Determination method for vehicle body anti-collision area of overhead working vehicle and processor thereof

Abstract

The invention discloses a method for determining a vehicle body anti-collision area for a high-altitude operation vehicle and a processor thereof, and relates to the technical field of high-altitude operation vehicles. A tail balancing weight is arranged in a tail area of the overhead working truck. The method comprises the steps that edge position information of the edge of the tail balancing weight is obtained; the edge position information is fitted based on a preset edge curve to determine the boundary of the vehicle body, and the preset edge curve is determined according to the curvature of the edge of the tail balancing weight; and determining a vehicle body anti-collision area according to the vehicle body boundary and a preset obstacle avoidance distance. According to the method, the vehicle body anti-collision area can be delimited based on the vehicle body boundary and the preset obstacle avoidance distance, so that the boundary of the delimited vehicle body anti-collision area is attached to the vehicle body edge, and the problem that an obstacle detected by a position unit sensor at the vehicle body edge is still possibly determined to have no collision risk with the vehicle body even if the obstacle is adjacent to the vehicle body is solved; and the risk that the vehicle body collides with environmental objects can be reduced, and the operation safety of the overhead working vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of aerial work vehicles, and particularly to a method for determining a body anti-collision area of an aerial work vehicle, a processor, an aerial work vehicle, a readable storage medium, and a computer program product. Background Art

[0002] Aerial work vehicles are widely used in fields such as construction, power maintenance, and advertising installation. Due to their complex operating environment and special body structure, for operators working inside the vehicle platform of an aerial work vehicle, the operators cannot see all areas around the vehicle body, resulting in visual blind spots. Therefore, during the process of controlling the change of the vehicle body pose, the vehicle body may collide with environmental obstacles. Especially when operating in narrow spaces or complex terrains, the traditional manual observation method is difficult to meet the safety requirements. Existing anti-collision technologies mostly target the operation platform and ignore the vehicle body. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a method for determining a body anti-collision area of an aerial work vehicle, a processor, an aerial work vehicle, a readable storage medium, and a computer program product, so as to solve the technical problem in the prior art that the anti-collision area of the vehicle body of an aerial work vehicle cannot be accurately determined, and to improve the technical problems of operation safety and efficiency.

[0004] To achieve the above purpose, a first aspect of the present application provides a method for determining a body anti-collision area of an aerial work vehicle. A tail counterweight is provided in the tail area of the aerial work vehicle. The method for determining the body anti-collision area includes:

[0005] Obtaining edge position information of the edge of the tail counterweight;

[0006] Fitting the edge position information based on a preset edge curve to determine the vehicle body boundary, where the preset edge curve is determined according to the curvature of the edge of the tail counterweight;

[0007] Determining the body anti-collision area according to the vehicle body boundary and a preset obstacle avoidance distance.

[0008] In the embodiments of the present application, the aerial work vehicle includes a plurality of position sensing units distributed at the tail edge; obtaining the edge position information of the edge of the tail counterweight includes: obtaining the edge position information through the plurality of position sensing units.

[0009] In the embodiments of the present application, the method for determining the body anti-collision area of the aerial work vehicle further includes: obtaining the detected obstacle position; when it is determined that the obstacle position is within the body anti-collision area, performing a body anti-collision operation.

[0010] In an embodiment of the present application, the aerial work vehicle includes a traveling device and a rotating device that are rotatably connected, and a tail counterweight is provided on the rotating device; the determination method further includes: when it is detected that the rotating device rotates relative to the traveling device, determining the coordinate transformation matrix of the vehicle body coordinate system after rotation according to the rotation angle and the rotation transformation matrix between the traveling device and the rotating device in the vehicle body coordinate system, where the coordinate origin of the vehicle body coordinate system is located on the rotating shaft connecting the traveling device and the rotating device; determining the transformed obstacle coordinates of the obstacle position under the coordinate transformation matrix; when it is determined that the obstacle position is within the vehicle body anti-collision area, performing a vehicle body anti-collision operation, including: when it is determined that the transformed obstacle coordinates are within the vehicle body anti-collision area, performing a vehicle body anti-collision operation.

[0011] In an embodiment of the present application, when it is determined that the obstacle position is within the vehicle body anti-collision area, performing the vehicle body anti-collision operation further includes; determining the height of the obstacle; when it is determined that the obstacle position is within the vehicle body anti-collision area and the height of the obstacle belongs to a preset vehicle body height range, performing the vehicle body anti-collision operation, where the preset vehicle body height range is determined according to the vehicle body height of the aerial work vehicle.

[0012] In an embodiment of the present application, the preset edge curve is a parabola; obtaining the edge position information of the tail counterweight includes: obtaining the positions of two points on the edge of the tail counterweight as the edge position information, where the two points include the midpoint position on the edge of the tail counterweight.

[0013] In an embodiment of the present application, the vehicle body anti-collision area includes a warning avoidance area and a deceleration avoidance area, and the preset avoidance distance includes a preset warning avoidance distance and a preset deceleration avoidance distance, where the deceleration avoidance area is located between the vehicle body and the warning avoidance area; determining the vehicle body anti-collision area according to the vehicle body boundary and the preset avoidance distance includes: determining the deceleration avoidance area according to the vehicle body boundary and the preset deceleration avoidance distance; determining the warning avoidance area according to the vehicle body boundary and the preset warning avoidance distance.

[0014] A second aspect of the present application provides a processor, which is configured to call instructions from a memory and be able to implement the determination method for the vehicle body anti-collision area of the aerial work vehicle provided in the first aspect of the present application when executing the instructions.

[0015] A third aspect of the present application provides an aerial work vehicle, including: the processor provided in the second aspect of the present application; and a tail counterweight located in the tail area of the aerial work vehicle.

[0016] A fourth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to cause the machine to execute the determination method for the vehicle body anti-collision area of the aerial work vehicle provided in the first aspect of the present application.

[0017] By obtaining the edge position information of the vehicle body edge and the preset edge curve determined based on the curvature of the edge of the tail counterweight block through the above technical solution, the vehicle body boundary can be fitted, so that the vehicle body anti-collision area can be delimited based on the vehicle body boundary and the preset obstacle avoidance distance, making the boundary of the delimited vehicle body anti-collision area fit the vehicle body edge, and accurately delimiting the range of the vehicle body anti-collision area from the position of the vehicle body edge according to the preset obstacle avoidance distance. This solves the problem that obstacles detected by the position unit sensor at the vehicle body edge may still be determined to have no collision risk with the vehicle body even if they are adjacent to the vehicle body, and can reduce the risk of collision between the vehicle body and environmental objects, increasing the operation safety of the aerial work vehicle.

[0018] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0019] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0020] Figure 1 Schematically shows a structural diagram of an aerial work vehicle according to an embodiment of the present application;

[0021] Figure 2 Schematically shows a diagram of a vehicle body boundary of an aerial work vehicle in a top view according to an embodiment of the present application;

[0022] Figure 3 Schematically shows a flowchart of a method for determining a vehicle body anti-collision area for an aerial work vehicle according to an embodiment of the present application;

[0023] Figure 4 Schematically shows a flowchart of another method for determining a vehicle body anti-collision area for an aerial work vehicle according to an embodiment of the present application;

[0024] Figure 5 Schematically shows another diagram of a vehicle body boundary of an aerial work vehicle in a top view according to an embodiment of the present application;

[0025] Figure 6 Schematically shows a diagram of a vehicle body anti-collision area of an aerial work vehicle in a top view according to an embodiment of the present application;

[0026] Figure 7 Schematically shows a flowchart of a method for an aerial work vehicle body anti-collision according to an embodiment of the present application;

[0027] Figure 8Schematically shows a schematic diagram of the position distribution of the position sensing unit on the aerial work vehicle body in a top-down view according to an embodiment of the present application;

[0028] Figure 9 Schematically shows a schematic diagram of the positional relationship between the vehicle body and the crossbar of the aerial work vehicle body in a rear view according to an embodiment of the present application;

[0029] Figure 10 Schematically shows a top-down view structural diagram of the aerial work vehicle body when there is an angle between the rotating device and the traveling device of the aerial work vehicle body according to an embodiment of the present application.

[0030] Description of reference numerals

[0031] Workbench 110, lifting boom 120, vehicle body 130. Detailed implementation manners

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present application, and are not 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 efforts shall fall within the scope of protection of the present application.

[0033] It should be noted that the acquisition, transmission, storage, use, processing, etc. of data in the technical solutions of the present application all comply with the relevant regulations of national laws and regulations. In the embodiments of the present application, some industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be regarded as exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solutions of the present application, but it does not mean that the applicant has already or necessarily used this solution.

[0034] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, then the directional indications are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0035] In addition, if the embodiments of the present application involve descriptions such as "first" and "second", the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0036] See Figure 1 , the aerial work vehicle includes a workbench 110, a lifting boom 120, and a vehicle body 130. The workbench 110 is connected to the vehicle body 130 through the lifting boom 120. An operator can stand inside the workbench 110 to perform aerial work and control the position and pose of the vehicle body 130 by operating a rocker provided on the workbench 110. Through the analysis and summary of the usage process of the aerial work vehicle shown in Figure 1 , it is found that for the operator on the workbench 110, there are blind areas 1 and 2 as shown in Figure 1 . Therefore, during the process of the operator controlling the change of the position and pose of the vehicle body, there is a risk of collision between the vehicle body and environmental objects. Further, as shown in Figure 2 , for the top view of the vehicle body 130 shown in Figure 1 , the area where the x-axis takes positive values corresponds to the blind areas 1 and 2 shown in Figure 1 . Among them, due to the irregular shape of the edge area of the counterweight block at the rear of the vehicle body shown in Figure 2 upper part, it is not possible to simply delimit a rectangular frame to calibrate and filter out the vehicle body 130. Otherwise, there will be a non-overlapping part between the rectangular frame and the vehicle body contour. If an obstacle is located in this non-overlapping part, it may cause the problem that the detected obstacle is about to collide with the vehicle body, but the obstacle is determined not to collide with the vehicle body. Based on the above analysis, in order to reduce the risk of collision between the vehicle body and environmental objects and increase the operation safety of the aerial work vehicle, the embodiments of the present application provide a method for determining the anti-collision area of the vehicle body for an aerial work vehicle.

[0037] Figure 3 Schematically shows a flowchart of a method for determining the anti-collision area of the vehicle body for an aerial work vehicle according to an embodiment of the present application. As shown in Figure 3 , a method for determining the anti-collision area of the vehicle body for an aerial work vehicle provided by the embodiments of the present application, wherein the aerial work vehicle includes a position sensing unit at the edge of the vehicle body at the edge of the counterweight block at the rear of the aerial work vehicle; the method for determining the anti-collision area of the vehicle body for the aerial work vehicle may include the following steps:

[0038] S302, obtaining edge position information of the edge of the rear counterweight block;

[0039] S304, fitting the edge position information based on a preset edge curve to determine the vehicle body boundary, wherein the preset edge curve is determined according to the curvature of the edge of the rear counterweight block;

[0040] S306, determining a vehicle body anti-collision area according to the vehicle body boundary and a preset obstacle avoidance distance.

[0041] The method for determining the anti-collision area of ​​the body of an aerial work vehicle provided in the embodiment of the present application obtains the edge position information of the edge of the body and the preset edge curve, and fits the body boundary, so that the body anti-collision area can be delineated based on the body boundary and the preset obstacle avoidance distance, so that the boundary of the delineated body anti-collision area fits the edge of the body, and the range of the body anti-collision area is accurately delineated based on the position of the body edge and the preset obstacle avoidance distance, thereby avoiding the problem that the obstacle detected by the position unit sensor of the body edge may be determined as having no collision risk with the body even if it is adjacent to the body. Therefore, the method for determining the anti-collision area of ​​the body of an aerial work vehicle provided in the embodiment of the present application can reduce the risk of collision between the body and environmental objects, and increase the operation safety of the aerial work vehicle.

[0042] It is understandable that the edge position information in step S302 can be obtained by manual calibration, mechanical or electronic equipment measurement, etc. The preset edge curve in step S304 is a curve to be fitted that is determined in advance based on the curvature characteristics of the edge of the counterweight area. The preset edge curve can be, for example, a parabola, a multiple power function curve, an exponential logarithmic curve, and a piecewise function curve of multiple functions determined based on the curvature characteristics of the edge of the rear counterweight block. The body anti-collision area in step S306 can be obtained by the manufacturer, dealer or user according to the above-mentioned method for determining the body anti-collision area of ​​the aerial work vehicle before the aerial work vehicle is put into use, or it can be determined during the operation of the aerial work vehicle.

[0043] In some embodiments of the present application, the preset edge curve is a parabola; step S302 may include:

[0044] The two-point positions of the edge of the rear counterweight block are obtained as edge position information, wherein the two-point positions include the midpoint position of the edge of the rear counterweight block.

[0045] Since the analytical expression of the parabola records the vertex position of the line and the degree of opening and closing of the parabola, and Figure 2As shown, the edge of the rear vehicle counterweight has the characteristic of bending and extending from the center to both sides to form an opening. Therefore, the midpoint position of the edge of the rear vehicle counterweight can be regarded as the vertex position of the parabola, and combined with another point position on the edge of the rear vehicle counterweight to determine the parameters expressing the vertex position and the opening degree of the parabola in the parabola equation, so as to determine the parabola equation to obtain the vehicle body boundary. On the one hand, the above steps select a parabola to fully express the bending and extending characteristics of the edge of the rear vehicle counterweight, that is, the curvature of the edge of the rear vehicle counterweight. On the other hand, only two points on the edge of the rear vehicle counterweight need to be obtained to determine the vehicle body boundary, which also reduces the complexity of obtaining the edge position information of the edge of the rear vehicle counterweight and the difficulty of fitting and determining the vehicle body boundary.

[0046] As an example, when the preset edge curve is a parabola, as Figure 4 shown, step S302 may include:

[0047] S402, the relative position sensing unit calibrates the center of the turntable of the aerial work vehicle as the origin coordinates of the vehicle body to determine the vehicle body coordinate system;

[0048] S404, obtain the midpoint coordinates and the position sensing unit coordinates of the edge of the rear vehicle counterweight as the edge position information of the vehicle body edge;

[0049] Step S304 may include:

[0050] S406, fit the preset edge curve according to the midpoint coordinates and the position sensing unit coordinates to obtain a parabolic vehicle body boundary.

[0051] As Figure 5 shown, since the vehicle body edge curvature of the edge of the rear vehicle counterweight generally shows the characteristic of gradually increasing from the middle where point M is located to both sides, a parabola can be used as the preset edge curve. And the parabola is fitted through the obtained midpoint coordinates and the position sensing unit coordinates of the edge of the rear vehicle counterweight to obtain a parabolic vehicle body boundary.

[0052] It can be understood that, under the vehicle body coordinate system as shown in Figure 5 for example, the parabola equation can be, for example:

[0053] x = ay 2 + b; (1)

[0054] Among them, a and b are parameters to be fitted. b can be directly determined according to the midpoint coordinates M(0, L3) shown in Figure 5 and combined with the position sensing unit coordinates B(-D1 / 2, L2) shown in Figure 5 to determine the parameter a to be fitted, so as to obtain a determined parabola equation to express the parabolic vehicle body boundary. According to formula (1), point M and point B, the vehicle body boundary can be, for example:

[0055]

[0056] In some embodiments of the present application, the aerial work vehicle includes a plurality of position sensing units distributed at the edge of the vehicle tail. Step S302 may include:

[0057] Obtaining the position sensing unit coordinates of the plurality of position sensing units in the vehicle body coordinate system as the edge position information of the vehicle edge.

[0058] Through the above steps, it is only necessary to select the position sensing unit coordinates of the plurality of position sensing units located at the vehicle edge as the vehicle edge position information, without having to calibrate other points on the vehicle edge as the edge position information. Moreover, the above steps can provide technical support for the real-time determination and correction of the vehicle boundary. Based on the real-time positions of the respective position sensing units, the edge position information can be updated in real time, thereby determining the vehicle boundary updated in real time.

[0059] It can be understood that the position sensing unit can be, for example, a laser ranging sensor, an ultrasonic radar, a millimeter wave radar, etc.

[0060] In some embodiments of the present application, the vehicle body anti-collision area includes a warning obstacle avoidance area and a deceleration obstacle avoidance area, and the preset obstacle avoidance distance includes a preset warning obstacle avoidance distance and a preset deceleration obstacle avoidance distance. Among them, the deceleration obstacle avoidance area is located between the vehicle body and the warning obstacle avoidance area;

[0061] Step S306 includes:

[0062] Determining the deceleration obstacle avoidance area according to the vehicle boundary and the preset deceleration obstacle avoidance distance;

[0063] Determining the warning obstacle avoidance area according to the vehicle boundary and the preset warning obstacle avoidance distance.

[0064] After determining the deceleration obstacle avoidance area and the warning obstacle avoidance area, if the obstacle coordinates detected by the position sensing unit belong to the deceleration obstacle avoidance area, it indicates that the distance between the obstacle and the vehicle body is relatively close and the risk of collision with the vehicle body is relatively high. Therefore, the vehicle deceleration instruction can be executed to slow down the change rate of the vehicle body pose, thereby increasing the time required for the vehicle body to collide with the obstacle, so as to inform the operator that there is an obstacle near the vehicle body through the behavior of vehicle body deceleration and provide the operator with a longer reaction time to stop controlling the change of the vehicle body pose.

[0065] As Figure 6 shown, in some embodiments of the present application, step S306 may include:

[0066] Radiating the preset obstacle avoidance distance outward from the vehicle boundary to determine the vehicle body anti-collision area;

[0067] Determining the deceleration obstacle avoidance area according to the vehicle boundary and the preset deceleration obstacle avoidance distance may include:

[0068] Radiate a preset deceleration and obstacle avoidance distance outward from the vehicle body boundary to determine a deceleration and obstacle avoidance area;

[0069] Determine a warning and obstacle avoidance area according to the vehicle body boundary and a preset warning and obstacle avoidance distance, which may include:

[0070] Radiate a preset warning and obstacle avoidance distance outward from the vehicle body boundary to determine a warning and obstacle avoidance area.

[0071] As an example, as Figure 6 shown, the deceleration and obstacle avoidance area may include a left and right turn restriction area and a driving restriction area, and the warning and obstacle avoidance area may include a left and right turn warning area and a driving warning area.

[0072] The driving warning area may be, for example, S1:

[0073]

[0074] Wherein, L2 is the coordinate value of point B along the x-axis as shown in Figure 5 and Figure 6 shown, L3 is the coordinate value of the midpoint of the edge of the vehicle tail counterweight along the x-axis as shown in Figure 6 shown, D2 is the vehicle body width of the vehicle body shown in Figure 6 shown, L a is the preset deceleration and obstacle avoidance distance, and L b is the preset warning and obstacle avoidance distance.

[0075] The driving restriction area may be, for example, S2:

[0076]

[0077] The left and right turn warning area may be, for example, S3:

[0078]

[0079] Wherein,

[0080] The left and right turn restriction area may be, for example, S4:

[0081]

[0082] Wherein, L1 is Figure 8 the height value of the left and right turn restriction areas on both sides of the vehicle body shown in

[0083] In some embodiments of the present application, after the vehicle body anti-collision area is determined, in order to perform vehicle body anti-collision operations according to the vehicle body anti-collision area, the method for determining the vehicle body anti-collision area for an aerial work vehicle provided by the embodiments of the present application may further include:

[0084] Obtain the detected obstacle position;

[0085] When it is determined that the position of the obstacle is within the body anti-collision area, perform the body anti-collision operation.

[0086] Based on the above steps, it is possible to perform the body anti-collision operation through the body anti-collision area determined by the body boundary and the preset obstacle avoidance distance.

[0087] In some embodiments of the present application, as Figure 7 shown, obtaining the detected position of the obstacle may include:

[0088] S702, obtain the coordinates of the obstacle detected by the position sensing unit;

[0089] S704, perform data fusion based on the position sensing unit coordinates and the obstacle coordinates in the body coordinate system of the position sensing unit to obtain the fused obstacle coordinates in the body coordinate system;

[0090] When it is determined that the position of the obstacle is within the body anti-collision area, performing the body anti-collision operation may include:

[0091] S706, when the fused obstacle coordinates belong to the body anti-collision area, perform the body anti-collision operation.

[0092] Since the obstacle coordinates detected by the position sensing unit are determined with respect to the coordinate system of the position sensing unit, while the body anti-collision area is determined based on the body coordinate system, the obstacle coordinates are converted into the fused obstacle coordinates in the body coordinate system by means of data fusion, so as to realize comparing the relationship between the fused obstacle coordinates and the body anti-collision area, and when the fused obstacle coordinates belong to the body anti-collision area, perform the body anti-collision operation.

[0093] As an example, as Figure 8 shown, the number of position sensing units may be four, and are respectively represented by A, B, C, and D. In the three-dimensional body coordinate system, the coordinates of each position sensing unit may be, for example:

[0094]

[0095] The obstacle coordinates A0, B0, C0, and D0 detected by the four position sensing units A, B, C, and D may be, for example:

[0096]

[0097] Correspondingly, the fused obstacle coordinates A1, B1, C1, and D1 in the body coordinate system obtained in step S704 may be, for example:

[0098]

[0099]

[0100] Among them, based on A1, B1, C1, and D1, the presence of one to four obstacles can be determined. Therefore, A1, B1, C1, and D1 can be used as the coordinates of the obstacles after fusion and stored in the obstacle point set Q n ={(x n ,y n ,z n )}, and step S706 is executed according to the obstacle point set Q n , or the same coordinates in A1, B1, C1, and D1 are merged and then stored in the obstacle point set Q n , and step S706 is executed according to the obstacle point set Q n .

[0101] In some embodiments of the present application, when it is determined that the obstacle position is within the vehicle body anti-collision area, performing the vehicle body anti-collision operation may further include:

[0102] Determine the height of the obstacle;

[0103] When it is determined that the obstacle position is within the vehicle body anti-collision area and the height of the obstacle belongs to a preset vehicle body height range, perform the vehicle body anti-collision operation, where the preset vehicle body height range is determined according to the vehicle body height of the aerial work vehicle.

[0104] Since the obstacle position detected by the position sensing unit generally includes the height information of the obstacle, and the vehicle body height is limited, objects such as the ground, aerial billboards, and height limit poles are not within the vehicle body height range and will not collide with the vehicle body. However, their planar coordinates may fall within the vehicle body anti-collision area. Therefore, through the above steps, objects outside the vehicle body height range can be excluded from the range of obstacles that will collide with the vehicle body, thereby preventing false alarms.

[0105] In some embodiments of the present application, the method for determining the vehicle body anti-collision area for an aerial work vehicle may further include:

[0106] When the height coordinate of the obstacle after fusion of the coordinates of the obstacle after fusion belongs to the preset vehicle body height range, store the coordinates of the obstacle after fusion in the obstacle point set;

[0107] Step S706 may include:

[0108] When the coordinates of the obstacle after fusion in the obstacle point set belong to the vehicle body anti-collision area, perform the vehicle body anti-collision operation.

[0109] As an example, such as Figure 8 and Figure 9As shown, the vehicle body anti-collision area is an xy-plane area, and the vehicle body height extending along the z-axis is H1 + H2, where H1 is the height of the rotating device of the vehicle body and H2 is the height of the traveling device of the vehicle body. Then, through Figure 9 it can be seen that both the crossbar and the ground are outside the range of the vehicle body height H1 + H2. Therefore, the coordinates of the fused obstacle corresponding to the crossbar and the ground are excluded from the obstacle point set, and the execution of the vehicle body anti-collision operation will not be triggered.

[0110] In some embodiments of the present application, since the vehicle body may include a traveling device and a rotating device that are rotatably connected, and a tail counterweight is provided on the rotating device; the method for determining the anti-collision area of the vehicle body for an aerial work vehicle may further include:

[0111] When it is detected that the rotating device rotates relative to the traveling device, according to the rotation angle and the rotation transformation matrix between the traveling device and the rotating device in the vehicle body coordinate system, determine the coordinate transformation matrix of the vehicle body coordinate system after rotation, where the origin of the vehicle body coordinate system is located on the rotating shaft connecting the traveling device and the rotating device;

[0112] Determine the transformed obstacle coordinates of the obstacle position under the coordinate transformation matrix;

[0113] When it is determined that the obstacle position is within the vehicle body anti-collision area, perform the vehicle body anti-collision operation, including:

[0114] When it is determined that the transformed obstacle coordinates are within the vehicle body anti-collision area, perform the vehicle body anti-collision operation.

[0115] Since the position sensing unit is provided on the tail counterweight, and the tail counterweight is located on the rotating device, if the rotating device rotates relative to the traveling device, then, as Figure 10 shown, the obstacle coordinates measured by the position sensing unit will also change. Therefore, the above steps can obtain the transformed obstacle coordinates through the rotation angle and the coordinate transformation matrix determined by the rotation transformation matrix between the traveling device and the rotating device, so as to accurately reflect the distance between the obstacle and the traveling device based on the transformed obstacle coordinates, and perform the vehicle body anti-collision operation when the transformed obstacle coordinates belong to the vehicle body anti-collision area to prevent the traveling device from colliding with the obstacle during driving.

[0116] It can be understood that a turntable angle sensor can be provided on the rotating device to obtain the rotation angle of the rotating device relative to the traveling device.

[0117] Taking the above-mentioned fused obstacle coordinates as an example, step S706 may include:

[0118] Obtain the rotation angle data of the turntable angle sensor;

[0119] When the rotating device rotates relative to the traveling device, determine the coordinate transformation matrix in the vehicle body coordinate system according to the rotation angle data and the rotation transformation matrix between the traveling device and the rotating device in the vehicle body coordinate system;

[0120] Transform the fused obstacle coordinates according to the coordinate transformation matrix to obtain the transformed obstacle coordinates;

[0121] When the transformed obstacle coordinates belong to the traveling obstacle avoidance area, perform the vehicle body anti-collision operation.

[0122] As an example, as Figure 10 shown, the coordinate transformation matrix R z (θ) can be, for example:

[0123]

[0124] where θ is the rotation angle data.

[0125] Transform the fused obstacle coordinates Q z according to the coordinate transformation matrix R n =(x n , y n , z n ) to obtain the transformed obstacle coordinates:

[0126] Q n ′ = RT · Q n =(x′ n , y′ n , z′ n ).

[0127] The traveling obstacle avoidance area can be, for example, the union of the above-mentioned traveling warning area and traveling obstacle avoidance area. Therefore, when Q n ′ belongs to the union of the traveling warning area and traveling obstacle avoidance area, perform the corresponding vehicle body anti-collision operation;

[0128] Among them, the vehicle body anti-collision operation corresponding to the traveling warning area can include, for example, a sound alarm, and the vehicle body anti-collision operation corresponding to the traveling obstacle avoidance area can include halving the vehicle body traveling speed.

[0129] In addition, when the vehicle body anti-collision area includes left and right turn warning areas and left and right turn restriction areas, the vehicle body anti-collision operation corresponding to the left and right turn warning areas can include, for example, a sound alarm, and the vehicle body anti-collision operation corresponding to the left and right turn restriction areas can include halving the vehicle body rotation speed.

[0130] The embodiment of the present application also provides a processor configured to call instructions from a memory and capable of implementing the method for determining the vehicle body anti-collision area for an aerial work vehicle according to the above embodiment when executing the instructions.

[0131] The embodiment of the present application further provides an aerial work vehicle, including: the above-mentioned processor, and a tail counterweight located in the tail area of the aerial work vehicle.

[0132] In some embodiments of the present application, the aerial work vehicle further includes a plurality of position sensing units distributed at the edge of the tail counterweight, and the position sensing units are used to detect the edge position information of the edge of the tail counterweight.

[0133] In some embodiments of the present application, the plurality of position sensing units are arranged on the side of the tail edge adjacent to the ground.

[0134] Installing the position sensing unit on the side of the tail edge adjacent to the ground is quick and convenient for the existing vehicles in the market. There is no need for drilling and cutting, which will not damage the original vehicle body structure. At the same time, it can also avoid the damage of falling objects from above to the position sensing unit.

[0135] The embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to make a machine execute the above-mentioned method for determining the anti-collision area of the vehicle body of the aerial work vehicle.

[0136] The embodiment of the present application further provides a computer program product, including a computer program, and the computer program realizes the method for determining the anti-collision area of the vehicle body of the aerial work vehicle according to the above when being executed by a processor.

[0137] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt 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.

[0138] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0139] 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 an instruction means that implements the function specified in one or more of the blocks and / or processes, and / or blocks of the process. Figure 1 one or more of the processes and / or blocks Figure 1 specified in one or more of the blocks and / or processes, and / or blocks of the process.

[0140] 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 executed on the computer or other programmable apparatus provide steps for implementing the function specified in one or more of the processes and / or blocks and / or blocks of the process. Figure 1 one or more of the processes and / or blocks Figure 1 specified in one or more of the blocks and / or processes, and / or blocks of the process.

[0141] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0142] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0143] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storage of information such as 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 technologies, compact disc read only memory (CD-ROM), digital versatile discs (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 transitory media such as modulated data signals and carrier waves.

[0144] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0145] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for determining a body anti-collision area of ​​an aerial work vehicle, characterized in that: The rear area of ​​the aerial work vehicle is provided with a rear counterweight, and the determination method comprises: Obtaining edge position information of the edge of the rear counterweight block; Fitting the edge position information based on a preset edge curve to determine the vehicle body boundary, wherein the preset edge curve is determined according to the curvature of the edge of the rear counterweight block; The vehicle body anti-collision area is determined according to the vehicle body boundary and a preset obstacle avoidance distance.

2. The method for determining the anti-collision area of ​​the vehicle body of the aerial work vehicle according to claim 1, characterized in that: The aerial work vehicle comprises a plurality of position sensing units distributed at the rear edge of the vehicle; The step of obtaining edge position information of the edge of the rear counterweight block includes: The edge position information is acquired through the multiple position sensing units.

3. The method for determining the anti-collision area of ​​the vehicle body of the aerial work vehicle according to claim 1, characterized in that: The determination method further comprises: Get the detected obstacle position; When it is determined that the obstacle is located within the vehicle body collision avoidance area, a vehicle body collision avoidance operation is performed.

4. The method for determining the anti-collision area of ​​the vehicle body of the aerial work vehicle according to claim 3, characterized in that: The aerial work vehicle comprises a traveling device and a rotating device which are rotatably connected, and the rotating device is provided with the rear counterweight block; The determination method further comprises: When it is detected that the rotating device rotates relative to the traveling device, a coordinate transformation matrix of the vehicle body coordinate system after the rotation is determined according to the rotation angle and the rotation transformation matrix between the traveling device and the rotating device in the vehicle body coordinate system, wherein the coordinate origin of the vehicle body coordinate system is located on the rotating shaft connecting the rotating device to the traveling device; Determine the transformed obstacle coordinates of the obstacle position under the coordinate transformation matrix; When it is determined that the obstacle is located within the vehicle body collision avoidance area, performing a vehicle body collision avoidance operation includes: When it is determined that the transformed obstacle coordinates are within the vehicle body collision avoidance area, a vehicle body collision avoidance operation is performed.

5. The method for determining the anti-collision area of ​​the vehicle body of the aerial work vehicle according to claim 3, characterized in that: When it is determined that the obstacle is located within the vehicle body collision avoidance area, performing the vehicle body collision avoidance operation further includes: determining a height of the obstacle; When it is determined that the position of the obstacle is within the vehicle body anti-collision area and the height of the obstacle belongs to a preset vehicle body height range, a vehicle body anti-collision operation is performed, wherein the preset vehicle body height range is determined according to the vehicle body height of the aerial work vehicle.

6. The method for determining the anti-collision area of ​​the vehicle body of an aerial work vehicle according to claim 1, characterized in that: The preset edge curve is a parabola; The step of obtaining edge position information of the edge of the rear counterweight block includes: The two-point positions of the edge of the rear counterweight block are acquired as the edge position information, wherein the two-point positions include the midpoint position of the edge of the rear counterweight block.

7. The method for determining the anti-collision area of ​​the vehicle body of an aerial work vehicle according to claim 1, characterized in that: The vehicle body anti-collision area includes a warning obstacle avoidance area and a deceleration obstacle avoidance area, and the preset obstacle avoidance distance includes a preset warning obstacle avoidance distance and a preset deceleration obstacle avoidance distance, wherein the deceleration obstacle avoidance area is located between the vehicle body and the warning obstacle avoidance area; Determining the vehicle body anti-collision area according to the vehicle body boundary and the preset obstacle avoidance distance includes: Determining the deceleration and obstacle avoidance zone according to the vehicle body boundary and the preset deceleration and obstacle avoidance distance; The warning obstacle avoidance area is determined according to the vehicle body boundary and the preset warning obstacle avoidance distance.

8. A processor, characterized in that: The processor is configured to call instructions from a memory and implement a method for determining a vehicle body collision avoidance zone for an aerial work vehicle according to any one of claims 1 to 7 when executing the instructions.

9. An aerial work vehicle, characterized in that: include: The processor according to claim 8; as well as A rear counterweight block is located in the rear area of ​​the aerial work vehicle.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for enabling a machine to execute a method for determining a vehicle body anti-collision area for an aerial work vehicle according to any one of claims 1 to 7.

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