Anti-collision method and anti-collision device for aerial work equipment

Abstract

The present invention relates to the technical field of boom-type engineering machinery, and specifically to an anti-collision method and anti-collision device for aerial work equipment, wherein a first millimeter-wave radar and a second millimeter-wave radar are disposed at the starting point of a 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 mutually orthogonal and cover the boom. The anti-collision method comprises: obtaining position coordinate data of obstacles detected by the first millimeter-wave radar and the second millimeter-wave radar, the position coordinate data comprising multiple coordinate data detected at multiple sampling moments; fitting the multiple coordinate data to obtain a fitting equation for the obstacle in the boom coordinate system; determining the direction of movement of the boom; determining the coordinates of the obstacle on the coordinate axis corresponding to the direction of movement based on the fitting equation; and executing an anti-collision strategy based on the coordinates of the coordinate axis. The above-mentioned anti-collision method reduces the risk of the millimeter-wave radar missing obstacles and reduces the probability of collision of the boom.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of arm engineering machinery, in particular to a collision avoidance method for aerial work equipment, a controller, a collision avoidance device for aerial work equipment, aerial work equipment and a storage medium. BACKGROUND

[0002] There are a large number of high-altitude work scenes in daily life and engineering operations. In most scenes, the operator stands on the high-altitude work platform and controls the arm to send the platform to the work site for high-altitude work. During the work process, the operator needs to control the arm to change the target position of the platform work. For the operator, there are many blind spots around the arm, especially in the gaps between staggered floors, complex steel structure workshops, scaffolds and other complex construction environments. Arm collision accidents occur frequently, and the arm and its drag chain are severely damaged, endangering the safety of the equipment. More seriously, it endangers the safety of the buildings and personnel on the construction site, causing greater safety accidents. Therefore, the high-altitude work machinery industry has also developed arm collision avoidance technology for arm high-altitude vehicles. Sensors are installed on the arm to detect the position coordinates of the obstacles around the arm in the movement direction of the arm, to achieve voice warning, speed reduction and shutdown, aiming to maintain high-altitude work efficiency and flexibility while greatly improving equipment safety and construction safety.

[0003] However, millimeter waves are not sensitive to wood, plastic, small-diameter metal rods and wires, and relying solely on millimeter wave output for environmental perception is prone to missed detection, resulting in collision accidents. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a collision avoidance method for aerial work equipment, a controller, a collision avoidance device for aerial work equipment, aerial work equipment and a storage medium, to solve the technical problem of missed detection of obstacles by millimeter wave radar in the prior art.

[0005] To achieve the above-mentioned purpose, the first aspect of the present application provides a collision avoidance method for aerial work equipment, the aerial work equipment comprising an arm, a first millimeter wave radar and a second millimeter wave radar, the first millimeter wave radar and the second millimeter wave radar being arranged at the starting point of the arm and diagonally with respect to the cross section of the arm, the detection fields of view of the first millimeter wave radar and the second millimeter wave radar being orthogonal to each other and covering the arm, the collision avoidance method comprising:

[0006] obtaining position coordinate data of obstacles detected by the first millimeter wave radar and the second millimeter wave radar, the position coordinate data comprising a plurality of coordinate data detected at a plurality of sampling times;

[0007] fitting the plurality of coordinate data to obtain a fitting equation of the obstacles in the arm coordinate system;

[0008] determine a movement direction of the arm support;

[0009] determine a coordinate of the obstacle on a coordinate axis corresponding to the movement direction according to the fitting equation;

[0010] execute a collision avoidance strategy according to the coordinate of the coordinate axis.

[0011] In the embodiment of the present application, fitting the plurality of coordinate data to obtain the fitting equation of the obstacle in the arm support coordinate system comprises: determining a type of the fitting equation according to the plurality of coordinate data; determining an expression formula of the fitting equation according to the determined type; substituting the coordinate points in the plurality of coordinate data into the expression formula by the least square method to fit the fitting equation.

[0012] In the embodiment of the present application, determining the type of the fitting equation according to the plurality of coordinate data comprises: determining positions of the plurality of coordinate points in the plurality of coordinate data; determining an obstacle profile according to the positions of the plurality of coordinate points; in a case that the obstacle profile is a straight line, determining that the type of the fitting equation is a first order equation; in a case that the obstacle profile is a curve, determining that the type of the fitting equation is an inverse proportion equation or an N order equation, where N is greater than 1.

[0013] In the embodiment of the present application, executing the collision avoidance strategy according to the coordinate of the coordinate axis comprises: in a case that a distance between the coordinate of the coordinate axis and the origin is greater than L2 and less than or equal to L3, starting a voice alarm; in a case that the distance between the coordinate of the coordinate axis and the origin is greater than L1 and less than or equal to L2, starting the voice alarm and controlling the arm support to stop and avoid the obstacle; where L3 is greater than L2, L2 is greater than L1, and L1 is greater than zero.

[0014] In the embodiment of the present application, the position coordinate data is coordinate data in the arm support coordinate system, the origin of the arm support coordinate system is at the starting point of the arm support, the x-axis of the arm support coordinate system is along the length direction of the arm support, the y-axis of the arm support coordinate system is along the length direction of the cross section of the arm support, and the z-axis of the arm support coordinate system is along the height direction of the cross section of the arm support, and the position coordinate data of the obstacle detected by the first millimeter wave radar and the second millimeter wave radar comprises: determining a first conversion matrix between the detection coordinate system of the first millimeter wave radar and the arm support coordinate system; determining a second conversion matrix between the detection coordinate system of the second millimeter wave radar and the arm support coordinate system; and converting the coordinate data detected by the first millimeter wave radar and the coordinate data detected by the second millimeter wave radar respectively according to the first conversion matrix and the second conversion matrix to obtain the position coordinate data.

[0015] In the embodiment of the present application, the anti-collision method further comprises: in the case that the first millimeter wave radar or the second millimeter wave radar has an angle deviation from the preset installation position, obtaining a first angle 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 angle 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 according to the first angle deviation or the second angle deviation; and correcting the coordinate data detected by the first millimeter wave radar or the second millimeter wave radar according to the deviation rotation matrix.

[0016] In the embodiment of the present application, the anti-collision method further comprises: determining a plurality of first deviation angles corresponding to each coordinate axis according to the first angle deviation; determining a plurality of second deviation angles corresponding to each coordinate axis according to the second angle deviation; and starting a deviation correction alarm in the case that any one of the first deviation angles or the second deviation angles is greater than a preset deviation threshold.

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

[0018] The third aspect of the present application provides an anti-collision device for aerial work equipment, the aerial work equipment comprising an arm support, the anti-collision device comprising: a first millimeter wave radar; a second millimeter wave radar, the first millimeter wave radar and the second millimeter wave radar being arranged at the starting point of the arm support and diagonally relative to the cross section of the arm support, the detection fields of view of the first millimeter wave radar and the second millimeter wave radar being orthogonal to each other and covering the arm support; and the above-mentioned controller.

[0019] In the embodiment of the present application, the aerial work equipment further comprises a drag chain installed on one side of the arm support, the first millimeter wave radar is installed on the side of the arm support close to the drag chain, the detection end of the first millimeter wave radar is vertically installed towards the extension direction of the arm support, and the first millimeter wave radar is used for detecting obstacle coordinate data in the luffing movement direction of the arm support, the second millimeter wave radar is installed on the side of the arm support away from the drag chain, the detection end of the second millimeter wave radar is horizontally installed towards the extension direction of the arm support, and the second millimeter wave radar is used for detecting obstacle coordinate data in the slewing movement direction of the arm support.

[0020] The fourth aspect of the present application provides an aerial work equipment, comprising: an arm support and the above-mentioned anti-collision device for aerial work equipment.

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

[0022] The anti-collision method for the aerial work equipment can obtain position coordinate data of an obstacle detected by the first millimeter wave radar and the second millimeter wave radar, and the position coordinate data includes a plurality of coordinate data detected at a plurality of sampling time points. Then, the plurality of coordinate data is fitted to obtain a fitting equation of the obstacle in the boom coordinate system. The boom coordinate system takes a starting point of the boom as an origin, a boom extension direction as a first coordinate axis, a rotation movement direction of the boom as a second coordinate axis, and a luffing movement direction of the boom as a third coordinate axis. The movement direction of the boom and the corresponding coordinate axis of the movement direction can be obtained, and the coordinate of the obstacle in the corresponding coordinate axis can be determined according to the fitting equation, so that the corresponding anti-collision strategy is executed according to the coordinate of the coordinate axis to prevent the boom from colliding with the obstacle. The anti-collision method for the boom can determine the fitting equation of the obstacle according to the position coordinate data obtained at a plurality of time points, and determine the coordinate of the obstacle in the coordinate axis corresponding to the movement direction according to the fitting equation, so that the anti-collision strategy of the boom is determined. The millimeter wave radar can improve the detection sensitivity when detecting wood, plastic, metal rods and wires with small diameters, the profile of the obstacle after fitting is determined according to the fitting equation, so that the boom can perform obstacle avoidance operation, the probability of collision between the boom and the obstacle is reduced, the safety of the boom movement is improved, and the safety of equipment and personal property is protected.

[0023] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

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

[0025] Figure 1 A flowchart of an anti-collision method for aerial work equipment according to an embodiment of the present application is schematically shown;

[0026] Figure 2 A space partitioning area diagram of a ring boom is provided according to an embodiment of the present application;

[0027] Figure 3 A boom coordinate system diagram is provided according to an embodiment of the present application;

[0028] Figure 4 A millimeter wave radar coordinate system diagram is provided according to an embodiment of the present application;

[0029] Figure 5 A millimeter wave radar detection field diagram is provided.

[0030] BRIEF DESCRIPTION OF DRAWINGS

[0031] 1 first millimeter wave radar

[0032] 2 second millimeter wave radar

[0033] 3 arm support

[0034] S1 body filtering area

[0035] S2 speed reduction and stop barrier area

[0036] S3 danger warning area DETAILED DESCRIPTION

[0037] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain and illustrate the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0038] It should be noted that the acquisition, transmission, storage, use, processing and the like of data in the technical solutions of the present application comply with the relevant provisions of national laws and regulations. In the embodiments of the present application, some existing industry solutions such as software, components, models and the like may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions of the present application, 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 application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, motion condition and the like between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0040] In addition, if the embodiments of the present application involve descriptions of “first”, “second” and the like, the descriptions of “first”, “second” and the like are only for description purposes and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first” and “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can implement it, and when the combination of technical solutions appears to be contradictory or unimplementable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0041] The aerial work equipment usually comprises a telescopic arm 3, the starting point of the arm 3 is connected to a rotating platform, and the end of the arm 3 is provided with an aerial work platform. The aerial work equipment is often applied to a complex space environment, and there are often obstacles such as buildings and branches in the movement range of the arm 3. The collision between the arm 3 and the obstacles will not only cause certain property losses, but also bring safety risks to the operator on the aerial work platform. Therefore, the distance between the arm 3 and the obstacles needs to be detected in real time during the movement of the arm 3, so as to ensure the safe operation of the arm 3.

[0042] In the embodiment of the present application, the aerial work equipment comprises the arm 3, the first millimeter wave radar 1 and the 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 arm 3, and the detection fields of view of the first millimeter wave radar 1 and the second millimeter wave radar 2 are orthogonal to each other and cover the entire arm 3, so as to facilitate the position detection of the arm 3 and the obstacles around the arm 3. The millimeter wave radar can be installed at the starting point of the arm 3, and the coordinate data of the arm 3 and the arm 3 around the arm 3 can be detected, so as to determine the distance between the arm 3 and the obstacles.

[0043] Figure 1 The flowchart of the anti-collision method for the aerial work equipment according to the embodiment of the present application is schematically shown. Figure 1 As shown in the figure, the embodiment of the present application provides an anti-collision method for the aerial work equipment, and the anti-collision method comprises the following steps.

[0044] S101, obtaining the position coordinate data of the obstacles detected by the first millimeter wave radar 1 and the second millimeter wave radar 2, the position coordinate data comprising a plurality of coordinate data detected at a plurality of sampling time points.

[0045] S102, fitting the plurality of coordinate data to obtain the fitting equation of the obstacles in the arm 3 coordinate system.

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

[0047] S104, determining the coordinate of the obstacles on the coordinate axis corresponding to the movement direction according to the fitting equation.

[0048] S105, executing the anti-collision strategy according to the coordinate of the coordinate axis.

[0049] Firstly, the controller of the aerial work equipment obtains position coordinate data of the 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 times. The controller fits the plurality of coordinate data to determine the fitting equation of the obstacles in the coordinate system of the boom 3. The coordinate points corresponding to the coordinate data are usually discrete coordinate points, and the plurality of discrete coordinate points can determine the fitting equation of the obstacles. According to the analytical expression of the fitting equation and the coordinate axis corresponding to the motion direction, the coordinate of the obstacle in the coordinate axis corresponding to the motion direction can be determined. Further, the distance between the obstacle and the boom 3 is determined according to the coordinate, and the corresponding anti-collision strategy is determined according to the distance to prevent the boom 3 from colliding with the obstacle.

[0050] In the prior art, the millimeter wave radar is not sensitive to wood, plastic, metal rods and wires with small diameters. When the millimeter wave radar detects the above-mentioned obstacles, only a limited number of coordinate data can be detected, and it is difficult to completely fit the profile of the obstacle with the limited number of coordinate data, which leads to the collision between the boom 3 and the obstacle. The anti-collision method provided in the embodiment of the present application can accumulate a plurality of coordinate data detected at a plurality of sampling times and fit the plurality of coordinate data to enhance the sensing ability of the millimeter wave radar, avoid missing detection of wood, plastic, metal rods and wires with small diameters, and improve the safety performance of the boom 3 to prevent collision risk.

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

[0052] In one embodiment, fitting the plurality of coordinate data to obtain the fitted equation of the obstacle in the coordinate system of the arm support 3 comprises: determining a type of the fitted equation according to the plurality of coordinate data; determining an expression formula of the fitted equation according to the determined type; and substituting coordinate points in the plurality of coordinate data into the expression formula by the least square method to fit the fitted equation. In the process of determining the fitted equation of the obstacle, the type of the fitted equation can be determined according to the plurality of coordinate data, and the expression formula of the fitted equation can be determined according to the type. For example, the coordinate points corresponding to the plurality of coordinate data are all on the same straight line, the type of the fitted equation is determined to be a first-order equation, and the expression formula of the fitted equation is determined to be the expression formula corresponding to the first-order equation. The coordinate points in the plurality of coordinate data are substituted into the expression formula by the least square method, and the fitted equation can be obtained. By using the above method, the coordinate data can be fitted in a scientific method to obtain the fitted equation corresponding to the obstacle, so that the arm support 3 can more accurately perform the obstacle avoidance operation, prevent the arm support 3 from colliding with the obstacle, and also prevent the arm support 3 from being too sensitive to cause frequent misjudgment.

[0053] In one embodiment, determining the type of the fitted equation according to the plurality of coordinate data comprises: determining positions of a plurality of coordinate points in the plurality of coordinate data; determining an obstacle profile according to the positions of the plurality of coordinate points; in a case where the obstacle profile is a straight line, determining that the type of the fitted equation is a first-order equation; and in a case where the obstacle profile is a curve, determining that the type of the fitted equation is an inverse proportional equation or an N-order equation, where N is greater than 1. In the process of determining the type of the fitted equation of the obstacle, the controller can first determine the positions of the plurality of coordinate points according to the plurality of coordinate data, and further determine the profile of the obstacle, and determine the fitted equation of the obstacle according to the profile of the obstacle. For example, in a case where the profile of the obstacle is a straight line, it can be determined that the type of the fitted equation is a first-order equation, and in a case where the profile of the obstacle is a curve, it can be determined that the type of the fitted equation is an inverse proportional equation or an N-order equation, where N is greater than 1. Specifically, the obstacle that is easily missed by the millimeter wave radar is usually a thin rod, and therefore the controller can preferentially determine that the profile of the obstacle is a straight line. By using the above method, the type of the fitted equation of the obstacle can be determined according to the profile of the obstacle, the coordinate data of the obstacle is fitted in a targeted manner, the fitting result is more accurate, and the position of the obstacle can be more accurately determined to facilitate the arm support 3 to perform the anti-collision operation.

[0054] In one specific embodiment, after determining that the type of the fitted equation is a first-order equation, the fitted equation is set as the following equation (p):

[0055]

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

[0057] In matrix form, for the i-th point, the following equation (q) is obtained:

[0058]

[0059] where x i , y i , z i are the horizontal coordinate, vertical coordinate and vertical coordinate corresponding to the i-th position coordinate, respectively.

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

[0061]

[0062] where x n , y n , z n are the horizontal coordinate, vertical coordinate and vertical coordinate corresponding to the n-th position coordinate, respectively.

[0063] Using the least square method fitting, the following equation (d) is obtained:

[0064]

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

[0066]

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

[0068]

[0069] In one embodiment, executing a collision avoidance strategy based on the coordinates of a coordinate axis includes: activating a voice alarm when the distance between the coordinate axis and the origin is greater than L2 and less than or equal to L3; activating a voice alarm and controlling the boom 3 to stop and avoid obstacles when the distance between the coordinate axis and the origin is greater than L1 and less than or equal to L2; wherein L3 is greater than L2, L2 is greater than L1, and L1 is greater than zero. During the collision avoidance strategy, after determining the coordinate axis, the distance between the coordinate axis and the origin can be determined; this distance represents the distance between the boom 3 and the obstacle in that direction of motion. 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 motion of the boom 3 and is relatively far away. The controller activates a voice alarm to alert 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 motion of the boom 3 and is relatively close. 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 distance is greater than L3, it can be determined that the obstacle is far away from the boom 3, and the controller does not respond. Using the above-mentioned anti-collision method, multi-level warning and obstacle avoidance measures can be implemented according to the distance between the boom 3 and the obstacle to better protect the safety of equipment, life and property.

[0070] In a specific embodiment, Figure 2 As shown in FIG. 1 , a schematic diagram of the space division area of ​​the ring arm frame 3 provided according to an embodiment of the present invention is shown. 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 recognition 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 recognition 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 recognition 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 recognition 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 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. Obtaining 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 the detection coordinate system of the first millimeter-wave radar 1 and the boom 3 coordinate system; determining a second conversion matrix between the detection coordinate system of the second millimeter-wave radar 2 and the boom 3 coordinate system; and converting the coordinate data detected by the first millimeter-wave radar 1 and the second millimeter-wave radar 2 according to the first conversion matrix and the second conversion matrix to obtain the position coordinate data. There is a positional offset between the installation location of the first millimeter-wave radar 1 and / or the second millimeter-wave radar 2 and the starting point of the boom 3. There is also an angular 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 a first conversion matrix between the coordinate system of the first millimeter-wave radar 1 and the coordinate system of the boom 3, and a second conversion matrix between the coordinate system of the second millimeter-wave radar 2 and the coordinate system of the boom 3. The coordinate data detected by the millimeter-wave radar is converted according to the first and second conversion matrices to obtain the above-mentioned position coordinate data. Using the above-mentioned method, a conversion matrix can be determined based on the positional offset and angular offset between the coordinate system of the millimeter-wave radar and the coordinate system of the boom 3. Based on the conversion matrix, the position data detected by the millimeter-wave radar can be converted into position coordinate data, thereby more accurately determining the location 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 boom 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 boom 3, and there is a position deviation and an angle deviation between the coordinate system of the second millimeter-wave radar 2 and the boom 3. First, according to the coordinates of the first millimeter-wave radar 1 and the coordinates of the second millimeter-wave radar 2, the two installation offset values ​​a and b are determined as follows: Formula (g) and Formula (h):

[0073]

[0074] Among them, such as 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 the coordinate data as The coordinate data is converted into the position coordinates of the arm support 3, and the position coordinates corresponding to the first millimeter wave radar 1 is A, where the expression of A is (A0-a), and the position coordinates corresponding to the second millimeter wave radar 2 is B, where the expression of B is

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

[0077]

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

[0079]

[0080] where 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 coordinate system of the arm support 3, and further the positions of the arm support 3 and the obstacle are detected.

[0081] In one embodiment, the collision avoidance method further includes: obtaining a first angular 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 angular 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, when the first millimeter-wave radar 1 or the second millimeter-wave radar 2 is angularly offset from the preset installation position; 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 1 or the second millimeter-wave radar 2 based on the deviation rotation matrix. When detecting the position coordinates of the boom 3 and the obstacle, the first millimeter-wave radar 1 and the second millimeter-wave radar 2 establish a coordinate system centered on their respective detection ends and perform coordinate transformation on the detected coordinate data to obtain the position coordinate data of the boom 3 and the obstacle. However, during installation and use, the first millimeter-wave radar 1 may deviate from the preset installation angle, which may result in inaccurate coordinate detection of the obstacle and the boom 3. Therefore, in an embodiment of the present invention, a first angular 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 a second angular 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 based on the second angular deviation and the second angular deviation, respectively. Based on 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. Using 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 need for operators or after-sales personnel to frequently debug 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 this method. 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] Wherein, 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 comprises: determining a plurality of first deviation angles corresponding to each coordinate axis according to the first angle deviation; determining a plurality of second deviation angles corresponding to each coordinate axis according to the second angle deviation; and starting a deviation correction alarm when any one of the first deviation angles or the second deviation angles is greater than a preset deviation threshold. In the previous embodiment, the detection of the coordinate data detected by the first millimeter wave radar 1 and / or the second millimeter wave radar 2 can be corrected 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 the detection by correction often has poor effect. In the embodiment of the application, after the first angle deviation and the second angle deviation are determined, a plurality of 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 are determined according to the first angle deviation, and a plurality of 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 are determined according to the second angle deviation. When any one of the first deviation angles or the second deviation angles is greater than a preset deviation threshold, a deviation correction alarm is started to prompt the operator to adjust the installation angle of the first millimeter wave radar 1 and / or the second millimeter wave radar 2. By using the above anti-collision method, 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, an alarm can be started in time to avoid large error in detection of the position coordinates of the obstacle, and thus the boom 3 collides 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-described anti-collision method for the aerial work equipment when executing the instructions.

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

[0088] In one embodiment, as Figure 5As shown, it is a schematic diagram of a millimeter wave radar detection field of view. The aerial work equipment further comprises a drag 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 drag chain, the detection end of the first millimeter wave radar 1 is vertically installed towards the extension direction of the boom 3, and the first millimeter wave radar 1 is used for detecting the obstacle coordinate data in the luffing motion direction of the boom 3, the second millimeter wave radar 2 is installed on the side of the boom 3 away from the drag chain, the detection end of the second millimeter wave radar 2 is horizontally installed towards the extension direction of the boom 3, and the second millimeter wave radar 2 is used for detecting the obstacle coordinate data in the slewing motion direction of the boom 3. The drag chain is an important transmission component of the aerial work equipment, and the telescopic aerial work vehicle is usually provided on one side of the boom 3 and has a large range of motion, so the millimeter wave radar needs to detect the position of the drag chain and avoid strong interference of the drag chain on the detection of the millimeter wave radar. The side where the drag chain is usually causes a large obstruction, and there is usually strong interference when detecting the position of the boom 3. The detection fields of view of the first millimeter wave radar 1 and the second millimeter wave radar 2 in the embodiment 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 vertically installed, the vertical installation enables the first millimeter wave radar 1 to obtain a longer detection field of view in the luffing motion direction of the boom 3, so as to detect the obstacle coordinate data in the luffing motion direction, and the slewing motion is partially blocked by the drag chain but has a small influence. The second millimeter wave radar 2 is installed on the side of the boom 3 away from the drag chain, the detection end of the second millimeter wave radar 2 is horizontally installed towards the extension direction of the boom 3, the second millimeter wave radar 2 and the first millimeter wave radar 1 are located at two ends of the diagonal line of the cross section at the starting point of the boom 3, and the horizontally installed second millimeter wave radar 2 can obtain a longer detection field of view in the slewing motion direction of the boom 3, so as to detect the obstacle coordinate data in the slewing motion direction. By using the above-mentioned anti-collision device, the first millimeter wave radar 1 and the second millimeter wave radar 2 can respectively detect the obstacles in the slewing motion direction and the luffing motion direction of the boom 3, and the position of the drag chain can be detected, and the drag chain has little interference on the detection of the millimeter wave radar.

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

[0090] In one embodiment, a kind of machine readable storage medium is provided, and the machine readable storage medium stores instructions for making machine execute the anti-collision method for aerial work equipment described above.

[0091] Those skilled in the art will appreciate that embodiments of the application can be readily used as a method, a system or a computer program product. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0092] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems), computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0093] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

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

[0096] The memory can include non-persistent memory, random access memory (RAM), and / or non-volatile memory, such as read only memory (ROM) or flash memory, among others. The memory is an example of computer readable media.

[0097] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0098] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0099] The above only is the embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

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 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 anti-collision method comprises: Obtaining 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); Determining the coordinates of the obstacle on the coordinate axis corresponding to the direction of movement 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 fitting of the plurality of coordinate data to obtain the fitting equation of the obstacle in the boom (3) coordinate system includes: 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 by 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 includes: Determine the positions of multiple coordinate points in multiple coordinate data; Determine the obstacle outline based on the positions of the multiple coordinate points; When the obstacle contour is a straight line, determining that the type of the fitting equation is a linear equation; In the case that 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 of 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 and 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 further comprises: In the case where there is an angular deviation between the first millimeter-wave radar (1) or the second millimeter-wave radar (2) and a preset installation position, obtaining a first angular 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 angular 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); determining a deviation rotation matrix according to the first angular deviation or the second angular deviation; 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 further comprises: Determine a plurality of first deviation angles corresponding to each coordinate axis according to the first angular deviation; determining a plurality of second deviation angles corresponding to each coordinate axis according to the second angular 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 activated.

8. A controller, characterized in that: include: a memory configured to store instructions; as well as The 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: 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 boom (3) and are arranged diagonally with respect to a cross section of the boom (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 boom (3); The 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 includes a drag 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 drag 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 amplitude variation movement direction of the boom (3), the second millimeter-wave radar (2) is installed on a side of the boom (3) away from the drag chain, the detection end of the second millimeter-wave radar (2) faces the extension direction of the boom (3) and is installed horizontally, and the second millimeter-wave radar (2) is used to detect obstacle coordinate data in the rotation movement direction 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 enabling a machine to execute the anti-collision method for aerial work equipment according to any one of claims 1 to 7.

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