Arm support space reachability analysis method, device, system, equipment and medium

Abstract

The invention discloses a cantilever crane space accessibility analysis method, device, system and equipment and a medium, and relates to the technical field of cantilever crane control. The method comprises the following steps: performing inverse kinematics calculation on the basis of a target position where the tail end of the boom needs to reach to obtain multiple groups of boom posture combinations meeting the target position requirement; rejecting the boom posture combinations violating a preset motion constraint system from the multiple groups of boom posture combinations to obtain a candidate posture set; and performing collision detection on each cantilever crane attitude combination in the candidate attitude set, and determining a feasible attitude set according to a corresponding collision detection result. According to the embodiment of the invention, the cantilever crane attitude combination is solved by utilizing the inverse kinematics algorithm, and the feasible attitude set which meets the target position requirement and can be safely reached is screened out by combining the cantilever crane kinematics constraint system and the real-time collision detection result, so that the method does not depend on the experience judgment of an operator any more, and the reachability analysis is more accurate.

Description

Technical Field

[0001] This application relates to the field of boom control technology, specifically to a boom space accessibility analysis method, device, system, equipment, and medium. Background Technology

[0002] Taking fire trucks as an example, boom equipment often needs to extend and move over a wide range in three-dimensional space, such as ensuring that the high-pressure nozzle at the end of the boom can reach the designated pouring point. Furthermore, when performing tasks in complex and ever-changing operating environments, boom equipment is often surrounded by various obstacles such as buildings and trees. Therefore, a spatial accessibility analysis of the boom is necessary. This analysis assesses whether the boom end can reach the target location to complete the designated task, and also evaluates whether the boom will collide with buildings, trees, and other obstacles.

[0003] However, in existing technologies, the accessibility analysis of the boom space usually relies on the operator's experience and judgment, which is highly subjective and prone to misjudgment in complex environments, affecting the operating efficiency of the boom equipment and making it difficult to guarantee safety.

[0004] Therefore, there is an urgent need for a new approach to boom space accessibility analysis. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, system, device, and medium for boom space accessibility analysis, so as to at least partially solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the first aspect of this application provides a method for analyzing the spatial accessibility of a boom, comprising: performing inverse kinematics calculations based on the target position that the boom end needs to reach, to obtain multiple sets of boom posture combinations that meet the target position requirements; removing boom posture combinations that violate a preset motion constraint system from the multiple sets of boom posture combinations to obtain a candidate posture set; and performing collision detection on each boom posture combination in the candidate posture set, and determining a feasible posture set based on the corresponding collision detection results.

[0007] In the embodiments of this application, each set of boom posture combinations includes: the joint angles of each joint of the boom; and the telescopic length of the boom's telescopic arm.

[0008] In this embodiment, the inverse kinematics calculation is performed using the Newton-Raphson iterative method, including: determining initial estimates for the joint angle and the telescopic length based on the target position and the initial state of the boom; determining the Jacobian matrix and end-effector pose residual based on the initial estimates; calculating the boom attitude correction based on the determined Jacobian matrix and end-effector pose residual; updating the boom attitude based on the boom attitude correction to obtain updated values ​​for the joint angle and the telescopic length; and repeating the process of determining the Jacobian matrix and end-effector pose residual, calculating the boom attitude correction, and updating the boom attitude based on the updated values ​​until a final estimate that meets the preset iteration accuracy is obtained, and forming a boom attitude combination that meets the target position requirements based on the final estimate.

[0009] In this embodiment of the application, the preset motion constraint system includes the limitation range of the joint angle, the limitation range of the extension length, and / or the motion speed threshold.

[0010] In this embodiment of the application, the collision detection includes: for each boom posture combination in the candidate posture set, calculating the minimum distance between the corresponding boom bounding box and all obstacle bounding boxes; and if the minimum distance is greater than or equal to a preset safety threshold, determining that the corresponding boom posture combination is a feasible posture combination, otherwise performing collision risk handling.

[0011] In this embodiment of the application, the boom space accessibility analysis method further includes: for the set of feasible postures, comparing the magnitude of the minimum distance corresponding to each feasible posture combination; determining the feasible posture combination with the largest minimum distance as the optimal posture combination based on the comparison result; and determining the optimal path from the boom end to the target position based on the optimal posture combination.

[0012] In this embodiment of the application, for the case where the feasible posture set is empty, the boom space accessibility analysis method further includes: expanding outward from the target position as the center by a preset step size to obtain several candidate positions; repeating the process of inverse kinematics calculation, obtaining candidate posture set and determining feasible posture set for the candidate positions until the optimal candidate position that is closest to the target position and can be reached by the boom end is found; and generating a target position adjustment suggestion based on the optimal candidate position.

[0013] A second aspect of this application provides a boom space accessibility analysis apparatus, comprising: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement any of the aforementioned boom space accessibility analysis methods.

[0014] A third aspect of this application provides a boom space accessibility analysis system, comprising: any of the above-described boom space accessibility analysis devices; and a multi-sensor sensing module adapted to be arranged on the boom body and configured to collect obstacle information and / or boom pose information, and to provide the collected information to the boom space accessibility analysis device, wherein the multi-sensor sensing module includes a sensing array composed of a lidar, a millimeter-wave radar and a vision camera, an angle sensor matching the number of boom joints, and a length sensor for the telescopic arm of the boom.

[0015] In this embodiment, the boom space accessibility analysis system further includes one or more of the following modules: a data preprocessing module configured to preprocess the information collected by the multi-sensor sensing module, wherein the data preprocessing includes time synchronization, coordinate transformation, filtering, and / or sensor data fusion; a boom motion state monitoring module configured to process the boom attitude information using a preset forward kinematics algorithm to estimate the boom motion state; an early warning module configured to provide information prompts to the operator, the boom equipment control system, and / or the boom equipment remote monitoring platform in response to the boom space accessibility analysis device failing to obtain a feasible attitude set; and a power supply module configured to supply power to the devices and / or modules of the boom space accessibility analysis system.

[0016] The fourth aspect of this application provides a boom device, including any of the boom space accessibility analysis systems described above.

[0017] The fifth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform any of the above-described boom space accessibility analysis methods.

[0018] Through the above technical solution, the embodiments of this application use the inverse kinematics algorithm to solve the boom posture combination, and then combine the boom kinematic constraint system and real-time collision detection results to screen out the feasible posture set that meets the target position requirements and can be safely reached. It no longer relies on the operator's experience judgment, and the accessibility analysis is more accurate.

[0019] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The schematic diagram illustrates a flowchart of a boom space accessibility analysis method according to an embodiment of this application; Figure 2 The schematic diagram illustrates the process of selecting the optimal pose based on the set of feasible poses; Figure 3 The schematic diagram illustrates the process of generating target location adjustment suggestions; Figure 4 The schematic diagram illustrates a flowchart of the boom space accessibility analysis method of the present application embodiment, which is performed using a boom or remote control system. Figure 5 The schematic diagram illustrates the process of calculating the inverse kinematics using the Newton-Raphson iterative method; Figure 6 The schematic diagram illustrates an example collision detection process; Figure 7 A schematic diagram illustrating the structural block diagram of a boom space accessibility analysis device according to an embodiment of this application is shown; and Figure 8 A schematic block diagram of a boom space accessibility analysis system according to an embodiment of this application is shown.

[0021] Explanation of reference numerals in the attached figures Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0023] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0024] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions 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, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0026] Example 1 Figure 1 The illustration shows a flowchart of the boom spatial accessibility analysis method according to Embodiment 1 of this application. The spatial accessibility analysis involved in this embodiment refers to determining the set of postures of the boom end (such as the hose end of a concrete pump truck or the high-pressure water cannon of a fire truck) that can reach target locations in three-dimensional space.

[0027] like Figure 1 As shown in the figure, this application provides a method for boom space accessibility analysis, which may include the following steps S100-S300.

[0028] Step S100: Based on the target position that the boom end needs to reach, perform inverse kinematics calculation to obtain multiple boom posture combinations that meet the target position requirements.

[0029] For example, each set of boom posture combinations includes: the joint angles of each joint of the boom; and the extension length of the telescopic arm. Thus, the inverse kinematics involved in the embodiments of this application refers to inversely deducing the boom posture changes based on the target position, such as how much the boom joints should rotate and / or how much the telescopic arm should extend.

[0030] Furthermore, iterative algorithms can be used to calculate the inverse kinematics, such as the Jacobi transpose method, damped least squares method, cyclic coordinate descent method, particle swarm optimization algorithm, and genetic algorithm. In a preferred embodiment, the Newton-Raphson iterative method is used to calculate the inverse kinematics in order to accurately solve the inverse equation. The implementation details of the Newton-Raphson iterative method will be described in detail below with examples, and will not be repeated here.

[0031] Step S200: Remove the boom posture combinations that violate the preset motion constraint system from the multiple boom posture combinations to obtain a candidate posture set.

[0032] Due to the characteristics of the boom's mechanical structure, the inverse kinematics solution typically has multiple sets of solutions. This means that there are various combinations of boom postures that can all bring the boom end effector to the same target position. For example, in common operational scenarios, the two distinct postures of "raising the upper boom" and "lowering the upper boom" can both potentially move the boom end effector to the designated target position. Taking joint angles as an example, this implies the existence of redundant joint space.

[0033] Therefore, step S200 uses a preset motion constraint system to perform preliminary screening of boom posture combinations. For example, the preset motion constraint system includes the limitation range of the joint angle, the limitation range of the telescopic length, and / or the motion speed threshold. In step S200, boom posture combinations that violate the preset motion constraint system are eliminated, thereby forming a candidate posture set of the remaining boom posture combinations.

[0034] Step S300: Perform collision detection on each boom posture combination in the candidate posture set, and determine the feasible posture set based on the corresponding collision detection results.

[0035] For example, if a certain boom posture combination would cause the boom to collide with an obstacle, then that boom posture combination should be discarded, and the remaining boom posture combinations form a feasible posture set. In this embodiment, the feasible posture set refers to the set of boom postures that can guarantee the boom tip reaches the target position without colliding with an obstacle. Currently, there are various collision detection methods. The preferred collision detection method of this embodiment will be described below with examples, and will not be elaborated further here.

[0036] Through the above steps S100-S300, the embodiments of this application obtain a combination of boom postures that meet the target position requirements based on inverse kinematics, and further obtain a set of feasible postures that can ensure the safe arrival of the boom end at the target position based on the motion constraint system and collision detection. This set of postures can be adapted to complex working environments with many obstacles, ensuring the working efficiency and safety of the boom equipment.

[0037] After obtaining the feasible attitude set through step S300, in a preferred embodiment, the boom space reachability analysis method may further include: step S400, selecting the optimal attitude based on the feasible attitude set and outputting the reachable path.

[0038] like Figure 2 As shown, step S400 may include steps S410-S430.

[0039] Step S410: For the set of feasible postures, compare the magnitude of the minimum distance corresponding to each feasible posture combination.

[0040] Step S420: Based on the comparison results, the feasible posture combination with the largest minimum distance is determined as the optimal posture combination.

[0041] Step S430: Based on the optimal posture combination, determine the optimal path from the end of the boom to the target position.

[0042] Similarly, for step S300, when the feasible attitude set is empty, the preferred boom space accessibility analysis method may also include: step S500, generating target position adjustment suggestions.

[0043] like Figure 3 As shown, step S500 may include steps S510-S530.

[0044] Step S510: Using the target position as the center, expand outwards by a preset step size to obtain several candidate positions.

[0045] Step S520: For the candidate positions, repeat the process of inverse kinematics calculation, obtaining the candidate attitude set, and determining the feasible attitude set until the optimal candidate position that is closest to the target position and reachable by the boom end is found. That is, for the candidate positions, repeat the above steps S100-S300.

[0046] Step S530: Based on the optimal candidate position, generate a target position adjustment suggestion.

[0047] Thus, through steps S400-S500, it can be seen that the embodiments of this application can not only determine whether the target location is reachable, but also output the optimal path or the nearest reachable location suggestion, providing intuitive guidance for operators and improving work efficiency.

[0048] The implementation of the boom space accessibility analysis method of this application embodiment will be described in more detail below through an example. In this example, Figure 4 This is a flowchart illustrating the boom space accessibility analysis method of this application embodiment, executed using a boom or remote control system. Figure 4 As shown, this example may include the following steps S1-S8.

[0049] S1, Confirm Input Parameters.

[0050] Operators can directly input the global coordinates (X / Y / Z) of the target position with centimeter-level precision through the touch screen on the control system, and the control system can automatically verify the working radius range and provide real-time warnings for exceeding the limits.

[0051] In addition, the control system will automatically acquire detection data from multiple sensors on the boom, such as lidar point cloud data, millimeter-wave radar ranging information, joint angles, and telescopic length.

[0052] Step S2, data preprocessing.

[0053] For example, through multi-sensor data fusion technology, the system first performs spatiotemporal registration and feature matching between lidar point cloud data and millimeter-wave radar ranging information, and then uses a coordinate transformation-based fusion algorithm to achieve precise obstacle localization. Furthermore, in a multi-sensor layout, different sensors may have their own local coordinate systems. The coordinates of an obstacle in a sensor's local coordinate system can be transformed to the global coordinate system using the following formula.

[0054]

[0055] in, R It is a rotation matrix used to handle directional differences between different coordinate systems; T It is a translation matrix used to handle positional offsets between coordinate systems. Through such coordinate transformation, obstacle position information detected by different sensors can be unified into the same coordinate system, achieving accurate data fusion and correlation.

[0056] Step S3: Import kinematic constraints.

[0057] The system dynamically loads kinematic constraint parameters through the equipment parameter database, including the rotation range of each joint, the travel limit of the telescopic arm, and the motion speed threshold, in order to construct a complete motion constraint system.

[0058] Step S4: Inverse kinematics calculation.

[0059] In the example, such as Figure 5 As shown, following step S110, the inverse kinematics calculation using the Newton-Raphson iterative method may include the following steps S110-S140.

[0060] Step S110: Determine the initial estimated values ​​corresponding to the joint angle and the telescopic length based on the target position and the initial state of the boom.

[0061] The choice of initial estimate has a certain impact on the convergence speed of the iteration and the accuracy of the final result. Usually, a relatively reasonable initial estimate can be determined based on experience or simple geometric analysis.

[0062] Step S120: Based on the initial estimate, determine the Jacobian matrix and the end pose residual value.

[0063] Among them, the Jacobian matrix and the end pose residual are both important parameters in the Newton-Raphson iterative method, denoted as J(q) and , respectively. The Jacobian matrix J(q) describes the rate of change of the boom end position and orientation relative to the joint angles and the telescopic boom length, while the residual values... This represents the deviation between the actual position of the boom end and the target position under the current estimate. Understandably, in each iteration, the Jacobian matrix J(q) of the inverse equation and the residual value of the equation can be calculated based on the current estimate. .

[0064] Step S130: Based on the determined Jacobian matrix and end pose residual value, calculate the boom attitude correction amount, and based on the boom attitude correction amount, perform boom attitude update to obtain the updated values ​​of the joint angle and the telescopic length.

[0065] Taking joint angle correction as an example, the estimated values ​​of each joint angle are updated using the iterative formula of the Newton-Raphson method based on the Jacobian matrix and residual values. The formula for calculating the residual values ​​is as follows:

[0066] In the formula, This refers to the final pose residual value (residual vector) of the k-th iteration, i.e. ; This refers to the target position that the boom end needs to reach, i.e. ; This refers to the actual end-effector pose in the k-th iteration, which can be determined based on the current joint variables. The end-effector pose coordinates are derived through geometric relationships.

[0067] Furthermore, based on the end position Joint variables The Jacobian matrix J(q) is obtained as follows:

[0068] Furthermore, based on the current residual values ​​and the Jacobian matrix, the correction amount for the angle variable is calculated. This leads to new estimates of the angle variables. Complete the iteration and introduce a step size factor. To avoid iterative divergence, the specific correction and update formulas are shown below:

[0069] Understandably, an updated value for the stretch length can be obtained similarly.

[0070] Step S140: Based on the updated value, repeat steps S120 and S130 until a final estimated value that meets the preset iteration accuracy is obtained, and form a boom posture combination that meets the target position requirements based on the final estimated value.

[0071] After each iteration, it is necessary to determine whether the current estimate meets the preset iteration accuracy requirements. For example, the iteration accuracy is set to ±0.1° and ±0.5cm. That is, when the change in the angle of each joint is less than ±0.1° and the change in the length of the telescopic arm is less than ±0.5cm, the iteration is considered to have converged, and the estimated value at this time is a solution to the inverse equation. If the iteration count exceeds the preset maximum number of iterations and still does not converge, it is determined that the initial value cannot obtain a valid solution, and it may be necessary to readjust the initial value and iterate again. Here, the convergence equation is as follows:

[0072] In the formula, Indicates the k-th iteration, the... i The change in the angle of each joint; This represents the iteration accuracy threshold for the joint angle; Indicates the k-th iteration, the... i The change in length of the telescopic boom; This represents the iteration accuracy threshold for the telescopic arm length.

[0073] Through the numerical iteration process described above, the solution to the inverse equation can be gradually approximated, thereby obtaining various boom posture combinations that meet the target position requirements, namely, the joint angles θ1, θ2...θn and the telescopic boom lengths L1, L2...Ln in the example.

[0074] Step S5: Candidate pose set generation.

[0075] The boom posture combinations obtained from inverse kinematics calculations undergo rigorous "kinematic constraint verification," eliminating postures that violate constraints. This includes verifying joint limits (joint angles exceeding maximum / minimum limits) and extension / retraction ranges (exceeding extension length limits). Illegal solutions that do not meet the constraints are automatically eliminated, and the remaining postures ultimately form a "candidate posture set" that satisfies the fundamental kinematic requirements. If the candidate posture set is empty, the target position is directly determined to be "preliminarily unreachable."

[0076] Step S6: Determine the feasible pose set.

[0077] For boom cranes, if the spatial relationship between the boom tip and surrounding obstacles cannot be accurately determined in real time, collision hazards are highly likely to occur, which can not only damage the equipment but also potentially cause personal injury or death. Therefore, collision detection needs to be further considered.

[0078] Following step S300, such as Figure 6 As shown, the example collision detection may include: Step S310: For each boom posture combination in the candidate posture set, calculate the minimum distance between the corresponding boom bounding box and all obstacle bounding boxes.

[0079] Step S320: If the minimum distance is greater than or equal to the preset safety threshold, then the corresponding boom posture combination is determined to be a feasible posture combination; otherwise, collision risk handling is performed.

[0080] For steps S310-S320, for example, collision detection is performed on each posture in the candidate posture set. The minimum distance between the boom's directional bounding box (OBB) and all obstacle bounding boxes in the obstacle database is calculated, and it is determined whether all of them are greater than or equal to a preset safety threshold. If a posture satisfies "all minimum distances ≥ safety threshold" and "complies with kinematic constraints", then the posture is marked as a "feasible posture", and the target location is determined to be "reachable"; if none of the candidate postures satisfy these conditions, then the target location is determined to be "unreachable". The safety threshold can be reasonably set according to the equipment type.

[0081] Here, an efficient bounding box algorithm is used for collision detection. In addition to OBB, axis-aligned bounding box (AABB) can also be used to construct bounding box models for the dynamic spatial contour of the boom and obstacles respectively. Then, through precise calculation, the minimum distance between the two is obtained. In addition, the obstacle database can pre-store the bounding box models corresponding to various types of obstacles.

[0082] Furthermore, regarding step S320, the collision risk handling may include: implementing different warning methods for different levels of collision risk; and / or adjusting the control system of the boom equipment to control the boom movement.

[0083] For example, when a collision risk is detected, the system immediately triggers a warning signal. Warning methods include audible and visual alarms, which are installed on the top of the equipment control room. The alarm volume is no less than 85dB, and the light colors are differentiated according to the risk level: red indicates high risk, and yellow indicates low risk. Simultaneously, a warning window pops up on the display screen to remind operators of the collision risk.

[0084] Step S7: Optimal attitude selection and reachable path output.

[0085] Corresponding to Figure 2Steps S410-S430, as shown, involve selecting the "optimal posture" from all feasible postures if the target location is reachable. Specifically, the "minimum distance to maximum distance" between the boom and all obstacles (i.e., the maximum safety redundancy under that posture) is calculated for each feasible posture. The posture corresponding to the maximum safety redundancy is the optimal posture. "Target location reachable" can be displayed on the screen, and the optimal path can be output in the form of "posture parameters + path animation." Here, the posture parameters include the target angles of each joint and the target length of the telescopic boom.

[0086] Step S8, Target Position Adjustment Suggestions.

[0087] Corresponding to Figure 3 In steps S510-S530, if the target location is unreachable, the system initiates a "nearest reachable location search." Centered on the target location, the search expands outwards in 0.5m increments within the three-dimensional space (prioritizing the operator's preset "preferred direction"; if no preset direction is specified, the search proceeds sequentially in the six directions: X+, X-, Y+, Y-, Z+, Z-). For each candidate location found, the "candidate pose set generation - collision detection" process is repeated until a location that is "closest to and reachable from the target location" is found. The distance between this location and the target location is calculated, e.g., "1.2m from the target location, direction to the left," and the reachable location is marked in green on the display screen. Simultaneously, "adjustment suggestions" are output, such as "It is recommended to adjust the target location 1.2m to the left and 0.5m upwards to reach the safe zone."

[0088] In summary, the boom space accessibility analysis method of Embodiment 1 of this application has the following advantages: 1. The inverse kinematics algorithm is used to solve the boom posture combination. Then, the feasible posture set that meets the target position requirements and can be safely reached is selected by combining the boom kinematic constraint system and real-time collision detection results. It no longer relies on the operator's experience judgment, and the accessibility analysis is more accurate.

[0089] 2. It can not only determine whether the target location is reachable, but also output suggestions for the nearest reachable location or the optimal path, providing intuitive guidance for operators and improving work efficiency.

[0090] 3. Equipped with a multi-level collision risk warning mechanism, such as a three-level collision risk warning (no risk, low risk, high risk), it can remind operators to avoid danger in advance. At the same time, it supports linkage with the control system (such as automatically decelerating or stopping the boom movement when the risk is high), which further reduces the accident rate and ensures high safety.

[0091] 4. In, for example, redundant joint spaces, the Newton-Raphson iterative method is used to quickly solve multiple sets of inverse kinematic solutions, with high calculation accuracy and speed.

[0092] Example 2 Figure 7 The diagram schematically illustrates a structural block diagram of a boom space accessibility analysis device according to Embodiment 2 of this application. Figure 7 As shown, this application provides a boom space accessibility analysis device, which may include: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and to implement the boom space accessibility analysis method described above when executing the instructions.

[0093] The boom space accessibility analysis device is, for example, a controller integrated into the boom control system or remote control system.

[0094] For more details on the implementation and effects of this device, please refer to Embodiment 1, which will not be repeated here.

[0095] Example 3 In existing technologies, boom collision avoidance and spatial accessibility analysis mainly rely on a single sensor (such as an ultrasonic sensor or lidar) installed on the boom to collect local environmental data. This results in blind spots and makes it difficult to achieve a complete scan of the overall spatial contour of the boom.

[0096] In response to this technical problem, Figure 8 The diagram schematically illustrates a structural block diagram of a boom space accessibility analysis system according to Embodiment 3 of this application. Figure 8 As shown, the boom space accessibility analysis system may include: the boom space accessibility analysis device 100 of Embodiment 2; and a multi-sensor sensing module 200, which is adapted to be arranged on the boom body and configured to collect obstacle information and / or boom pose information, and provide the collected information to the boom space accessibility analysis device 100. The multi-sensor sensing module 200 includes a sensing array composed of a lidar, millimeter-wave radar, and a vision camera; angle sensors matching the number of boom joints; and length sensors for the telescopic boom of the boom.

[0097] The boom space accessibility analysis device 100, a core component of the system in Embodiment 3, includes, for example, the following units: a bounding box modeling unit, used to simplify the boom's dynamic profile and obstacles into regular bounding box models, providing a basis for subsequent calculations; a collision detection unit, used to calculate the minimum distance between bounding boxes in real time and compare it with a safety threshold, outputting three levels of warnings: no risk, low risk, or high risk; and an accessibility calculation unit, used to generate accessibility determination results and optimal path suggestions for the target location based on the inverse kinematics algorithm, integrating collision detection results and kinematic constraints, thereby providing operators with comprehensive safety assessments and operational decision support. Further details regarding the functions implemented by each unit can be found in Embodiment 1, and will not be elaborated upon here.

[0098] In the example of the multi-sensor sensing module 200, the visual camera has night vision capabilities, while the sensing array composed of LiDAR, millimeter-wave radar, and the visual camera covers the boom from its root to its tip. This enables the multi-sensor sensing module to achieve comprehensive monitoring of the environment surrounding the boom. Furthermore, all sensors integrated into the multi-sensor sensing module 200 are connected to the boom space accessibility analysis device 100 (or the control system integrating the device 100) via industrial Ethernet, ensuring stable real-time data transmission.

[0099] Thus, the system in Embodiment 3 of this application achieves omnidirectional scanning of the space around the boom through multi-sensor fusion, dynamically calculates spatial accessibility by combining real-time motion data, and can provide early warning of collision risks.

[0100] In a preferred embodiment, the boom space accessibility analysis system further includes any one or more of the following: a data preprocessing module 300, a boom motion status monitoring module 400, an early warning module 500, and a power supply module 600.

[0101] The data preprocessing module 300 is configured to preprocess the information collected by the multi-sensor sensing module 200. This data preprocessing includes time synchronization, coordinate transformation, filtering, and / or sensor data fusion. The data preprocessing module can employ an industrial-grade embedded controller, integrating time synchronization, coordinate transformation, filtering, and sensor data fusion units to provide high-precision foundational data for collision risk assessment and accessibility analysis.

[0102] The boom motion state monitoring module 400 is configured to process boom attitude information using a preset forward kinematics algorithm to estimate the boom's motion state. For example, the boom motion state monitoring module 400 acquires boom motion parameters through angle and length sensors, converts them digitally, and inputs them into a built-in kinematics calculation unit. This kinematics calculation unit, based on the preset forward kinematics algorithm, calculates the coordinates of boom feature points (e.g., the coordinates of the boom end point) in real time and updates the dynamic contour model, providing accurate real-time boom pose data for collision risk assessment and accessibility analysis, ensuring continuous and accurate monitoring of the boom's motion state.

[0103] The early warning module 500 is configured to provide information alerts to operators, the control system of the boom equipment, and / or the remote monitoring platform of the boom equipment in response to the inability of the boom space accessibility analysis device to obtain a feasible attitude set. For example, the early warning module 500 provides real-time safety information to operators in a multimodal manner: the audible and visual alarm uses a volume of over 85dB and visually distinguishes between high-risk (red) and low-risk (yellow) states with red and yellow lights; a high-resolution touchscreen displays the boom's dynamic outline, obstacle distribution, and accessibility area in real time; and it is equipped with a CAN bus and Ethernet data interface to achieve bidirectional transmission of analysis results to the equipment control system and remote monitoring platform, thus constructing a three-dimensional human-machine interaction system from local early warning to remote monitoring.

[0104] The power module 600 is configured to supply power to the devices and / or modules of the boom space accessibility analysis system. For example, the power module 600 adopts a wide voltage input design (DC 12-24V), integrates surge protection and overcurrent protection circuits, and provides stable power support for the system's core modules such as multi-sensor sensing, data processing, motion status monitoring, collision risk assessment and accessibility analysis, and early warning interaction, ensuring the continuous and reliable operation of the entire system under different operating conditions.

[0105] In summary, the boom space accessibility analysis system of Embodiment 3 of this application has at least the following advantages: 1. It has similar effects to the boom space accessibility analysis method in Example 1, and will not be described in detail here.

[0106] 2. High real-time performance: Through high-speed acquisition of multi-sensor data (acquisition frequency ≥20Hz) and preprocessing (data preprocessing delay ≤100ms), combined with dynamic refresh of accessibility analysis results (≥10Hz), it can respond to boom movement and environmental changes in real time, avoiding the risk of collision due to delay.

[0107] 3. Comprehensive Monitoring Range: The multi-sensor array covers the entire range from the boom root to the tip, with no blind spots. Furthermore, the fusion of lidar and millimeter-wave radar ensures accurate obstacle identification even in harsh environments such as rain, fog, and dust, adapting to complex operating scenarios. This overcomes the shortcomings of existing technologies, such as non-real-time spatial collision avoidance monitoring and inaccurate accessibility analysis for boom equipment.

[0108] 4. Good versatility: The sensor installation position and algorithm parameters can be adjusted according to different types of boom equipment without the need for large-scale modification of the equipment structure, making it widely applicable.

[0109] 5. By collecting angle sensor data and length sensor data in real time and performing forward kinematics calculations of the boom, the pose of the boom end is dynamically updated in milliseconds.

[0110] Therefore, based on the above embodiments one to three, this application provides a technical solution that can scan the space around the boom in real time and comprehensively, accurately identify obstacles, and dynamically analyze the accessibility of the boom space, thereby improving the safety and efficiency of boom equipment operation. Specifically, this application provides a spatial accessibility analysis method, device, and system based on boom space anti-collision scanning, which can realize real-time anti-collision monitoring and dynamic spatial accessibility analysis of the boom and its surrounding environment during operation.

[0111] This application also provides a boom device, which may include the boom space accessibility analysis system of Embodiment 3 described above. This boom device is, for example, a fire truck.

[0112] This application also provides a machine-readable storage medium storing instructions that cause a machine to execute the boom space accessibility analysis method described in Embodiment 1.

[0113] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0115] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0117] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0118] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0119] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0120] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0121] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for analyzing the spatial accessibility of a boom, characterized in that, include: Based on the target position that the boom end needs to reach, inverse kinematics calculation is performed to obtain multiple combinations of boom postures that meet the target position requirements; From the multiple sets of boom posture combinations, those that violate the preset motion constraint system are removed to obtain a candidate posture set; and Collision detection is performed on each boom posture combination in the candidate posture set, and a feasible posture set is determined based on the corresponding collision detection results.

2. The boom space accessibility analysis method according to claim 1, characterized in that, Each set of boom posture combinations includes: the joint angles of each joint of the boom; and the extension length of the boom's telescopic arm.

3. The boom space accessibility analysis method according to claim 2, characterized in that, The inverse kinematics solution is calculated using the Newton-Raphson iterative method, including: Based on the target position and the initial state of the boom, determine the initial estimated values ​​corresponding to the joint angle and the telescopic length, respectively. Based on the initial estimate, determine the Jacobian matrix and the end pose residual value; Based on the determined Jacobian matrix and the end pose residual, the boom attitude correction is calculated. Based on the boom attitude correction amount, the boom attitude is updated to obtain updated values ​​for the joint angle and the telescopic length; and Based on the updated value, the process of determining the Jacobian matrix and end pose residual value, calculating the boom attitude correction amount, and updating the boom attitude is repeated until a final estimated value that meets the preset iteration accuracy is obtained, and a boom attitude combination that meets the target position requirements is formed based on the final estimated value.

4. The boom space accessibility analysis method according to claim 2, characterized in that, The preset motion constraint system includes the limitation range of the joint angle, the limitation range of the extension length, and / or the motion speed threshold.

5. The boom space accessibility analysis method according to claim 1, characterized in that, The collision detection includes: For each boom posture combination in the candidate posture set, calculate the minimum distance between the corresponding boom bounding box and all obstacle bounding boxes; and If the minimum distance is greater than or equal to the preset safety threshold, the corresponding boom posture combination is determined to be a feasible posture combination; otherwise, collision risk handling is performed.

6. The boom space accessibility analysis method according to claim 5, characterized in that, The boom space accessibility analysis method also includes: For the set of feasible postures, compare the magnitude of the minimum distance corresponding to each feasible posture combination; Based on the comparison results, the feasible pose combination with the largest minimum distance is determined as the optimal pose combination; and Based on the optimal posture combination, the optimal path from the end of the boom to the target position is determined.

7. The boom space accessibility analysis method according to any one of claims 1 to 6, characterized in that, For the case where the feasible attitude set is empty, the boom space reachability analysis method further includes: Using the target location as the center, expand outwards at a preset step size to obtain several candidate locations; For the candidate positions, the process of repeating inverse kinematics calculations, obtaining candidate attitude sets, and determining feasible attitude sets is continued until the optimal candidate position closest to the target position and reachable by the boom end effector is found; and Based on the optimal candidate positions, a target position adjustment suggestion is generated.

8. A boom space accessibility analysis device, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the boom space accessibility analysis method according to any one of claims 1 to 7.

9. A boom space accessibility analysis system, characterized in that, include: The boom space accessibility analysis device as described in claim 8; as well as A multi-sensor sensing module is adapted to be arranged on the boom body and configured to collect obstacle information and / or boom pose information and provide the collected information to the boom space accessibility analysis device. The multi-sensor sensing module includes a sensing array consisting of a lidar, a millimeter-wave radar and a vision camera, an angle sensor matching the number of boom joints, and a length sensor for the telescopic arm of the boom.

10. The boom space accessibility analysis system according to claim 9, characterized in that, The boom space accessibility analysis system also includes one or more of the following modules: The data preprocessing module is configured to preprocess the information collected by the multi-sensor sensing module, wherein the data preprocessing includes time synchronization, coordinate transformation, filtering and / or sensor data fusion. The boom motion state monitoring module is configured to process boom attitude information using a preset forward kinematics algorithm in order to estimate the boom motion state. The early warning module is configured to provide information alerts to the operator, the control system of the boom equipment, and / or the remote monitoring platform of the boom equipment in response to the boom space accessibility analysis device being unable to obtain a feasible attitude set. as well as A power module is configured to supply power to the devices and / or modules of the boom space accessibility analysis system.

11. A boom device, characterized in that, Includes the boom space accessibility analysis system as described in claim 9 or 10.

12. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the boom space accessibility analysis method according to any one of claims 1 to 7.

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