A safety control system for anti-collision by ultrasonic ranging

Abstract

The application discloses a safety control system for anti-collision by ultrasonic ranging, which is applied to an aerial work platform. The aerial work platform is provided with a first controller and a second controller, and the first controller and the second controller are in communication connection. The second controller drives a component to work according to a motion control instruction of the first controller, so as to drive the aerial work platform to move. The safety control system comprises an ultrasonic ranging module, which is used for detecting the distance between the aerial work platform and an obstacle, and obtaining a distance detection result. A third controller is in communication connection between the first controller and the second controller. The third controller is used for generating a control signal according to the distance detection result, selecting a motion control instruction output by the first controller to be transmitted, or making the second controller drive the aerial work platform to stop moving. The safety control system can conveniently and efficiently avoid collision accidents.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a safety control system for collision avoidance using ultrasonic ranging. Background Technology

[0002] With the development of society, the application of aerial work platforms is becoming more and more widespread. During use, the platform needs to be raised. Improper use can lead to collisions between the aerial work platform and obstacles, so the corresponding safety issues are particularly critical.

[0003] In related technologies, this is often achieved by adding physical anti-collision measures. If an ultrasonic ranging module is to be added, the program code of the aerial work platform needs to be modified and the internal circuit connections adjusted, which not only makes the system complex but also greatly increases the cost of use.

[0004] Due to the shortcomings of the aforementioned technologies, there is an urgent need for a convenient and efficient method to prevent collisions, enabling aerial work platforms to avoid collision accidents. Summary of the Invention

[0005] The main objective of this invention is to provide a safety control system for collision avoidance using ultrasonic ranging, which aims to enable aerial work platforms to conveniently and efficiently avoid collision accidents.

[0006] To achieve the above objectives, a safety control system for collision avoidance using ultrasonic ranging is proposed and applied to an aerial work platform. The aerial work platform is equipped with a first controller and a second controller, and the first controller and the second controller are communicatively connected. The second controller drives the components to work according to the motion control commands of the first controller, thereby driving the aerial work platform to move. The safety control system includes: An ultrasonic ranging module is used to detect the distance between the aerial work platform and obstacles, and obtain the distance detection result; The third controller is connected to the first controller and the second controller. The third controller is used to generate a control signal based on the distance detection result, select to transmit the motion control command output by the first controller, or cause the second controller to drive the aerial work platform to stop moving.

[0007] Optionally, the first controller is provided with a first communication interface, and the second controller is provided with a second communication interface, wherein the first communication interface and the second communication interface are mechanically and electronically detachably connected; The third controller is equipped with a third communication interface and a fourth communication interface; The third controller, which is connected between the first controller and the second controller, includes: a third communication interface that is mechanically and electronically detachably connected to the first communication interface, and a fourth communication interface that is mechanically and electronically detachably connected to the second communication interface, so that the motion control commands of the first controller are transmitted to the second controller after passing through the third controller.

[0008] Optionally, the third controller is communicatively connected between the first controller and the second controller. The third controller is used to generate a control signal based on the distance detection result, selectively transmitting the motion control command output by the first controller, or causing the second controller to drive the aerial work platform to stop moving, including: When the distance detection result is less than the first distance threshold, the communication connection between the first controller and the second controller is cut off, so that the second controller drives the aerial work platform to stop moving. The second controller is configured to perform a braking operation when it does not receive a motion control command from the first controller. When the distance detection result is less than the second distance threshold, a warning indication signal is sent to the second controller, so that the second controller controls the warning device to issue a warning signal and transmits the motion control command output by the first controller, so that the lifting speed of the aerial work platform is reduced; the warning device includes one or more combinations of speakers and indicator lights, and the second distance threshold is greater than the first distance threshold.

[0009] Optionally, the third controller is communicatively connected between the first controller and the second controller. The third controller is used to generate a control signal based on the distance detection result, selectively transmitting the motion control command output by the first controller, or causing the second controller to drive the aerial work platform to stop moving, including: When the distance detection result is less than the third distance threshold, the motion control command output by the first controller is transmitted to reduce the lifting speed of the aerial work platform, wherein the third distance threshold is greater than the second distance threshold.

[0010] Optionally, the first controller is an operation control unit; and the second controller is a vehicle controller; The second controller, based on the motion control commands from the first controller, drives the components to operate, thereby driving the aerial work platform to move, including: The second controller drives the aerial work platform to perform lifting operations according to the motion control command of the first controller, and the multiple ultrasonic sensors of the ultrasonic ranging module are distributed at the four top corners of the lifting frame.

[0011] Optionally, the ultrasonic ranging module is used for: Establish the correlation between the distance between the aerial work platform and the obstacle and the sampling frequency of the ultrasonic ranging module; During the detection process, the sampling frequency of the ultrasonic ranging module is determined based on the correlation and the distance.

[0012] Optionally, the safety control system further includes a vision sensor, which is communicatively connected to the third controller. The ultrasonic ranging module includes multiple ultrasonic sensors. The vision sensor is used to acquire image data, the ultrasonic sensors are used to acquire ultrasonic data, and the third controller is used for: The point cloud data of the acquired aerial work platform is backtracked to determine the initial calibration distance of the aerial work platform. The point cloud data is constructed based on the ultrasonic data and the image data. The initial calibration distance is used to indicate the initial distance between the aerial work platform and the obstacle. During the operation of the aerial work platform, the change in the distance between the aerial work platform and the obstacle is determined based on the initial calibration distance, the continuously acquired ultrasonic data, and the image data. The motion state of the aerial work platform is determined based on the change in distance in order to prevent the aerial work platform from colliding with the obstacle; And / or, the third controller includes a distance determination module, which, before performing backtracking processing on the acquired point cloud data of the aerial work platform to determine the initial calibration distance of the aerial work platform, is used to: Determine the backtrack distance; The third controller is used for: The point cloud data of the aerial work platform is backed up based on the back-up distance to determine the initial calibration distance of the aerial work platform.

[0013] Optionally, the third controller includes a storage module, which, before determining the change in the distance between the aerial work platform and the obstacle based on the initial calibration distance, the continuously acquired ultrasonic data, and the image data, is used for: Feature extraction is performed on the ultrasonic data and image data acquired at the same time to obtain the first target feature; Feature extraction is performed on the association information of the image data acquired at different times to obtain a second target feature. The association information is used to indicate the difference value between the image data. The image data acquired at different times are optical flow images and / or pixel difference images. Store the first target feature and the second target feature in the memory; And / or, the third controller includes an encoding module, which, before performing feature extraction on the ultrasonic data and image data acquired at the same time to obtain the first target feature, is used to: Wavelet transform encoding is performed on the acquired ultrasonic data to obtain a wavelet image; The storage module is used for: Feature extraction is performed on the wavelet image and the image data acquired at the same time to obtain the first target feature; And / or, the storage module is used for: The resolution of the wavelet image is set to a first resolution, and the resolution of the image data is set to a second resolution, wherein the first resolution is greater than the second resolution; The wavelet image and the image data are stitched together based on the first resolution and the second resolution to obtain a stitched image; Feature extraction is performed on the stitched image to obtain the first target feature.

[0014] Optionally, the third controller is used for: A time range is defined, wherein the time range is determined with the current time as a reference; Obtain the first target feature and the second target feature within the time range; The change in distance between the aerial work platform and the obstacle is determined based on the initial calibration distance, the first target feature within the time range, and the second target feature. And / or, the third controller is used for: The weight of the first target feature within the time range is set as the first weight, and the weight of the second target feature within the time range is set as the second weight, wherein the first weight is greater than the second weight; The change in distance between the aerial work platform and the obstacle is determined based on the initial calibration distance, the first weight, the second weight, the first target feature and the second target feature within the time range.

[0015] This invention also proposes a safety control method for collision avoidance using ultrasonic ranging, applied to an aerial work platform. The aerial work platform is equipped with a first controller and a second controller, and the first controller and the second controller are communicatively connected. The second controller drives components to operate according to motion control commands from the first controller, thereby driving the aerial work platform to move. The safety control system includes an ultrasonic ranging module and a third controller. The method includes: The distance between the aerial work platform and the obstacle is detected using the ultrasonic ranging module, and the distance detection result is obtained. The third controller is connected to the first controller and the second controller via communication. The third controller is used to generate control signals based on the distance detection results, and to choose to transmit the motion control commands output by the first controller, or to cause the second controller to drive the aerial work platform to stop moving.

[0016] The present invention also proposes an aerial work platform vehicle, which includes a safety control system.

[0017] This invention relates to an aerial work platform. The aerial work platform is equipped with a first controller and a second controller, which are communicatively connected. The second controller drives components to operate according to motion control commands from the first controller, thereby driving the aerial work platform to move. The safety control system includes an ultrasonic ranging module for detecting the distance between the aerial work platform and obstacles, obtaining a distance detection result. A third controller is communicatively connected between the first and second controllers. The third controller generates a control signal based on the distance detection result, selectively transmitting the motion control commands output by the first controller, or causing the second controller to stop the aerial work platform. Thus, by configuring a first controller and a second controller on the aerial work platform, and ensuring their communicative connection, the second controller can drive components to operate according to the motion control commands from the first controller, thereby driving the aerial work platform to move. To better prevent collisions between the aerial work platform and obstacles, an ultrasonic ranging module is installed to detect the distance between the platform and obstacles in real time. A third controller is placed between the first and second controllers, enabling communication between them. This third controller generates control signals based on the distance detection results from the ultrasonic ranging module, selectively transmitting motion control commands from the first controller or causing the second controller to stop the aerial work platform. In other words, by adding a third controller between the first and second controllers, the safety control system can directly control the movement of the aerial work platform based on control signals obtained from the third controller and the first and second controllers. This process requires no program modification to the first or second controllers, nor any adjustment to the internal circuitry of the aerial work platform. While ensuring the safety of the aerial work platform and preventing collisions, it incurs no additional operating costs, is simple to install, and highly adaptable to different types of aerial work platforms. The entire control process is automated, eliminating manual intervention and providing convenient and efficient collision prevention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the structure of a safety control system provided in an embodiment of the present invention; Figure 2 A schematic diagram of a model structure provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of an image stitching method provided in an embodiment of the present invention; Figure 4 A flowchart of a safety control method for collision avoidance using ultrasonic ranging provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of an aerial work platform provided in an embodiment of the present invention.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0023] Research on related technologies reveals limited applications of collision avoidance systems for aerial work platforms. Among products that do utilize collision avoidance functionality, most employ simple physical methods: workers install anti-collision bars above the platform, which trigger an emergency stop switch upon contact with an obstacle during lifting. This method has limited versatility and a low safety factor. Because it heavily relies on specific installation methods and vehicle structures, it cannot flexibly adapt to different types of aerial work platforms (such as scissor lifts) and working scenarios. Adding an ultrasonic ranging module requires modifying the controller code and adjusting internal circuit connections. This process is cumbersome, requiring manual intervention for each installation and adjustment, consuming significant time, severely impacting work efficiency, and hindering standardized production processes.

[0024] Based on this, the present invention proposes a safety control system for collision avoidance using ultrasonic ranging. This system can be automated, eliminating the need for manual intervention. When installing the ultrasonic ranging module, a third controller is added between the first and second controllers. This third controller acquires the distance detection information from the ultrasonic ranging module and generates control signals based on this information, enabling the first and second controllers to control the motion of the aerial work platform.

[0025] For example, the aerial work platform is a scissor lift. The safety control system for collision avoidance using ultrasonic ranging includes four ultrasonic sensors, which are respectively installed at the four corners of the top frame of the scissor lift. During the ascent of the scissor lift, the system identifies the risk of collision in the vertical or horizontal direction.

[0026] It should be noted that existing aerial work platforms (scissor lifts) do not have collision avoidance capabilities. If an ultrasonic ranging module is added, both the structural hardware and the program code need to be modified, making it impossible to upgrade existing aerial work platforms. A technology is needed that can upgrade existing aerial work platforms without modifying their structure and code.

[0027] Reference Figures 1 to 5 , Figure 1 A schematic diagram of the structure of a safety control system provided in an embodiment of the present invention; Figure 2 A schematic diagram of a model structure provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of an image stitching method provided in an embodiment of the present invention; Figure 4 A flowchart of a safety control method for collision avoidance using ultrasonic ranging provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of an aerial work platform provided in an embodiment of the present invention.

[0028] In this embodiment of the invention, the ultrasonic ranging-based collision avoidance safety control system provides a convenient and efficient method for collision avoidance, enabling aerial work platforms to avoid collision accidents. This safety control system is applicable to aerial work platforms, which are equipped with a first controller and a second controller, and the first and second controllers are communicatively connected. The second controller drives components to operate according to motion control commands from the first controller, thereby driving the aerial work platform to move, such as... Figure 1 As shown, the safety control system is equipped with an ultrasonic ranging module 100 and a third controller 200. The ultrasonic ranging module 100 is used to detect the distance between the aerial work platform and the obstacle, and obtain the distance detection result; The third controller 200 is communicatively connected between the first controller and the second controller. The third controller is used to generate a control signal based on the distance detection result, select to transmit the motion control command output by the first controller, or cause the second controller to drive the aerial work platform to stop moving.

[0029] The ultrasonic ranging module 100 refers to a module that measures the distance between an aerial work platform and an obstacle by sending ultrasonic waves and receiving their echoes, and calculating the propagation time of the sound waves in the air. One or more ultrasonic sensors can be set in the ultrasonic ranging module 100, and a more accurate distance detection result can be determined by combining the measurement results of multiple ultrasonic sensors.

[0030] In this application, the ultrasonic ranging module 100 and the third controller 200 communicate via a bus, enabling the distance data detected by the ultrasonic sensor 200 to be transmitted to the third controller 200 in real time and stably. The third controller 200 can mount multiple ultrasonic sensors. Mounting multiple ultrasonic sensors allows for omnidirectional, multi-angle, multi-point measurement during the lifting process of an aerial work platform (such as a scissor lift). Compared to single-point measurement, this effectively reduces blind spots and greatly improves the accuracy and comprehensiveness of obstacle detection in the lifting environment.

[0031] The third controller 200 can be understood as an intermediary controller, communicating between the first and second controllers. It generates control signals based on distance detection results obtained from the ultrasonic ranging module 100, and then selects whether to transmit the motion control commands output by the first controller or to cause the second controller to stop the aerial work platform. When transmitting the motion control commands output by the first controller, the second controller receives the commands and, based on these commands, drives the components to operate, thereby moving the aerial work platform. When the first controller causes the second controller to stop the aerial work platform, it often means that the distance between the aerial work platform and an obstacle is very close, requiring braking to avoid a collision.

[0032] It should be noted that the reason for setting up the third controller 200 in this application is to further improve the safety factor of the aerial work platform and avoid collisions between the aerial work platform and obstacles. An ultrasonic ranging module 100 is added to the aerial work platform. The ultrasonic ranging module 100 can more accurately determine the distance between the aerial work platform and obstacles, facilitating timely adjustments to the movement mode of the aerial work platform based on the distance detection results. However, the ultrasonic ranging module 100 cannot be directly installed on an aerial work platform equipped with a first controller and a second controller. Related technical practices involve modifying the program code of the first and second controllers and adjusting the internal circuit connections of the aerial work platform to install the ultrasonic ranging module 100. This method is too cumbersome and greatly increases the manpower and material costs of using the ultrasonic ranging module 100.

[0033] Therefore, in this application, a third controller 200 is added between the first and second controllers to establish a communication connection between them. The third controller 200 also communicates with the ultrasonic ranging module 100. This allows the third controller 200 to receive the distance detection results determined by the ultrasonic ranging module 100 and generate control signals based on these results. These control signals determine the actions of the first and second controllers, such as transmitting motion control commands from the first controller to control the movement of the aerial work platform, or directly causing the second controller to stop the aerial work platform. It should be noted that the obstacles mentioned in this embodiment are dynamic objects, such as birds in flight or drones. In this embodiment, the third controller 200 can be a microcontroller (MCU).

[0034] This embodiment proposes a safety control system for collision avoidance using ultrasonic ranging, applied to an aerial work platform. The aerial work platform is equipped with a first controller and a second controller, which are communicatively connected. The second controller drives components to operate according to motion control commands from the first controller, thereby driving the aerial work platform to move. The safety control system includes: an ultrasonic ranging module 100 for detecting the distance between the aerial work platform and obstacles, obtaining a distance detection result; and a third controller 200 communicatively connected between the first and second controllers, which generates a control signal based on the distance detection result, selectively transmitting the motion control commands output by the first controller, or causing the second controller to stop the aerial work platform. Thus, by setting up a first controller and a second controller on the aerial work platform, and enabling the first controller to communicate with the second controller, the second controller can drive components to operate according to the motion control commands from the first controller, thereby driving the aerial work platform to move. To better prevent collisions between the aerial work platform and obstacles, an ultrasonic ranging module 100 is installed to detect the distance between the aerial work platform and obstacles in real time. A third controller 200 is installed between the first and second controllers, enabling communication between them. The third controller 200 generates control signals based on the distance detection results from the ultrasonic ranging module 100, selectively transmitting motion control commands from the first controller or causing the second controller to stop the aerial work platform. In other words, by adding the third controller 200 between the first and second controllers, the safety control system can directly control the movement of the aerial work platform based on control signals obtained from the distance detection results obtained by the third controller 200, without requiring any program modifications to the first or second controllers or adjustments to the internal circuit connections of the aerial work platform. This ensures the safety of the aerial work platform during operation, avoids collisions, has no additional operating costs, is simple to install, and highly adaptable to different types of aerial work platforms. The entire control process is automated, eliminating the need for manual intervention and enabling convenient and efficient avoidance of collisions.

[0035] The aforementioned "third controller 200, communicationally connected between the first controller and the second controller" is described in this embodiment. To facilitate operation and reduce installation costs, the third controller can communicate with both the first and second controllers via a detachable communication interface. This method can be as follows: the first controller has a first communication interface, the second controller has a second communication interface, and the first and second communication interfaces are mechanically and electronically detachably connected; the third controller 200 has a third communication interface and a fourth communication interface; the third controller 200, communicationally connected between the first and second controllers, includes: the third communication interface being mechanically and electronically detachably connected to the first communication interface, and the fourth communication interface being mechanically and electronically detachably connected to the second communication interface, so that the motion control commands from the first controller are transmitted to the second controller after passing through the third controller 200.

[0036] Specifically, a first communication interface is provided at the first controller, and a second communication interface is provided at the second controller. The first and second communication interfaces are mechanically and electronically detachably connected. This means that the physical positioning and locking of the first and second communication interfaces are achieved through a mechanical structure, and signals are transmitted through reliable electrical contacts. This mechanical structure can be a snap-fit, latch, or threaded connection, etc., and is not limited here. This connection method allows for easy separation and connection between the first and second communication interfaces.

[0037] The third controller 200 is equipped with a third communication interface and a fourth communication interface. The third communication interface is used for a mechanically and electronically detachable connection with the first communication interface of the first controller, and the fourth communication interface is used for a mechanically and electronically detachable connection with the second communication interface of the second controller. This connection method can be understood as setting up a third controller 200 between the communication connections of the first and second controllers, and the third controller 200 is mechanically and electronically detachably connected to both the first and second controllers. This connection method allows motion control commands issued by the first controller to be transmitted to the second controller after passing through the third controller 200. This connection method also facilitates the separation and connection of the first, second, and third communication interfaces.

[0038] As mentioned above, the third controller 200 and the ultrasonic ranging module 100 are connected for communication. The ultrasonic ranging module 100 sends the distance detection results obtained from detecting the distance between the aerial work platform and the obstacle to the third controller 200. The third controller 200 determines the action mode for the first controller and the second controller based on the acquired distance detection results. The third controller 200 generates control signals based on the distance detection results. Since the third controller 200 is located between the communication connection of the first controller and the second controller, the corresponding action mode of the first controller and the second controller can be determined through the control signals. For example, when the distance detection results show that the distance between the aerial work platform and the obstacle is too close, the control signal can cause the second controller to drive the aerial work platform to stop moving; when the distance detection results show that the distance between the aerial work platform and the obstacle is far enough that there is no risk of collision, the control signal can transmit the motion control command output by the first controller to the second controller, so that the second controller drives the aerial work platform to move according to the motion control command of the first controller.

[0039] Through the connection method between the various controllers provided above, the third controller 200 is mechanically and electronically detachably connected to the first controller and the second controller through communication interfaces, respectively. This enables the third controller 200 to generate control signals based on the real-time distance detection results, and to determine the action mode of the first and second controllers based on these control signals. The specific connection method is simple and easy to operate, which can greatly reduce the installation cost. At the same time, it is highly adaptable and can be directly upgraded and modified for different types of existing aerial work platforms.

[0040] The foregoing description mentions a "third controller, communicatively connected between the first and second controllers, which generates control signals based on the distance detection results, selectively transmitting motion control commands output by the first controller, or causing the second controller to stop the aerial work platform." In this embodiment, the corresponding actions of the first and second controllers differ depending on the distance detection results, and may specifically include: A1: When the distance detection result is less than the first distance threshold, the communication connection between the first controller and the second controller is cut off, so that the second controller drives the aerial work platform to stop moving. The second controller is configured to perform a braking operation when it does not receive a motion control command from the first controller.

[0041] A2: When the distance detection result is less than the second distance threshold, a warning indication signal is sent to the second controller, so that the second controller controls the warning device to issue a warning signal and transmits the motion control command output by the first controller, so that the lifting speed of the aerial work platform is reduced.

[0042] The warning device includes one or more of the following: a loudspeaker and an indicator light, and the second distance threshold is greater than the first distance threshold.

[0043] A3: When the distance detection result is less than the third distance threshold, transmit the motion control command output by the first controller to reduce the lifting speed of the aerial work platform.

[0044] The third distance threshold is greater than the second distance threshold. In this embodiment, the numerical relationship between the first, second, and third distance thresholds is first distance threshold < second distance threshold < third distance threshold. The specific values ​​of the first, second, and third distance thresholds can be determined by those skilled in the art based on actual conditions and application scenarios, and are not limited here. Therefore, when the situation described in A1 occurs, that is, when the distance detection result shows that it is less than the first distance threshold, it means that the distance between the aerial work platform and the obstacle is too close, and there is a high risk of collision. At this time, it is necessary to cut off the communication connection between the first controller and the second controller. Since the second controller is configured to control the aerial work platform to stop rising immediately when it does not receive the motion control command from the first controller, that is, to perform a braking operation, when the communication connection between the first and second controllers is cut off, the second controller will control the aerial work platform to perform a braking operation.

[0045] When the situation described in A2 occurs, i.e., the distance detection result is less than the second distance threshold, it means that the aerial work platform is relatively close to the obstacle, posing a high risk of collision. In this case, a warning operation is required, and the lifting speed of the aerial work platform is reduced. Specifically, a warning indication signal is sent to the second controller, which then controls the warning device to issue a warning signal. This warning device can be one or more of a buzzer, speaker, or indicator light, without limitation. When the warning device is a buzzer or speaker, the corresponding warning signal is an audible alarm; when the warning device is an indicator light, the corresponding warning signal can be the indicator light being on, off, or flashing, without limitation. Simultaneously with the warning, the third controller 200 also transmits the motion control command output by the first controller, causing the second controller, upon receiving the motion control command, to drive the movement of the aerial work platform and control it to reduce its lifting speed, thereby ensuring the safety of the lifting process and, to a certain extent, avoiding collisions between the aerial work platform and obstacles.

[0046] When the situation described in A3 occurs, i.e., the distance detection result is less than the third distance threshold, it means that the distance between the aerial work platform and the obstacle is slightly larger than the distance between the aerial work platform and the obstacle in A2. However, in this case, it is still necessary to appropriately control the lifting speed of the aerial work platform to reduce the risk of collision between the aerial work platform and the obstacle. That is, when the distance detection result is less than the third distance threshold, the third controller 200 transmits the motion control command output by the first controller to reduce the lifting speed of the aerial work platform. It should be noted that in the process of reducing the lifting speed, a functional relationship between the distance between the aerial work platform and the obstacle and the lifting speed can be set. This functional relationship indicates that the smaller the distance between the aerial work platform and the obstacle, the smaller the corresponding lifting speed. The lifting speed of the aerial work platform is reduced based on this functional relationship.

[0047] By setting different action modes for the first and second controllers under different distance detection results, the actions of the aerial work platform can be adaptively adjusted according to the different distances between the aerial work platform and obstacles. This provides strong real-time performance and facilitates more precise control of the aerial work platform's movement, thereby effectively avoiding collisions between the aerial work platform and obstacles.

[0048] The functions of the first and second controllers have been described in detail above. In this embodiment, the first controller is a Platform Control Unit (PCU), and the second controller is an Engine Control Unit (ECU). The aforementioned statement that "the second controller drives the components to work according to the motion control commands of the first controller to drive the aerial work platform to move" can be implemented as follows: the second controller drives the aerial work platform to perform a lifting operation according to the motion control commands of the first controller, with multiple ultrasonic sensors of the ultrasonic ranging module distributed at the four apex corners of the lifting frame.

[0049] The control unit (PCU) sends motion control commands generated based on the control actions of the aerial work platform's joysticks to the vehicle controller (ECU). The ECU then drives the aerial work platform to perform lifting operations based on these commands. The ultrasonic ranging module 100 can include multiple ultrasonic sensors. In one implementation, one ultrasonic sensor can be placed at each of the four corners of the aerial work platform's lifting frame. Distributing multiple ultrasonic sensors allows for more accurate distance detection between the aerial work platform and obstacles. The use of sensors at different locations provides distance detection results from various positions. When the obstacle is a moving object, more comprehensive information can be collected, which is beneficial for the third controller 200 to generate accurate control signals based on the distance detection results from multiple ultrasonic sensors, thus achieving accurate motion control of the aerial work platform. It should be noted that when the first controller is a PCU and the second controller is an ECU, the third controller 200 is an MCU.

[0050] The method described above for driving the aerial work platform involves a third controller issuing a control signal based on distance detection results obtained from multiple ultrasonic sensors. This signal enables the second controller to drive the aerial work platform to perform lifting operations according to the action control commands from the first controller. This method ensures more accurate distance detection results from the ultrasonic ranging module, allowing the third controller to accurately control the movement of the aerial work platform based on these results, thus mitigating the possibility of collisions to some extent.

[0051] The aforementioned "ultrasonic ranging module 100 is used to detect the distance between the aerial work platform and the obstacle, and obtain the distance detection result." In this embodiment, to further ensure the safety of the aerial work platform and reduce the possibility of collision between the aerial work platform and the obstacle, the sampling frequency of the ultrasonic ranging module can be dynamically adjusted during the distance detection process. Specifically, this method involves: firstly establishing the correlation between the distance between the aerial work platform and the obstacle and the sampling frequency of the ultrasonic ranging module 100; and then determining the sampling frequency of the ultrasonic ranging module 100 based on the correlation and the distance during the detection process.

[0052] This involves pre-establishing a correlation between the distance between the aerial work platform and the obstacle and the sampling frequency of the ultrasonic ranging module 100. Generally, to better ensure safety, the smaller the distance between the aerial work platform and the obstacle, the higher the sampling frequency of the ultrasonic ranging module 100 needs to be. By increasing the sampling frequency, the distance detection results obtained can be more realistic and timely, enabling the third controller 200 to generate corresponding control signals based on the distance detection results to control the operation of the first and second controllers.

[0053] During the detection of the distance between the aerial work platform and the obstacle, the sampling frequency of the ultrasonic ranging module 100 is adjusted based on the predetermined correlation and the real-time detected distance between the aerial work platform and the obstacle.

[0054] The ultrasonic ranging module detection method described above, based on the distance between the aerial work platform and the obstacle, and the predetermined correlation between the distance between the aerial work platform and the obstacle and the sampling frequency of the ultrasonic ranging module 100, adjusts the sampling frequency of the ultrasonic ranging module 100 in real time. This helps improve the real-time performance of the determined distance detection results, thereby ensuring the accuracy of the control signals generated by the third controller 200 based on the distance detection results.

[0055] In one possible implementation, the safety control system further includes a vision sensor, which is communicatively connected to a third controller. The ultrasonic ranging module 100 includes multiple ultrasonic sensors. The vision sensor is used to acquire image data, and the ultrasonic sensors are used to acquire ultrasonic data. The third controller 200 is used to perform the following steps B1 to B3: B1: Perform rollback processing on the acquired point cloud data of the aerial work platform to determine the initial calibration distance of the aerial work platform.

[0056] In this embodiment, multiple ultrasonic sensors can be installed on the aerial work platform. For example, when the aerial work platform is a scissor lift, ultrasonic sensors can be installed on all four top (upward-facing) parts of the scissor lift. These multiple ultrasonic sensors together form an ultrasonic ranging module 100, which acquires ultrasonic data. In addition to ultrasonic sensors, a vision sensor can also be installed on the aerial work platform to acquire image data, which can be 3D image data.

[0057] Point cloud data is constructed based on ultrasound data and image data. Before constructing point cloud data, it needs to undergo hand-eye calibration, tool calibration, dual-target calibration, and optimization calibration by the facial therapy robot.

[0058] The initial calibration distance is used to indicate the initial distance between the aerial work platform and the obstacle. In this embodiment, in order to ensure that a certain distance is maintained between the aerial work platform and the obstacle, the point cloud data of the aerial work platform is backed up to reserve a safe distance between the aerial work platform and the obstacle, that is, the initial calibration distance of the aerial work platform is determined.

[0059] B2: During the operation of the aerial work platform, the change in the distance between the aerial work platform and the obstacle is determined based on the initial calibration distance, the continuously acquired ultrasonic data, and the image data.

[0060] After determining the initial calibration distance for the aerial work platform, during its operation, based on continuously acquired ultrasonic and image data, the distance changes between the aerial work platform and obstacles can be determined, using the initial calibration distance as a reference. These distance changes include both the direction and rate of change. For example, changes may include a sudden increase in the rate of change, a change in direction towards the aerial work platform, or a change in direction away from the aerial work platform.

[0061] When the distance between the aerial work platform and the object changes abruptly, the corresponding movement state of the aerial work platform is emergency braking; otherwise, the movement state of the aerial work platform is linear braking according to the distance. Considering the direction of the obstacle's movement, assuming the initial braking threshold (the critical value of the distance between the aerial work platform and the obstacle when braking is required) is 1 meter, if the obstacle is moving towards the aerial work platform, the braking threshold should be increased, for example, to 1.2 meters; if the obstacle is moving away from the aerial work platform, the braking threshold can be decreased, for example, to 0.8 meters.

[0062] In this embodiment, the change in distance between the aerial work platform and the obstacle is determined by ultrasonic data and image data, and then the braking threshold is dynamically adjusted to adjust the motion state of the aerial work platform in real time.

[0063] The third controller 200 can determine the distance change between the aerial work platform and obstacles based on continuously acquired ultrasonic data. However, in some cases, the ultrasonic sensors cannot measure this distance change, for example, when the tested surface is an incline or when the obstacle is moving too fast. Therefore, in the ultrasonic ranging collision avoidance safety control system provided in this embodiment, in addition to setting multiple ultrasonic sensors to acquire ultrasonic data, a vision sensor is also set to acquire image data as an auxiliary measure. This ensures that when the ultrasonic sensors cannot measure the distance change, the distance change can be determined based on the image data, improving the accuracy and adaptability of distance change determination in different scenarios.

[0064] B3: Determine the motion state of the aerial work platform based on the changes in the distance, so as to prevent the aerial work platform from colliding with the obstacle.

[0065] The third controller 200 can determine the motion state of the aerial work platform based on the determined changes in distance. The motion state of the aerial work platform can include the following: continue moving forward, slow moving forward, braking, and emergency braking. Continuing forward can be understood as maintaining the current lifting speed; slow moving forward can be understood as reducing speed but still continuing to lift; braking can be understood as reducing speed until lifting stops; and emergency braking can be understood as stopping lifting with maximum braking force. Braking force refers to the speed at which braking is required; the greater the braking force, the faster the braking speed.

[0066] The process of determining the motion state of an aerial work platform by analyzing changes in distance can be achieved using neural networks. Figure 2 A schematic diagram of a model structure provided in an embodiment of the present invention, such as... Figure 2 As shown, a series of acquired ultrasonic and image data (including image data and ultrasonic data, as well as correlated data of image data at different times) are fed into a neural network (such as a convolutional neural network) for feature extraction to obtain the first target feature and the second target feature. The specific feature extraction method will be explained in detail later. Then, the series of extracted first and second target features are fed into the backbone network, which performs feature extraction. Finally, the classification head outputs the decision result (i.e., the motion state of the aforementioned aerial work platform) based on the feature information. The backbone network can be implemented using a multi-layer fully connected neural network, that is, a fully connected neural network-dropout layer, or a fully connected neural network-dropout layer recurrent structure. It can also be implemented using recurrent neural networks such as LSTM (Long Short-Term Memory), RNN (Recurrent Neural Network), and GRU (Gated Recurrent Unit).

[0067] It should be noted that, Figure 2The example demonstrates eight input data points for the backbone network (in fact, the number of input data points is unlimited and can be determined by those skilled in the art according to actual needs). The first two input data points are the first and second target features corresponding to the current moment; the latter six input data points are historical data, read from memory, which can reduce computational load. Specifically, the third and fourth input data points are the first and second target features corresponding to the moment before the current moment; the fifth and sixth input data points are the first and second target features corresponding to the two moments before the current moment; and the seventh and eighth input data points are the first and second target features corresponding to the two moments before the current moment. When time is measured in frames, if the current moment corresponds to the 10th frame, the third and fourth input data points are the first and second target features corresponding to the 9th frame, and so on for subsequent input data, which will not be elaborated further here.

[0068] It should also be noted that the ultrasonic ranging anti-collision safety control system proposed in the technical solution of this invention can not only prevent collisions between the aerial work platform and obstacles, but also, when there are workers on the aerial work platform, can also avoid collisions between workers and obstacles by adjusting the movement state of the aerial work platform, thus ensuring the safety of workers working on the aerial work platform.

[0069] The method described above for preventing collisions between aerial work platforms and obstacles involves backtracking the acquired point cloud data of the aerial work platform. This ensures that the platform is pre-spaced to maintain a safe distance from obstacles from the initial state. During operation, ultrasonic and image data continuously acquired by ultrasonic and visual sensors determine changes in the distance between the platform and obstacles. These changes allow for adjustments to the platform's motion state. The entire process is automated and requires no manual intervention. Real-time acquisition of ultrasonic and image data ensures the timeliness and accuracy of motion state determination. Furthermore, combining ultrasonic and image data to determine distance changes guarantees comprehensive data coverage, further enhancing operational safety and preventing collisions.

[0070] Optionally, as mentioned in B1 above, "the point cloud data of the acquired aerial work platform is backtracked to determine the initial calibration distance of the aerial work platform." In an embodiment of the present invention, a method for determining the initial calibration distance is provided. The third controller 200 provided in this application includes a distance determination module. Before determining the initial calibration distance, the distance determination module needs to determine the backtracking distance. This backtracking distance can be understood as a pre-set safe distance between the aerial work platform and the obstacle. The specific determination method is as follows: the third controller 200 performs backtracking processing on the point cloud data of the acquired aerial work platform based on the backtracking distance to determine the initial calibration distance of the aerial work platform.

[0071] In this embodiment, after constructing the point cloud data of the aerial work platform based on ultrasonic data and image data, due to the characteristics of aerial work operations, a safe distance needs to be maintained between the platform and obstacles. Therefore, the point cloud data of the aerial work platform needs to be backtracked to ensure that a certain distance is maintained between the platform and obstacles. During the backtracking process, the distance determination module needs to determine the backtracking distance, and the backtracking process is performed based on this distance to determine the initial calibration distance of the aerial work platform.

[0072] This refers to the surface points displayed in the point cloud data of aerial work platforms. After vector backtracking, maintain a safe distance H and safely save the point location (i.e., the point cloud data of the aerial work platform at the initial calibration distance). It can be represented as: in, This is the point cloud after backtracking, where H is the backtracking distance; u, v, and w are unit vectors. It is the point cloud before the regression.

[0073] The method for determining the initial calibration distance provided above involves a distance determination module that determines the retraction distance of the aerial work platform. The third controller 200 then performs retraction processing based on the acquired point cloud data of the aerial work platform. The initial calibration distance of the aerial work platform is determined based on the retraction distance, ensuring that the aerial work platform maintains at least the safe distance indicated by the retraction distance from obstacles. This means that in the calibration system of the aerial work platform, the distance between itself and obstacles is greater than the actual distance, thus ensuring the safety of the aerial work platform.

[0074] In the aforementioned targeting Figure 2The introduction mentions that "a series of acquired ultrasonic data and image data (including image data and ultrasonic data, as well as the associated data of image data at different times) are fed into a convolutional neural network for feature extraction to obtain the first target feature and the second target feature." This step needs to be completed before B2 mentioned above. The third controller 200 includes a storage module, and the acquisition of the first target feature and the second target feature needs to be based on the storage module. The specific method for acquiring the first target feature and the second target feature is as follows: C1: Extract features from the ultrasonic data and image data acquired at the same time to obtain the first target features.

[0075] The first target feature is obtained by inputting ultrasonic data and image data acquired at the same time into a convolutional neural network for feature extraction. While changes in ultrasonic data can effectively represent distance changes, they are limited in their ability to accommodate measurement directions compared to image data. Image data can compensate for the shortcomings of ultrasonic data in determining distance changes in certain scenarios, thus making the information in the extracted first target feature more reliable. In this embodiment, the unit of time can be a frame; the same time corresponds to the same frame.

[0076] C2: Extract features from the associated information of the image data acquired at different times to obtain the second target features.

[0077] The correlation information is used to indicate the difference values ​​between image data. The second target feature reflects the differences between image data at different times, which can refer to the pixel difference between each point in the previous frame and the next frame. The second target feature can determine the differences between image data acquired at different times, and based on these differences, it is easy to determine the changes in distance between the aerial work platform and obstacles.

[0078] For example, suppose the obstacle is a bird. The number of pixels occupied by the bird in the current frame of the image data differs significantly from the number of pixels occupied by the bird in the previous frame of the image data. For instance, the number of pixels occupied by the bird in the current frame is much greater than the number of pixels occupied by the bird in the previous frame of the image data. In this case, by extracting features from the image data of these two frames, the corresponding second target features will reflect the difference between the image data. Thus, it can be determined that there has been a sudden change in the distance between the current obstacle, the bird, and the aerial work platform, and the direction of the change in distance between the bird and the aerial work platform is towards the aerial work platform.

[0079] C3: Store the first target feature and the second target feature in the memory.

[0080] The purpose of storing the acquired first and second target features is to ensure that when the first and second target features from a previous period are needed later, they can be retrieved directly from the memory, avoiding the need to perform all the calculations again and wasting computing resources.

[0081] The aforementioned steps C1 and C2 can be performed simultaneously or sequentially; the specific order of execution is not specified here.

[0082] The description in C2 above mentions "extracting features from the correlation information of the image data acquired at different times to obtain the second target feature." In this embodiment, the image data can be an optical flow image and / or a pixel difference image. Both the optical flow image and the pixel difference image can display the difference values ​​between images at different times. Using optical flow images and pixel difference images for feature extraction facilitates the acquisition of the second target feature, reduces the steps required for the convolutional neural network to identify the difference values ​​between images, and improves the efficiency of feature extraction.

[0083] The method described above for obtaining first and second target features involves extracting different features from ultrasonic data and image data to obtain first and second target features. These features are then stored for easy retrieval later, avoiding redundant calculations and saving computing resources. Furthermore, the combination of the first and second target features provides more comprehensive reference information regarding the changes in the distance between the aerial work platform and obstacles, resulting in more accurate results.

[0084] As mentioned in C1 above, "feature extraction is performed on the ultrasonic data and image data acquired at the same time to obtain the first target feature." The third controller 200 includes an encoding module. Before obtaining the first target feature, in order to construct the joint data of ultrasonic data and image data, the ultrasonic data needs to be processed by the encoding module. The specific processing method is: wavelet transform encoding is performed on the acquired ultrasonic data to obtain a wavelet image. At this time, the corresponding method for the storage module to obtain the first target feature is: feature extraction is performed on the wavelet image and image data acquired at the same time to obtain the first target feature.

[0085] The reason for choosing to use an encoding module to perform wavelet transform encoding on the ultrasonic data is that the wavelet image obtained by wavelet transform encoding has time-frequency characteristics, that is, wavelet encoding can record the time information corresponding to the ultrasonic data. Based on this time information, it is easy to make a one-to-one correspondence between the wavelet image corresponding to the ultrasonic data and the image data. By inputting the wavelet image and the image data with the corresponding time information into a convolutional neural network, the first target feature corresponding to that time information can be obtained.

[0086] For example, when the current time is T1, the acquired ultrasonic data is encoded by wavelet transform to obtain a wavelet image. When the time information recorded in the wavelet image is T1, the wavelet image is matched with the image data acquired at T1 and fed into a convolutional neural network for feature extraction to obtain the first target feature.

[0087] The method for obtaining the first target feature mentioned above involves wavelet coding of the acquired ultrasonic data before feature extraction. This preserves the time information of the ultrasonic data, making it easier to match and correspond with the image data according to the time information. The first target feature is obtained by extracting features from the wavelet image and image data at the same time, ensuring the convenience of first target feature extraction and the accuracy of the corresponding time.

[0088] The foregoing description mentions that the storage module "extracts features from the wavelet image and the image data acquired at the same time to obtain the first target feature." In this embodiment, to improve image utilization, the storage module can be used to stitch the wavelet image and the image data together, and the first target feature can be obtained from the stitched image. This method can be as follows: First, set the resolution of the wavelet image to a first resolution and the resolution of the image data to a second resolution. Then, stitch the wavelet image and the image data together based on the first and second resolutions to obtain a stitched image. Finally, feature extraction is performed on the stitched image to obtain the first target feature.

[0089] Figure 3 This is a schematic diagram of image stitching provided by an embodiment of the present invention. In this embodiment, the image resolution of the wavelet image obtained by the encoding module performing wavelet transform encoding on the ultrasonic data is adjustable. Figure 3For example, the wavelet image resolution of the ultrasound data at time T1 is set to 1920*540, and the image resolution of the image data acquired by the visual sensor is set to 960*540. The figure includes image data at time T1 and image data at time T1-1. These three images are stitched together to obtain a stitched image with a resolution of 1920*1080. Inputting this stitched image into a convolutional neural network yields the first target feature.

[0090] In this embodiment, the standard image resolution can be set to 1920*1080. To ensure the resulting stitched image is rectangular, the length and width of the image resolution must correspond. As described above, ultrasonic data requires more information; therefore, when setting the resolution, the resolution of the wavelet image corresponding to the ultrasonic data needs to be set higher. Thus, the first resolution needs to be greater than the second resolution.

[0091] The method for obtaining the first target feature provided above involves setting different resolutions for the wavelet image and the image data. It is also necessary to ensure that the final stitched image is rectangular. By extracting features from the stitched image, the utilization rate of the image can be improved. At the same time, setting the resolution of the wavelet image to be greater than that of the image data allows for more ultrasonic data information during feature extraction, which is beneficial to improving the accuracy of determining the change in distance between the aerial work platform and the obstacle.

[0092] As mentioned in section B2 above, "the change in distance between the aerial work platform and the obstacle is determined based on the initial calibration distance, the continuously acquired ultrasonic data, and the image data." In the ultrasonic ranging collision avoidance safety control system provided in this application, it is necessary to determine the change in distance between the aerial work platform and the obstacle based on feature information designed from a series of first and second target features. Therefore, the method for determining the distance change using the third controller 200 can be as follows: First, determine the time range; then, acquire the first and second target features within the time range; finally, determine the change in distance between the aerial work platform and the obstacle based on the initial calibration distance, the first target features within the time range, and the second target features.

[0093] The time range is determined with the current time as a reference. In the method for determining distance changes mentioned in this application embodiment, all first target features and second target features over a period of time are required as information sources. This ensures the sufficiency of the corresponding information sources when determining distance changes, thereby guaranteeing the reliability of the determined distance changes.

[0094] Therefore, when determining the change in distance between the aerial work platform and the obstacle based on the first and second target features, it is necessary to determine a time range. This time range is determined based on the current time; that is, the time range should be set to a period of time prior to the current time and should include the current time. For example, the time range can be set to two seconds before the current time. As mentioned in the foregoing description, the first and second target features obtained from feature extraction are stored in memory. Therefore, after determining the time range, the third controller 200 can retrieve the historically stored first and second target features within the time range from memory, and then combine them with the first and second target features obtained at the current time, as well as the initial calibration distance of the aerial work platform, to determine the change in distance between the aerial work platform and the obstacle.

[0095] The time range can be freely set by those skilled in the art based on actual conditions and application scenarios, and is not limited here. It should be noted that when setting the time range, it is necessary to ensure that the time range includes a sufficient number of first and second target features. A larger time range results in a greater computational load, and thus a higher accuracy in determining the change in distance between the aerial work platform and the obstacle. Conversely, a smaller time range results in a smaller computational load, and thus a lower accuracy in determining the change in distance between the aerial work platform and the obstacle. In this embodiment, the time range is generally set to two seconds prior to the current time. This is based on empirical values ​​obtained through implementation and debugging, and the corresponding time range setting may vary depending on the specific circumstances.

[0096] The method described above for determining the change in distance between an aerial work platform and an obstacle establishes a time range to ensure a sufficient number of first and second target features for reference. By using both first and second target features within this time range as references, the accuracy of the determined distance change between the aerial work platform and the obstacle is guaranteed, mitigating errors caused by random events to a certain extent.

[0097] As mentioned in section B2 above, "based on the initial calibration distance, the continuously acquired ultrasonic data, and the image data, the change in distance between the aerial work platform and the obstacle is determined." In the ultrasonic ranging collision avoidance safety control system provided in this application, as described above, the acquired ultrasonic data and image data need to undergo feature extraction to obtain first target features and second target features. The backbone network in the third controller 200 further extracts features from the first and second target features within the time range. During this process, the backbone network needs to perform weighted processing on the first and second target features. Specifically, the weighting method is as follows: the weight of the first target feature within the time range is set as the first weight, and the weight of the second target feature within the time range is set as the second weight.

[0098] When weighting the first target feature and the second target feature, the first weight corresponding to the first target feature is greater than the second weight corresponding to the second target feature. This ensures that the feature extraction result based on the first and second target features better reflects the feature information carried by the first target feature. The reason for reflecting more information in the first target feature is that the information carried by the second target feature is mainly time information (i.e., information between image data at different times (e.g., adjacent images)). The backbone network in this embodiment adopts a recurrent neural network, which can extract information between image data at different times (e.g., adjacent images) on its own. Therefore, there is no need to give the second target feature a higher weight to increase the presentation of this type of feature information. Instead, the first target feature should be given a higher weight so that the feature information in the first target feature can be reflected.

[0099] It should be noted that, in one possible implementation, during the aforementioned process of acquiring the first and second target features, the image data, ultrasound data, and associated data from image data at different times need to be fed into a convolutional neural network for feature extraction. The convolutional kernel of the convolutional neural network used to acquire the first target feature is larger than the convolutional kernel of the convolutional neural network used to acquire the second target feature. This allows for the preservation of as much visual information as possible from the image and ultrasound data at the same time point.

[0100] The method described above for determining the change in distance between an aerial work platform and an obstacle assigns a higher weight to the first target feature than to the second target feature. This allows for a greater representation of the ultrasonic and image data features in the first target feature when determining the change in distance between the aerial work platform and the obstacle. This helps to retain more feature information related to distance changes, resulting in a more accurate determination of the final distance change.

[0101] This invention also proposes a safety control method for collision avoidance using ultrasonic ranging. Figure 4 The flowchart illustrates a safety control method for collision avoidance using ultrasonic ranging, provided in an embodiment of the present invention. This safety control method is applied to an aerial work platform, which is equipped with a first controller and a second controller, and the first controller and the second controller are communicatively connected. The second controller drives components to operate according to motion control commands from the first controller, thereby driving the aerial work platform to move. The safety control system includes an ultrasonic ranging module and a third controller. The method includes: S11: The ultrasonic ranging module is used to detect the distance between the aerial work platform and the obstacle to obtain the distance detection result.

[0102] S12: The third controller is used to communicate between the first controller and the second controller. The third controller is used to generate a control signal based on the distance detection result, and to choose to transmit the motion control command output by the first controller, or to make the second controller drive the aerial work platform to stop moving.

[0103] It should be noted that the working process and mode of the ultrasonic ranging module and the third controller involved in the safety control method for collision avoidance using ultrasonic ranging provided in this application have been described in detail in the foregoing description of the safety control system for collision avoidance using ultrasonic ranging. They can be understood and applied in the method by referring to the foregoing description, so they will not be repeated here.

[0104] This invention proposes a safety control method for collision avoidance using ultrasonic ranging, applied to an aerial work platform. The aerial work platform is equipped with a first controller and a second controller, which are communicatively connected. The second controller drives components to operate according to motion control commands from the first controller, thereby driving the aerial work platform to move. The safety control system includes an ultrasonic ranging module and a third controller. First, the ultrasonic ranging module detects the distance between the aerial work platform and an obstacle, obtaining a distance detection result. Then, the third controller is communicatively connected between the first and second controllers. The third controller generates a control signal based on the distance detection result, selectively transmitting the motion control commands output by the first controller, or causing the second controller to stop the aerial work platform. Thus, by setting up a first controller and a second controller on the aerial work platform, and enabling the first controller to communicate with the second controller, the second controller can drive components to operate according to the motion control commands from the first controller, thereby driving the aerial work platform to move. To better prevent collisions between the aerial work platform and obstacles, an ultrasonic ranging module is installed to detect the distance between the platform and obstacles in real time. A third controller is placed between the first and second controllers, enabling communication between them. This third controller generates control signals based on the distance detection results from the ultrasonic ranging module, selectively transmitting motion control commands from the first controller or causing the second controller to stop the aerial work platform. In other words, by adding a third controller between the first and second controllers, the safety control system can directly control the movement of the aerial work platform based on control signals obtained from the third controller and the first and second controllers. This process requires no program modification to the first or second controllers, nor any adjustment to the internal circuitry of the aerial work platform. While ensuring the safety of the aerial work platform and preventing collisions, it incurs no additional operating costs, is simple to install, and highly adaptable to different types of aerial work platforms. The entire control process is automated, eliminating manual intervention and providing convenient and efficient collision prevention.

[0105] This invention also provides an aerial work platform, which includes a first controller and a second controller, which are communicatively connected. It also includes the aforementioned safety control system, which comprises an ultrasonic ranging module and a third controller. In some possible implementations, a vision sensor may also be included. The ultrasonic ranging module may include one or more ultrasonic sensors. The third controller communicates with multiple ultrasonic sensors (i.e., the ultrasonic ranging module) via a bus. Through bus communication, distance data detected by the ultrasonic sensors can be transmitted to the third controller in real time and stably. When an ultrasonic sensor is connected to the third controller, the third controller has the ability to automatically assign a unique address; each connected ultrasonic sensor is assigned a unique address identifier on the bus. This ensures that the safety control system can support multiple ultrasonic sensors, thereby achieving omnidirectional, multi-angle, multi-point measurement during the lifting process of a self-propelled aerial work platform (such as a scissor lift). Compared to traditional single-point measurement methods, this effectively reduces blind spots and greatly improves the accuracy and comprehensiveness of obstacle detection in the lifting environment. Furthermore, the communication between the ultrasonic sensors and the third controller via the bus provides strong scalability and anti-interference capabilities.

[0106] Figure 5 This is a schematic diagram of an aerial work platform provided in an embodiment of the present invention. See also: Figure 5 As shown, ultrasonic sensors are installed on the four frames at the top of the aerial work platform. The ultrasonic ranging module includes four ultrasonic sensors (and in some cases, a vision sensor (not shown)). This ultrasonic ranging module communicates with the third controller via a bus to achieve multi-point measurement during the lifting process of the aerial work platform. The first controller and the second controller are connected. The second controller drives the components to operate according to the motion control commands from the first controller, thereby driving the aerial work platform's movement. The third controller (i.e., the MCU) is also connected to the first and second controllers. Based on the data acquired by the ultrasonic ranging module, the third controller can determine the changes in the distance between the aerial work platform and obstacles, thus determining the aerial work platform's motion state. This allows the first controller (i.e., the PCU) to perform hazard avoidance (such as assisting with braking) based on the determined motion state of the aerial work platform. It also allows the second controller (i.e., the ECU) to work with the first controller to adjust the aerial work platform's actions based on the determined motion state, thereby ensuring the safety of the aerial work platform's operation and preventing collisions.

[0107] Meanwhile, the aerial work platform provided in this invention also boasts strong sustainability and scalability in application scenarios. In subsequent development, this technology can also be applied to vehicle collision avoidance. Leveraging the advantages of multi-sensor bus mounting and precise detection, it enables real-time monitoring of the vehicle's driving direction from multiple angles, effectively warning against and avoiding various potential collision risks, thus comprehensively improving vehicle operational safety.

[0108] To ensure compatibility with existing products, the third controller can communicate with the handle (i.e., the first controller) using various communication methods such as serial port and CAN, and can be directly installed in vehicles already on the market. It is also suitable for the aftermarket. In practical deployment, the third controller connects between the ECU (vehicle control unit) and the PCU (the aforementioned control unit), transmitting data between them. When the third controller detects that the vehicle is approaching an obstacle, the system issues an alarm. If the distance is too close, it can quickly cut off the communication signal between the ECU and the PCU, thereby forcing the vehicle to stop the current dangerous action. Simultaneously, it allows the vehicle to perform safe actions, thus achieving selective motion limiting.

[0109] This application also provides corresponding devices and computer-readable storage media for implementing the solutions provided in this application.

[0110] The device includes a memory and a processor. The memory stores instructions or code, and the processor executes the instructions or code to enable the device to perform a safety control method for collision avoidance using ultrasonic ranging as described in any embodiment of this application.

[0111] In practical applications, the computer-readable storage medium can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0112] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0113] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0114] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0115] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A safety control system for collision avoidance using ultrasonic ranging, characterized in that, It is applied to aerial work platforms, wherein the aerial work platform is equipped with a first controller and a second controller, and the first controller and the second controller are communicatively connected; The second controller drives the components to work according to the motion control commands of the first controller, so as to drive the aerial work platform to move; The safety control system includes: A visual sensor, which is communicatively connected to a third controller, is used to acquire image data; An ultrasonic ranging module is used to detect the distance between the aerial work platform and an obstacle, and obtain a distance detection result. The distance detection result is determined based on an initial calibration distance, which is obtained by backtracking the point cloud data of the aerial work platform based on a backtracking distance. The initial calibration distance is used to indicate the initial distance between the aerial work platform and the obstacle. The backtracking distance is a preset safe distance between the aerial work platform and the obstacle. The ultrasonic ranging module includes multiple ultrasonic sensors, which are used to acquire ultrasonic data. The third controller is communicatively connected between the first controller and the second controller. The third controller is used to generate a control signal based on the distance detection result, selectively transmit the motion control command output by the first controller, or cause the second controller to drive the aerial work platform to stop moving; the first controller is an operation control unit; and the second controller is a vehicle controller. The third controller is communicatively connected between the first controller and the second controller. The third controller is used to generate a control signal based on the distance detection result, selectively transmitting the motion control command output by the first controller, or causing the second controller to drive the aerial work platform to stop moving, including: When the distance detection result is less than the first distance threshold, the communication connection between the first controller and the second controller is cut off, so that the second controller drives the aerial work platform to stop moving. The second controller is configured to perform a braking operation when it does not receive a motion control command from the first controller. When the distance detection result is less than the second distance threshold, a warning indication signal is sent to the second controller, so that the second controller controls the warning device to issue a warning signal and transmits the motion control command output by the first controller, so that the lifting speed of the aerial work platform is reduced; the warning device includes one or more combinations of speakers and indicator lights, and the second distance threshold is greater than the first distance threshold; The third controller is used for: During the operation of the aerial work platform, the change in the distance between the aerial work platform and the obstacle is determined based on the initial calibration distance, the continuously acquired ultrasonic data, and the image data. The motion state of the aerial work platform is determined based on the change in distance, so as to achieve the goal of preventing the aerial work platform from colliding with the obstacle; The third controller includes a storage module, which, before determining the change in distance between the aerial work platform and the obstacle based on the initial calibration distance, the continuously acquired ultrasonic data, and the image data, is used for: Feature extraction is performed on the ultrasonic data and image data acquired at the same time to obtain the first target feature; Feature extraction is performed on the association information of the image data acquired at different times to obtain a second target feature. The association information is used to indicate the difference value between the image data. The image data acquired at different times are optical flow images and / or pixel difference images. Store the first target feature and the second target feature in the memory; The third controller is used for: A time range is defined, wherein the time range is determined with the current time as a reference; Obtain the first target feature and the second target feature within the time range; The change in distance between the aerial work platform and the obstacle is determined based on the initial calibration distance, the first target feature within the time range, and the second target feature. Wavelet transform encoding is performed on the acquired ultrasonic data to obtain a wavelet image; The resolution of the wavelet image is set to a first resolution, and the resolution of the image data is set to a second resolution, wherein the first resolution is greater than the second resolution; The wavelet image and the image data are stitched together based on the first resolution and the second resolution to obtain a stitched image; Feature extraction is performed on the stitched image to obtain the first target feature.

2. The safety control system for collision avoidance using ultrasonic ranging as described in claim 1, characterized in that, The first controller is provided with a first communication interface, and the second controller is provided with a second communication interface. The first communication interface and the second communication interface are mechanically and electronically detachably connected. The third controller is equipped with a third communication interface and a fourth communication interface; The third controller, which is connected between the first controller and the second controller, includes: a third communication interface that is mechanically and electronically detachably connected to the first communication interface, and a fourth communication interface that is mechanically and electronically detachably connected to the second communication interface, so that the motion control commands of the first controller are transmitted to the second controller after passing through the third controller.

3. The safety control system for collision avoidance using ultrasonic ranging as described in claim 1, characterized in that, The third controller is communicatively connected between the first controller and the second controller. The third controller is used to generate a control signal based on the distance detection result, selectively transmitting the motion control command output by the first controller, or causing the second controller to drive the aerial work platform to stop moving, including: When the distance detection result is less than the third distance threshold, the motion control command output by the first controller is transmitted to reduce the lifting speed of the aerial work platform, wherein the third distance threshold is greater than the second distance threshold.

4. The safety control system for collision avoidance using ultrasonic ranging as described in any one of claims 1-3, characterized in that, The first controller is an operation control unit; and the second controller is a vehicle controller; The second controller, based on the motion control commands from the first controller, drives the components to operate, thereby driving the aerial work platform to move, including: The second controller drives the aerial work platform to perform lifting operations according to the motion control command of the first controller, and the multiple ultrasonic sensors of the ultrasonic ranging module are distributed at the four top corners of the lifting frame.

5. The safety control system for collision avoidance using ultrasonic ranging as described in claim 1, characterized in that, The ultrasonic ranging module is used for: Establish the correlation between the distance between the aerial work platform and the obstacle and the sampling frequency of the ultrasonic ranging module; During the detection process, the sampling frequency of the ultrasonic ranging module is determined based on the correlation and the distance.

6. The safety control system for collision avoidance using ultrasonic ranging as described in claim 5, characterized in that, The safety control system further includes a vision sensor, which is communicatively connected to the third controller. The ultrasonic ranging module includes multiple ultrasonic sensors. The vision sensor is used to acquire image data, the ultrasonic sensors are used to acquire ultrasonic data, and the third controller is used for: The point cloud data of the acquired aerial work platform is backtracked to determine the initial calibration distance of the aerial work platform. The point cloud data is constructed based on the ultrasonic data and the image data. The initial calibration distance is used to indicate the initial distance between the aerial work platform and the obstacle. During the operation of the aerial work platform, the change in the distance between the aerial work platform and the obstacle is determined based on the initial calibration distance, the continuously acquired ultrasonic data, and the image data. The motion state of the aerial work platform is determined based on the change in distance, so as to achieve the goal of preventing the aerial work platform from colliding with the obstacle; And / or, the third controller includes a distance determination module, which, before performing backtracking processing on the acquired point cloud data of the aerial work platform to determine the initial calibration distance of the aerial work platform, is used to: Determine the backtrack distance; The third controller is used for: The point cloud data of the aerial work platform is backed up based on the back-up distance to determine the initial calibration distance of the aerial work platform.

7. The safety control system for collision avoidance using ultrasonic ranging as described in claim 6, characterized in that, The third controller includes an encoding module, which, before performing feature extraction on the ultrasonic data and image data acquired at the same time to obtain the first target feature, is used to: Wavelet transform encoding is performed on the acquired ultrasonic data to obtain a wavelet image; The storage module is used for: Feature extraction is performed on the wavelet image and the image data acquired at the same time to obtain the first target feature; And / or, the storage module is used for: The resolution of the wavelet image is set to a first resolution, and the resolution of the image data is set to a second resolution, wherein the first resolution is greater than the second resolution; The wavelet image and the image data are stitched together based on the first resolution and the second resolution to obtain a stitched image; Feature extraction is performed on the stitched image to obtain the first target feature.

8. The safety control system for collision avoidance using ultrasonic ranging as described in claim 7, characterized in that, The third controller is used for: The weight of the first target feature within the time range is set as the first weight, and the weight of the second target feature within the time range is set as the second weight, wherein the first weight is greater than the second weight; The change in distance between the aerial work platform and the obstacle is determined based on the initial calibration distance, the first weight, the second weight, the first target feature and the second target feature within the time range.

9. An aerial work platform vehicle, characterized in that, The aerial work platform includes a safety control system for collision avoidance using ultrasonic ranging as described in any one of claims 1-8.

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