix, so as to more accurately determine the position of the obstacle.

[0072] In a specific embodiment, Figure 4 As shown, it is a schematic diagram of the millimeter wave radar coordinate system provided according to an embodiment of the present invention. The length of the cross section of the arm 3 is L, and the height is H. As can be seen from the figure, there is a position deviation between the coordinate system of the first millimeter wave radar 1 and the coordinate system of the arm 3, and there is a position deviation and an angle deviation between the coordinate system of the second millimeter wave radar 2 and the arm 3. First, according to the coordinates of the first millimeter wave radar 1 and the coordinates of the second millimeter wave radar 2, two installation offset values ​​a and b are determined as follows: Formula (g) and Formula (h):

[0073]

[0074] Among them, Figure 4 As shown, a2+L / 2 is the ordinate of the first millimeter-wave radar 1 , a1+H / 2 is the vertical coordinate of the first millimeter-wave radar 1 , b1+L / 2 is the ordinate of the second millimeter-wave radar 2 , and b2+H / 2 is the vertical coordinate of the second millimeter-wave radar 2 .

[0075] When the coordinate data detected by the first millimeter wave radar 1 is The second millimeter wave radar 2 detects that the coordinate data is By converting the coordinate data into the position coordinates of the arm 3, it can be obtained that the position coordinates corresponding to the first millimeter wave radar 1 are A, where the expression of A is (A0-a), and the position coordinates corresponding to the second millimeter wave radar 2 are B, where the expression of B is

[0076] Furthermore, the coordinates of point A in the arm 3 coordinate system can be obtained as shown in formula (i):

[0077]

[0078] The coordinates of point B in the arm 3 coordinate system can be obtained as shown in formula (j):

[0079]

[0080] Among them, 0≤x1≤L, 0≤x2≤L, according to the above formula conversion, the coordinate data of the first millimeter-wave radar 1 and the second millimeter-wave radar 2 can be converted into the position coordinates of the boom 3 coordinate system, and then the positions of the boom 3 and the obstacle can be detected.

[0081] In one embodiment, the anti-collision method further includes: when there is an angle deviation between the first millimeter wave radar 1 or the second millimeter wave radar 2 and the preset installation position, obtaining a first angle deviation between the detection coordinate system of the first millimeter wave radar 1 and the preset coordinate system of the first millimeter wave radar 1, or a second angle deviation between the detection coordinate system of the second millimeter wave radar 2 and the preset coordinate system of the second millimeter wave radar 2; determining a deviation rotation matrix according to the first angle deviation or the second angle deviation; and correcting the coordinate data detected by the first millimeter wave radar 1 or the second millimeter wave radar 2 according to the deviation rotation matrix. When the first millimeter wave radar 1 and the second millimeter wave radar 2 detect the position coordinates of the boom 3 and the obstacle, a coordinate system with its own detection end as the center of the circle is established, and the detected coordinate data is transformed to obtain the position coordinate data of the boom 3 and the obstacle. However, during the installation and use of the first millimeter wave radar 1, there will be a deviation from the preset installation angle, and the deviation will cause inaccurate coordinate detection of the obstacle and the boom 3. Therefore, in the embodiment of the present invention, the first angle deviation between the detection coordinate system of the first millimeter wave radar 1 and the preset coordinate system of the first millimeter wave radar 1 can be determined, and the second angle deviation between the detection coordinate system of the second millimeter wave radar 2 and the preset coordinate system of the second millimeter wave radar 2 can be determined, and two deviation conversion matrices can be determined according to the second angle deviation and the second angle deviation, respectively. According to the deviation conversion matrix, the coordinate data of the first millimeter wave radar 1 and the second millimeter wave radar 2 can be corrected to obtain more accurate coordinate data after correction. By adopting the above method, when there is a small deviation between the detection coordinate system of the first millimeter wave radar 1 and / or the second millimeter wave radar 2 and the preset coordinate system, the coordinate data can be corrected by calculating the conversion matrix, thereby improving the detection accuracy of the millimeter wave radar and avoiding the operator or after-sales personnel from frequently debugging the millimeter wave radar.

[0082] In a specific embodiment, as shown in FIG. P, it is a schematic diagram of the millimeter wave radar coordinate rotation according to the embodiment of the present invention. The original coordinate data of the millimeter wave radar is According to Figure P, the rotation matrix can be obtained as (RT = R z (θ3)·[R y (θ2)·R x (θ1)]), where R can be calculated according to the following formulas (k), (n), and (m): x (θ1), R y (θ2) and R z (θ3).

[0083]

[0084] Among them, θ1 is the offset angle in the X direction, θ2 is the offset angle in the Y direction, and θ3 is the offset angle in the Z direction.

[0085] In one embodiment, the anti-collision method further includes: determining multiple first deviation angles corresponding to each coordinate axis according to the first angle deviation; determining multiple second deviation angles corresponding to each coordinate axis according to the second angle deviation; and starting a correction alarm when any first deviation angle or second deviation angle is greater than a preset deviation threshold. In the previous embodiment, the first millimeter wave radar 1 and / or the second millimeter wave radar 2 can be corrected as coordinate data according to the angle deviation to improve the detection accuracy. However, when the angle deviation is large, the position of the millimeter wave radar often deviates greatly, and if the correction method is used for detection, the effect is often not good. After determining the first angle deviation and the second angle deviation, the embodiment of the present invention can also determine multiple first deviation angles corresponding to each coordinate axis between the detection coordinate system of the first millimeter wave radar 1 and the preset coordinate system of the first millimeter wave radar 1 according to the first angle deviation, and determine multiple second deviation angles corresponding to each coordinate axis between the detection coordinate system of the second millimeter wave radar 2 and the preset coordinate system of the second millimeter wave radar 2 according to the second angle deviation. When any of the first deviation angle or the second deviation angle is greater than the preset deviation threshold, the deviation correction alarm is activated to prompt the operator to adjust the installation angle of the first millimeter wave radar 1 and / or the second millimeter wave radar 2. The above-mentioned anti-collision method can be used to promptly activate the alarm when there is a large angle deviation between the detection coordinate system of the first millimeter wave radar 1 and / or the second millimeter wave radar 2 and the preset coordinate system, so as to avoid a large error in the obstacle position coordinate detection, thereby causing the arm 3 to collide with the obstacle.

[0086] In one embodiment, a controller is provided, comprising: a memory configured to store instructions; and a processor configured to call the instructions from the memory and implement the above-mentioned anti-collision method for aerial work equipment when executing the instructions.

[0087] In one embodiment, an anti-collision device for aerial work equipment is provided, the aerial work equipment includes a boom 3, and the anti-collision device includes: a first millimeter-wave radar 1; a second millimeter-wave radar 2, the first millimeter-wave radar 1 and the second millimeter-wave radar 2 are arranged at the starting point of the boom 3 and are arranged diagonally with respect to the cross-section of the boom 3, the detection fields of the first millimeter-wave radar 1 and the second millimeter-wave radar 2 are orthogonal to each other and cover the boom 3; and the above-mentioned controller.

[0088] In one embodiment, Figure 5The figure shows a schematic diagram of the detection field of the millimeter wave radar. The aerial work equipment also includes a tow chain installed on one side of the boom 3. The first millimeter wave radar 1 is installed on the side of the boom 3 close to the tow chain. The detection end of the first millimeter wave radar 1 is installed vertically in the extension direction of the boom 3. The first millimeter wave radar 1 is used to detect the coordinate data of obstacles in the variable amplitude movement direction of the boom 3. The second millimeter wave radar 2 is installed on the side of the boom 3 away from the tow chain. The detection end of the second millimeter wave radar 2 is installed horizontally in the extension direction of the boom 3. The second millimeter wave radar 2 is used to detect the coordinate data of obstacles in the rotational movement direction of the boom 3. The tow chain is an important transmission component of the aerial work equipment. The tow chain of the telescopic aerial work vehicle is usually set on one side of the boom 3 and has a large range of movement. Therefore, the millimeter wave radar needs to detect the position of the tow chain and avoid the tow chain from causing excessive interference to the detection of the millimeter wave radar. The side where the tow chain is located usually causes a large obstruction, and there is usually strong interference when the position of the boom 3 is detected. The detection fields of the first millimeter-wave radar 1 and the second millimeter-wave radar 2 in the embodiment of the present invention are orthogonal to each other and cover the entire boom 3. The first millimeter-wave radar 1 is installed on the side of the boom 3 close to the drag chain and is installed vertically. The vertical installation enables the first millimeter-wave radar 1 to obtain a longer detection field of view in the direction of the boom 3 variable amplitude movement, so as to detect the coordinate data of obstacles in the direction of the variable amplitude movement. It will be partially blocked by the drag chain during the rotational movement, but the impact is small. The second millimeter-wave radar 2 is installed on the side of the boom 3 away from the drag chain, and the detection end of the second millimeter-wave radar 2 faces the extension direction of the boom 3 and is installed horizontally. The second millimeter-wave radar 2 and the first millimeter-wave radar 1 are respectively located at the two ends of the diagonal of the cross section of the starting point of the boom 3. The second millimeter-wave radar 2 installed horizontally can obtain a longer detection field of view in the rotational movement direction of the boom 3, so as to detect the coordinate data of obstacles in the rotational movement direction. By adopting the above-mentioned anti-collision device, the obstacles in the rotational movement direction and the amplitude variation movement direction of the boom 3 can be detected respectively by the first millimeter-wave radar 1 and the second millimeter-wave radar 2, and the position of the drag chain can be detected, and the drag chain has little interference with the detection of the millimeter-wave radar.

[0089] In one embodiment, there is provided an aerial work equipment, comprising: a boom 3 and the above-mentioned anti-collision device for the aerial work equipment.

[0090] In one embodiment, a machine-readable storage medium is provided, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned anti-collision method for aerial work equipment.

[0091] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0093] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0095] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0096] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0097] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0098] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0099] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A collision prevention method for aerial work equipment, characterized in that: Aerial working equipment comprises a boom (3), a first millimeter wave radar (1) and a second millimeter wave radar (2), wherein the first millimeter wave radar (1) and the second millimeter wave radar (2) are arranged at a starting point of the boom (3) and are arranged diagonally with respect to a cross section of the boom (3), and the detection fields of the first millimeter wave radar (1) and the second millimeter wave radar (2) are mutually orthogonal and cover the boom (3), and the anti-collision method comprises: Acquiring position coordinate data of obstacles detected by the first millimeter wave radar (1) and the second millimeter wave radar (2), wherein the position coordinate data includes a plurality of coordinate data detected at a plurality of sampling moments; Fitting the plurality of coordinate data to obtain a fitting equation of the obstacle in the boom (3) coordinate system; Determining the movement direction of the arm (3); Determine the coordinates of the obstacle on the coordinate axis corresponding to the moving direction according to the fitting equation; An anti-collision strategy is executed according to the coordinates of the coordinate axes.

2. The anti-collision method for aerial work equipment according to claim 1, characterized in that: The step of fitting the plurality of coordinate data to obtain a fitting equation for the obstacle in the boom (3) coordinate system comprises: Determining the type of the fitting equation according to the plurality of coordinate data; Determine the general expression formula of the fitting equation according to the determined type; The coordinate points in the plurality of coordinate data are substituted into the general expression through the least square method to fit the fitting equation.

3. The anti-collision method for aerial work equipment according to claim 2, characterized in that: Determining the type of the fitting equation according to the plurality of coordinate data comprises: Determine the positions of multiple coordinate points in multiple coordinate data; Determine the obstacle contour according to the positions of the multiple coordinate points; When the obstacle contour is a straight line, determining the type of the fitting equation to be a linear equation; When the obstacle contour is a curve, the type of the fitting equation is determined to be an inverse proportional equation or an Nth-order equation, where N is greater than 1.

4. The anti-collision method for aerial work equipment according to claim 1, characterized in that: The executing the anti-collision strategy according to the coordinates of the coordinate axis includes: When the distance between the coordinate of the coordinate axis and the origin is greater than L2 and less than or equal to L3, a voice alarm is activated; When the distance between the coordinate of the coordinate axis and the origin is greater than L1 and less than or equal to L2, the voice alarm is activated and the boom (3) is controlled to stop to avoid obstacles; Among them, L3 is greater than L2, L2 is greater than L1, and L1 is greater than zero.

5. The anti-collision method for aerial work equipment according to claim 1, characterized in that: The position coordinate data is coordinate data in the boom (3) coordinate system, the origin of the boom (3) coordinate system is the starting point of the boom (3), the x-axis of the boom (3) coordinate system is along the length direction of the boom (3), the y-axis is along the length direction of the cross section of the boom (3), and the z-axis is along the height direction of the cross section of the boom (3), and the acquisition of the position coordinate data of the obstacle detected by the first millimeter wave radar (1) and the second millimeter wave radar (2) includes: Determining a first conversion matrix between a detection coordinate system of the first millimeter wave radar (1) and a coordinate system of the boom (3); Determining a second conversion matrix between the detection coordinate system of the second millimeter wave radar (2) and the coordinate system of the boom (3); The coordinate data detected by the first millimeter wave radar (1) and the coordinate data detected by the second millimeter wave radar (2) are respectively transformed according to the first transformation matrix and the second transformation matrix to obtain the position coordinate data.

6. The anti-collision method for aerial work equipment according to claim 5, characterized in that: The anti-collision method also includes: When there is an angle deviation between the first millimeter wave radar (1) or the second millimeter wave radar (2) and a preset installation position, obtaining a first angle deviation between a detection coordinate system of the first millimeter wave radar (1) and a preset coordinate system of the first millimeter wave radar (1), or a second angle deviation between a detection coordinate system of the second millimeter wave radar (2) and a preset coordinate system of the second millimeter wave radar (2); Determine a deviation rotation matrix according to the first angle deviation or the second angle deviation; The coordinate data detected by the first millimeter wave radar (1) or the second millimeter wave radar (2) is corrected according to the deviation rotation matrix.

7. The anti-collision method for aerial work equipment according to claim 6, characterized in that: The anti-collision method also includes: Determine a plurality of first deviation angles corresponding to each coordinate axis according to the first angle deviation; Determine a plurality of second deviation angles corresponding to each coordinate axis according to the second angle deviation; When any one of the first deviation angle or the second deviation angle is greater than a preset deviation threshold, a deviation correction alarm is initiated.

8. A controller, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the anti-collision method for aerial work equipment according to any one of claims 1 to 7 when executing the instructions.

9. An anti-collision device for aerial work equipment, characterized in that: The aerial work equipment comprises a boom (3), and the anti-collision device comprises: The first millimeter wave radar (1); a second millimeter-wave radar (2), wherein the first millimeter-wave radar (1) and the second millimeter-wave radar (2) are arranged at a starting point of the arm (3) and are arranged diagonally with respect to a cross section of the arm (3), and detection fields of the first millimeter-wave radar (1) and the second millimeter-wave radar (2) are orthogonal to each other and cover the arm (3); A controller according to claim 8.

10. The anti-collision device for aerial work equipment according to claim 9, characterized in that: The aerial work equipment further comprises a tow chain installed on one side of the boom (3); the first millimeter wave radar (1) is installed on a side of the boom (3) close to the tow chain; the detection end of the first millimeter wave radar (1) faces the extension direction of the boom (3) and is installed vertically; the first millimeter wave radar (1) is used to detect obstacle coordinate data in the direction of the boom (3) of variable amplitude movement; the second millimeter wave radar (2) is installed on a side of the boom (3) away from the tow chain; the detection end of the second millimeter wave radar (2) faces the extension direction of the boom (3) and is installed horizontally; the second millimeter wave radar (2) is used to detect obstacle coordinate data in the direction of the swing movement of the boom (3).

11. A high-altitude working equipment, characterized in that: include: Boom (3); An anti-collision device for aerial work equipment according to claim 9 or 10.

12. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the anti-collision method for aerial work equipment according to any one of claims 1 to 7.

Images