Stadium obstacle avoidance system based on smart sensors

Abstract

The present application relates to the technical field of radar detection, and the stand obstacle avoidance system based on intelligent sensor, the system includes synchronous acquisition module, dual-domain signal generation module, emergency stop logic linkage module and fault locking self-holding module, after the system power-on self-test is ready, the front ranging sensor and the bottom thermal imaging sensor are synchronously controlled to synchronously collect data. The actual measurement ranging data is compared with the preset threshold to generate the first type of safety signal, and the thermal radiation distribution is used to identify the human heat source to generate the second type of trigger signal; the two types of signals are connected to the logic circuit, and any trigger will issue an emergency stop command, synchronously cut off the driving power, lock the mechanical brake and trigger the sound and light alarm. The fault state is automatically latched, and the system safety check is qualified after manual physical reset, so that the lock can be released and the stand operation can be restored, effectively improving the stand obstacle avoidance protection efficiency.

Description

Technical Field

[0001] This invention relates to the field of radar detection technology, and in particular to a grandstand obstacle avoidance system based on intelligent sensors. Background Technology

[0002] Traditional grandstand-equipped mobile obstacle avoidance devices are mostly equipped with only a single type of distance sensor. The distance measuring components and thermal imaging acquisition components have two separate sets of independent control circuits. After the equipment is powered on, it needs to perform self-testing operations step by step. The entire device cannot summarize all the self-test results to generate a unified ready command. Therefore, it is impossible to start distance acquisition and thermal radiation acquisition work synchronously based on synchronous trigger signals. The acquisition time of distance sensing data and site thermal radiation distribution data cannot be kept consistent. The subsequent obstacle judgment process can only rely on distance values ​​to make judgments. The human body heat source feature identification process is missing. The recognition mode based on single data is difficult to adapt to complex site environments. Temporary intruders and low-lying irregular obstacles are easily missed by the equipment, resulting in the continuous phenomenon of obstacle omission.

[0003] Traditional grandstand obstacle avoidance control systems lack a layered dual-domain signal generation architecture. Safety signals corresponding to distance exceeding limits and trigger signals corresponding to heat source identification cannot be integrated into a unified logic merging loop. The two types of warning signals are managed independently, and the activation of either signal cannot synchronously link the entire set of braking-related components. After the equipment is triggered to stop, there is no dedicated fault interlocking self-holding structure, and the fault latching state cannot be maintained autonomously. After a manual reset command is initiated, the drive on / off state, mechanical brake locking state, residual trigger signal state, and fault latching state are not checked sequentially. The full-dimensional safety verification process is missing. The grandstand can regain movement permission before the on-site safety hazards are completely eliminated, and the overall safety protection and stability of the equipment operation cannot be guaranteed. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides a grandstand obstacle avoidance system based on intelligent sensors, characterized in that the system includes an information extraction module, a product verification module, a verification failure module, a verification success module, a product settlement module, and a settlement success module, wherein: The sensor synchronization acquisition module is used to synchronously control the front distance sensor to continuously measure distance and generate distance sensing signals after the system powers on and passes the self-test and generates a ready signal, and at the same time control the bottom thermal imaging sensor to collect on-site thermal radiation distribution data. The dual-domain signal generation module is used to compare the measured distance corresponding to the distance sensing signal with the preset safety threshold to generate a first type of safety status signal, and to combine the thermal radiation distribution data to identify human body characteristic heat sources to generate a second type of trigger signal. The emergency stop logic linkage module is used to connect the first type of safety status signal and the second type of trigger signal to the hardware or logic circuit. When any one of them is triggered, an emergency stop command is output. The emergency stop command simultaneously cuts off the grandstand drive power, drives the mechanical brake to lock, and activates the audible and visual alarm. The fault-locking self-holding module is used to latch the fault in response to the emergency stop command, and only after manual physical reset and full system safety verification are passed can the lock be released and the grandstand movement permission be restored.

[0005] In a preferred embodiment, after the sensing synchronization acquisition module performs a power-on self-test and generates a ready signal, it is specifically used for: Perform a first self-test operation and obtain a first self-test response, the first self-test response being used to indicate the status of the ranging function; Perform a second self-test operation and obtain a second self-test response, which is used to indicate the status of the thermal radiation acquisition function. Perform a third self-test operation and obtain a third self-test response, the third self-test response being used to indicate the status of the braking control function; Perform the fourth self-test operation and obtain the fourth self-test response, which is used to indicate the status of the alarm output function. When the first self-test response, the second self-test response, the third self-test response, and the fourth self-test response all indicate that the function is normal, the ready signal is generated.

[0006] In a preferred embodiment, when the sensing synchronization acquisition module performs synchronous control of the forward distance sensor to continuously measure distance and generate a distance sensing signal, and simultaneously controls the bottom thermal imaging sensor to acquire on-site thermal radiation distribution data, it is specifically used for: A synchronization trigger signal is generated, which is used to simultaneously initiate the first acquisition operation and the second acquisition operation; In response to the synchronization trigger signal, the first acquisition operation is performed to acquire a distance sensing signal, which reflects the spatial distance status. In response to the synchronization trigger signal, the second acquisition operation is executed simultaneously with the first acquisition operation to acquire thermal radiation distribution data, which reflects the temperature distribution state.

[0007] In a preferred embodiment, when the dual-domain signal generation module performs the process of identifying human body characteristic heat sources by combining thermal radiation distribution data and generating a second type of trigger signal, it is specifically used for: Multiple regions to be inspected are divided from the thermal radiation distribution data. Each region to be inspected corresponds to a set of characteristic parameters, which include a first characteristic value, a second characteristic value, and a distribution sequence. The first feature value of each region to be inspected is compared with a preset first feature interval, and candidate regions whose first feature values ​​fall within the preset first feature interval are selected. For each candidate region, its second feature value is compared with a preset second feature threshold, and candidate regions whose second feature value exceeds the preset second feature threshold are eliminated to obtain a first-stage filtered region. Obtain the distribution sequence of a single-filtered region within multiple consecutive acquisition cycles, and determine whether the distribution sequence satisfies the continuous change indicator, wherein the continuous change indicator means that the difference in the distribution sequence between adjacent acquisition cycles does not exceed a preset difference upper limit. When there is a distribution sequence of at least one primary screening region that satisfies the continuous change indication, the primary screening region is identified as the target heat source, and the second type of trigger signal is generated.

[0008] In a preferred embodiment, when the dual-domain signal generation module compares the measured distance corresponding to the distance sensing signal with a preset safety threshold to generate a first type of safety status signal, it is specifically used for: The current state representation value carried by the distance sensing signal is compared with the reference benchmark value carried by the preset security threshold to generate a comparison indication, wherein the comparison indication is used to represent the magnitude relationship between the current state representation value and the reference benchmark value. The comparison indication is used as the first control input. When the first control input represents the current state representation value, it reaches the reference benchmark value. A first type of safety state signal with a first state is output. The comparison indication is used as a second control input. When the second control input indicates that the current state representation value has not reached the reference benchmark value, a first type of safety state signal with a second state is output.

[0009] In a preferred embodiment, when the emergency stop logic linkage module executes the first type of safety status signal and the second type of trigger signal connected to the hardware or logic circuit, it is specifically used for: The first type of safety status signal is used as the first input signal, and the second type of trigger signal is used as the second input signal; The first input signal and the second input signal are respectively connected to the first input port and the second input port of the logic merging loop; The logic merging loop is configured to output a merging trigger indication when the first input port receives a valid trigger state or the second input port receives a valid trigger state. The merge trigger indication is output as an emergency stop start command.

[0010] In a preferred embodiment, when the emergency stop logic linkage module performs simultaneous cutting off of the grandstand drive power, locking of the drive mechanical brake, and activation of the audible and visual alarm, it is specifically used for: In response to the emergency stop command, a first drive-away command, a second lock command, and a third warning command are issued in parallel. The first drive-away command is used to cancel the drive enable, the second lock command is used to trigger the braking execution, and the third warning command is used to activate the alarm output. The first drive-away command is placed into the drive control interface to cut off the drive power supply; The second lock command is placed into the brake control interface to lock the mechanical brake mechanism; The third warning command is inserted into the alarm control interface to activate the audible and visual alarm device.

[0011] In a preferred embodiment, when the fault-locking self-holding module releases the lockout only after a manual physical reset and a successful system-wide safety check, it is specifically used for: Continuously monitor the status changes of the reset interface. When the reset interface is detected to switch from idle state to triggered state, start recording the reset trigger duration. During the recording of the reset trigger duration, the status signal of the reset interface is continuously acquired to determine whether the status signal is continuously maintained in the trigger state and does not jitter. When the reset trigger duration reaches the preset duration threshold and the status signal continues to maintain the trigger state without jitter, a valid reset request is generated. In response to the valid reset request, a trigger signal disappearance detection operation is performed to obtain the current status of each trigger signal, which includes a first type of safety status signal and a second type of trigger signal; When the current state of each of the trigger signals indicates a non-triggered state, a reset permission signal is generated, which is used to allow the lockout to be released.

[0012] In a preferred embodiment, the fault-locking self-sustaining module, upon passing the system-wide safety verification, is specifically used for: Perform a drive status verification operation to obtain a drive status verification flag, which is used to indicate that the drive power supply is in a disconnected state. Perform a braking status verification operation to obtain a braking status verification flag, which is used to indicate that the braking mechanism is in a locked state. Perform a trigger signal verification operation to obtain a trigger signal verification flag, which is used to indicate that both the first type of safety state signal and the second type of trigger signal are in a non-triggered state. Perform a fault latch verification operation to obtain a fault latch verification flag, which is used to indicate that the fault latch is in a valid holding state. When the drive status verification flag, the braking status verification flag, the trigger signal verification flag, and the fault latch verification flag all indicate that they meet the preset safety requirements, a safety verification qualified signal is generated.

[0013] In a preferred embodiment, when the fault-locking self-holding module performs the unlocking and restores grandstand movement permissions, it is specifically used for: Obtain a reset permission signal, which is used to authorize the release of the fault lockout state; In response to the reset permission signal, a reset command is issued to the fault latch, the reset command being used to clear the latch state and generate a reset completion flag; After obtaining the reset completion flag, the grandstand movement authorization operation is performed, and a movement enable signal is generated. The movement enable signal is used to restore the grandstand movement permission. The motion enable signal is placed into the motion control interface so that the grandstand movement operation is re-enabled.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention sequentially completes four self-checks: ranging, thermal radiation acquisition, braking control, and alarm output. The results of these four self-checks are summarized to generate a standardized ready signal as a prerequisite for device startup. A dedicated synchronous trigger signal drives the distance sensor to continuously measure distances and the bottom thermal imaging sensor to collect thermal radiation distribution data across the entire area. The measured distances are compared with a preset safety threshold to generate a first-class safety status signal. The thermal radiation distribution data is then divided into multiple areas to be inspected. Based on multi-layer feature value filtering and multi-period distribution sequence verification, human target heat sources are identified and a second-class trigger signal is generated. The obstacle judgment logic is improved by relying on two reference conditions: distance parameters and human heat source characteristics, thus comprehensively improving the accuracy of obstacle recognition in the field.

[0015] 2. This invention integrates two types of control signals from different sources into a unified logic merging loop. An emergency stop command can be generated as long as any signal is valid. Upon receiving the stop command, three control actions are completed simultaneously: disconnecting the drive power, locking the mechanical braking mechanism, and activating the audible and visual alarm device. The fault lockout self-holding module will immediately lock the current fault state. To release the equipment from lockout, it is necessary to first receive a manual physical reset signal, and then complete the verification of four safety items: drive condition, braking status, trigger signal, and fault lockout. Only after all verification items meet the safety standards will the fault lockout be released and the grandstand movement permission be reopened, thus comprehensively optimizing the safety protection and control level of the entire grandstand operation process. Attached Figure Description

[0016] Figure 1 A system architecture diagram of a grandstand obstacle avoidance system based on intelligent sensors provided in an embodiment of the present invention; 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

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 belong to some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “said” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0019] Depending on the context, the word "if" or "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0020] Furthermore, the timing of the steps in the following method embodiments is merely an example and not a strict limitation.

[0021] In practice, the server-side equipment deployed in a smart sensor-based grandstand obstacle avoidance system may consist of one or more devices. This smart sensor-based grandstand obstacle avoidance system can be implemented as a business instance, a virtual machine, or hardware devices. For example, the smart sensor-based grandstand obstacle avoidance system can be implemented as a business instance deployed on one or more devices in a cloud node. Simply put, this smart sensor-based grandstand obstacle avoidance system can be understood as software deployed on a cloud node, used to provide smart sensor-based grandstand obstacle avoidance to various user terminals. Alternatively, the smart sensor-based grandstand obstacle avoidance system can also be implemented as a virtual machine deployed on one or more devices in a cloud node. This virtual machine contains application software for managing various user terminals. Or, the smart sensor-based grandstand obstacle avoidance system can also be implemented as a server composed of numerous identical or different types of hardware devices, with one or more hardware devices configured to provide smart sensor-based grandstand obstacle avoidance to various user terminals.

[0022] In terms of implementation, the smart sensor-based grandstand obstacle avoidance system and the user terminal are mutually compatible. That is, if the smart sensor-based grandstand obstacle avoidance system is implemented as an application installed on a cloud service platform, then the user terminal is implemented as a client that establishes a communication connection with the application; or if the smart sensor-based grandstand obstacle avoidance system is implemented as a website, then the user terminal is implemented as a webpage; or if the smart sensor-based grandstand obstacle avoidance system is implemented as a cloud service platform, then the user terminal is implemented as a mini-program in an instant messaging application.

[0023] like Figure 1 The figure shown is a system architecture diagram of a grandstand obstacle avoidance system based on intelligent sensors provided in an embodiment of the present invention.

[0024] The smart sensor-based grandstand obstacle avoidance system 100 described in this invention can be installed on a cloud server. In terms of implementation, it can function as one or more service devices, or as an application installed in the cloud (e.g., a mobile service operator's server, server cluster, etc.), or it can be developed into a website. Depending on the functions implemented, the smart sensor-based grandstand obstacle avoidance system 100 may include a sensor synchronization acquisition module 101, a dual-domain signal generation module 102, an emergency stop logic linkage module 103, and a fault interlocking self-sustaining module 104. The module described in this invention can also be called a unit, referring to a series of computer program segments that can be executed by an electronic device's processor and perform a fixed function, stored in the electronic device's memory.

[0025] In this embodiment of the invention, in the grandstand obstacle avoidance system based on intelligent sensors, each of the above modules can be implemented independently and can call other modules. This "calling" can be understood as one module connecting to multiple modules of another type and providing corresponding services to those connected modules. In the grandstand obstacle avoidance system based on intelligent sensors provided in this embodiment of the invention, the applicability of the system architecture can be adjusted by adding modules and directly calling them without modifying the program code, achieving cluster-based horizontal expansion to quickly and flexibly expand the grandstand obstacle avoidance system based on intelligent sensors. In practical applications, the above modules can be set in the same device or different devices, or they can be set in a virtual device, such as a service instance in a cloud server.

[0026] The following describes the components and specific workflow of the smart sensor-based grandstand obstacle avoidance system, using specific embodiments as examples: The sensor synchronization acquisition module 101 is used to synchronously control the front distance sensor to continuously measure distance and generate distance sensing signals after the system powers on and passes the self-test and generates a ready signal, and at the same time control the bottom thermal imaging sensor to collect on-site thermal radiation distribution data. In this embodiment of the invention, after the sensing synchronization acquisition module performs a power-on self-test and generates a ready signal, it is specifically used for: Perform a first self-test operation and obtain a first self-test response, the first self-test response being used to indicate the status of the ranging function; Perform a second self-test operation and obtain a second self-test response, which is used to indicate the status of the thermal radiation acquisition function. Perform a third self-test operation and obtain a third self-test response, the third self-test response being used to indicate the status of the braking control function; Perform the fourth self-test operation and obtain the fourth self-test response, which is used to indicate the status of the alarm output function. When the first self-test response, the second self-test response, the third self-test response, and the fourth self-test response all indicate that the function is normal, the ready signal is generated.

[0027] When the sensing synchronization acquisition module performs synchronous control of the front distance sensor to continuously measure distance and generate a distance sensing signal, and simultaneously controls the bottom thermal imaging sensor to acquire on-site thermal radiation distribution data, it is specifically used for: A synchronization trigger signal is generated, which is used to simultaneously initiate the first acquisition operation and the second acquisition operation; In response to the synchronization trigger signal, the first acquisition operation is performed to acquire a distance sensing signal, which reflects the spatial distance status. In response to the synchronization trigger signal, the second acquisition operation is executed simultaneously with the first acquisition operation to acquire thermal radiation distribution data, which reflects the temperature distribution state.

[0028] After the system is powered on and the basic power supply is completed, the sensor synchronous acquisition module starts the first self-test operation. This operation uses the distance sensor to transmit a standard detection signal with a preset fixed range and to receive the echo completely as the judgment criterion. Once the distance sensor successfully completes the entire set of signal transmission and reception actions, it can generate the first self-test response to indicate the status of the ranging function.

[0029] After the sensor synchronous acquisition module completes the acquisition and storage of the first self-test response, it performs the second self-test operation. This operation uses the thermal imaging sensor to capture the full-area image by pointing it at the calibration heat source with a fixed temperature built into the device as the judgment benchmark. The thermal imaging sensor can generate the second self-test response to indicate the status of the thermal radiation acquisition function by completely recording all the thermal radiation data corresponding to the calibration heat source.

[0030] After the sensor synchronization acquisition module completes the collection of the second self-test response, it performs the third self-test operation. This operation sends a fixed short-term braking drive command to the braking hardware. The braking components complete a standard locking and unlocking action according to the command, which generates the third self-test response used to indicate the status of the braking control function.

[0031] After the sensor synchronous acquisition module collects the third self-test response data, it performs the fourth self-test operation. This operation sends a trigger drive command of fixed duration to the audible and visual alarm hardware. The alarm device outputs the corresponding light and sound signals in accordance with the command to generate the fourth self-test response used to indicate the status of the alarm output function.

[0032] The sensor synchronous acquisition module uniformly retrieves the stored first self-test response, second self-test response, third self-test response, and fourth self-test response. When all four self-test responses meet the preset normal function judgment criteria, the sensor synchronous acquisition module generates a standardized ready signal.

[0033] The sensor synchronization acquisition module generates a synchronization trigger signal based on an internal fixed timing reference. This synchronization trigger signal is configured with a fixed level specification as a hardware conduction reference. When the level reaches a preset fixed voltage threshold, it can simultaneously send start drive levels to the distance sensor and the bottom thermal imaging sensor to implement the synchronous start conditions of the first acquisition operation and the second acquisition operation.

[0034] After receiving the drive level corresponding to the synchronization trigger signal, the forward distance sensor performs the first acquisition operation. The sensor continuously emits detection beams and receives beams returned by obstacles according to the factory-preset fixed detection frequency. The sensor organizes and generates a distance sensing signal based on the hardware feedback level corresponding to the beam transmission and reception. The generated distance sensing signal carries the hardware level information corresponding to the spatial distance between the site obstacles and the sensing probe.

[0035] At the same moment the synchronous trigger signal arrives, the bottom thermal imaging sensor starts the second acquisition operation. The sensor's photosensitive detection unit fully covers the area below the stands with a preset fixed image acquisition range. The photosensitive unit picks up the thermal radiation energy corresponding to the on-site environment point by point and converts it into hardware storage level. After all points are acquired, the data is summarized and organized to form thermal radiation distribution data. The formed thermal radiation distribution data carries the temperature distribution status information corresponding to each point in the acquisition area.

[0036] The dual-domain signal generation module 102 is used to compare the measured distance corresponding to the distance sensing signal with the preset safety threshold to generate a first type of safety status signal, and to combine the thermal radiation distribution data to identify human body characteristic heat sources to generate a second type of trigger signal. In this embodiment of the invention, when the dual-domain signal generation module performs the task of identifying human body characteristic heat sources by combining thermal radiation distribution data and generating a second type of trigger signal, it is specifically used for: Multiple regions to be inspected are divided from the thermal radiation distribution data. Each region to be inspected corresponds to a set of characteristic parameters, which include a first characteristic value, a second characteristic value, and a distribution sequence. The first feature value of each region to be inspected is compared with a preset first feature interval, and candidate regions whose first feature values ​​fall within the preset first feature interval are selected. For each candidate region, its second feature value is compared with a preset second feature threshold, and candidate regions whose second feature value exceeds the preset second feature threshold are eliminated to obtain a first-stage filtered region. Obtain the distribution sequence of a single-filtered region within multiple consecutive acquisition cycles, and determine whether the distribution sequence satisfies the continuous change indicator, wherein the continuous change indicator means that the difference in the distribution sequence between adjacent acquisition cycles does not exceed a preset difference upper limit. When there is a distribution sequence of at least one primary screening region that satisfies the continuous change indication, the primary screening region is identified as the target heat source, and the second type of trigger signal is generated.

[0037] When the dual-domain signal generation module compares the measured distance corresponding to the distance sensing signal with a preset safety threshold to generate a first-type safety status signal, it is specifically used for: The current state representation value carried by the distance sensing signal is compared with the reference benchmark value carried by the preset security threshold to generate a comparison indication, wherein the comparison indication is used to represent the magnitude relationship between the current state representation value and the reference benchmark value. The comparison indication is used as the first control input. When the first control input represents the current state representation value, it reaches the reference benchmark value. A first type of safety state signal with a first state is output. The comparison indication is used as a second control input. When the second control input indicates that the current state representation value has not reached the reference benchmark value, a first type of safety state signal with a second state is output.

[0038] The dual-domain signal generation module retrieves the thermal radiation distribution data transmitted from the sensor synchronous acquisition module, and splits all the data content according to the system's preset fixed block size regional segmentation standard. After the segmentation operation is completed, multiple inspection areas are obtained. Each inspection area is associated with a unique set of feature parameters. This set of feature parameters is fixed and consists of three items: a first feature value, a second feature value, and a distribution sequence.

[0039] The dual-domain signal generation module reads the preset first feature interval, which is pre-frozen in the module's hardware storage unit and defined based on the human body's basic surface thermal radiation index. It then sequentially extracts the first feature value carried by each individual region to be inspected. The extracted content is then compared with the preset first feature interval item by item. Regions to be inspected whose first feature values ​​fall entirely within the range defined by the preset first feature interval will be stored in a centralized manner. The stored content is then summarized to form candidate regions.

[0040] The dual-domain signal generation module retrieves the preset second feature threshold based on the boundary of human body heat source radiation fluctuation and pre-enters the hardware. It then sequentially extracts the second feature value corresponding to each candidate region for comparison and verification. Candidate regions whose second feature value deviates from the preset second feature threshold range are directly eliminated. After the elimination operation is completed, the remaining candidate regions are integrated and summarized to finally generate a first-stage screening region.

[0041] The dual-domain signal generation module continuously collects the distribution sequence of all the primary screening areas under the corresponding acquisition cycle node according to the fixed period sampling number preset by the system. Using the preset difference upper limit pre-entered by the hardware as a unified evaluation benchmark, it compares the specific content of the distribution sequence corresponding to the adjacent acquisition cycle item by item. When the difference between the distribution sequences of adjacent acquisition cycles is within the preset difference upper limit control range, the corresponding distribution sequence meets the judgment criteria corresponding to the continuous change indication.

[0042] The dual-domain signal generation module checks the distribution sequence judgment results corresponding to all primary screening areas one by one. When the distribution sequence of a single or multiple primary screening areas reaches the predetermined judgment standard of continuous change indication, the corresponding primary screening area is officially judged as the target heat source. Based on the identification result of the target heat source, the module outputs an electrical signal with a fixed level specification, which is the second type of trigger signal.

[0043] The dual-domain signal generation module receives the distance sensing signal transmitted from the sensing synchronization acquisition module, extracts the current state characterization value from the hardware level information carried by the distance sensing signal, retrieves the preset safety threshold set in the module's storage hardware according to the legal safety clearance distance of the grandstand, extracts the reference benchmark value with a fixed standard from the preset safety threshold, and completes the comparison of the two values ​​by relying on the level recognition method of the hardware path. After the comparison is completed, a comparison indicator is generated. The generated comparison indicator is used to characterize the relationship between the current state characterization value and the reference benchmark value.

[0044] The dual-domain signal generation module connects the generated comparison indicator to the first control input point reserved in the module hardware. When the comparison indicator feedback meets the predetermined judgment condition that the current state characterization value reaches the reference benchmark value, the module outputs a first-class safety state signal with the first state through a dedicated hardware output port.

[0045] The dual-domain signal generation module connects the same comparison indication to the second control input point reserved in the module hardware. When the comparison indication feedback meets the predetermined judgment condition that the current state characterization value has not reached the reference benchmark value, the module outputs a first-class safety state signal with a second state through another set of dedicated hardware output ports.

[0046] The emergency stop logic linkage module 103 is used to connect the first type of safety status signal and the second type of trigger signal to the hardware or logic circuit. When any one of them is triggered, an emergency stop command is output. The emergency stop command simultaneously cuts off the grandstand driving power, drives the mechanical brake to lock, and activates the audible and visual alarm. In this embodiment of the invention, when the emergency stop logic linkage module executes the first type of safety status signal and the second type of trigger signal connected to the hardware or logic circuit, it is specifically used for: The first type of safety status signal is used as the first input signal, and the second type of trigger signal is used as the second input signal; The first input signal and the second input signal are respectively connected to the first input port and the second input port of the logic merging loop; The logic merging loop is configured to output a merging trigger indication when the first input port receives a valid trigger state or the second input port receives a valid trigger state. The merge trigger indication is output as an emergency stop start command.

[0047] When the emergency stop logic linkage module synchronously cuts off the grandstand drive power, locks the drive mechanical brake, and simultaneously activates the audible and visual alarm, it is specifically used for: In response to the emergency stop command, a first drive-away command, a second lock command, and a third warning command are issued in parallel. The first drive-away command is used to cancel the drive enable, the second lock command is used to trigger the braking execution, and the third warning command is used to activate the alarm output. The first drive-away command is placed into the drive control interface to cut off the drive power supply; The second lock command is placed into the brake control interface to lock the mechanical brake mechanism; The third warning command is inserted into the alarm control interface to activate the audible and visual alarm device.

[0048] The emergency stop logic linkage module receives a first type of safety status signal and a second type of trigger signal from the dual-domain signal generation module. Based on the preset hardware circuit division standard inside the module, it completes the signal classification processing, determines the first type of safety status signal as the first input signal, and determines the second type of trigger signal as the second input signal.

[0049] The emergency stop logic linkage module lays out physical conductive lines according to the factory-preset wiring layout specifications. The first input signal, after being processed, is connected to the first input port of the logic merging circuit through a dedicated terminal block. Then, the second input signal, after being processed, is connected to the second input port of the logic merging circuit through an independent terminal block.

[0050] The internal hardware components of the logic merging circuit pre-program fixed level values ​​as the criteria for determining the effective trigger state. When the level of the first input port matches the fixed level value or the level of the second input port matches the fixed level value, the internal hardware contacts of the circuit complete the closing and conducting action and generate a merging trigger indication.

[0051] The emergency stop logic linkage module obtains the formed merge trigger indication from the dedicated output terminal of the logic merging circuit, sets the merge trigger indication directly as the emergency stop start command, and outputs the emergency stop start command to the outside through the predetermined hardware transmission line.

[0052] After receiving an emergency stop command transmitted from the outside, the emergency stop logic linkage module synchronously completes the command issuance operation by relying on three independent hardware output channels that do not interfere with each other within the module. The three hardware channels generate a first drive-away command, a second lock-up command, and a third warning command, respectively. The first drive-away command is fixed to cancel the drive enable function, the second lock-up command is fixed to trigger the braking execution function, and the third warning command is fixed to activate the alarm output function.

[0053] The emergency stop logic linkage module uses dedicated hardware connection lines pre-laid according to the equipment wiring specifications to send the formed first drive-off command completely into the drive control interface with pre-defined hardware specifications. After receiving the corresponding command, the drive control interface disconnects the hardware conduction contacts of the power input and completes the operation of cutting off the drive power supply by relying on the disconnected state of the contacts.

[0054] The emergency stop logic linkage module transmits the formed second locking command to the brake control interface with fixed hardware specifications through a dedicated transmission line formed by separate wiring. After receiving the command, the brake control interface outputs a standard drive level to drive the displacement and locking of the matching components. The mechanical braking mechanism is locked by relying on the mechanical positioning of the components.

[0055] The emergency stop logic linkage module imports the formed third warning command into the alarm control interface of a predetermined size standard through an independently deployed wiring circuit. After receiving the command, the alarm control interface connects the power supply circuit of the audible and visual alarm device, and completes the operation of starting the audible and visual alarm device based on the conduction state of the power supply circuit.

[0056] The fault-locking self-holding module 104 is used to latch the fault in response to the emergency stop command, and only after manual physical reset and full system safety verification are passed, will the lock be released and the grandstand movement permission be restored.

[0057] In this embodiment of the invention, when the fault-locking self-holding module releases the lockout only after a manual physical reset and a full system safety check have passed, it is specifically used for: Continuously monitor the status changes of the reset interface. When the reset interface is detected to switch from idle state to triggered state, start recording the reset trigger duration. During the recording of the reset trigger duration, the status signal of the reset interface is continuously acquired to determine whether the status signal is continuously maintained in the trigger state and does not jitter. When the reset trigger duration reaches the preset duration threshold and the status signal continues to maintain the trigger state without jitter, a valid reset request is generated. In response to the valid reset request, a trigger signal disappearance detection operation is performed to obtain the current status of each trigger signal, which includes a first type of safety status signal and a second type of trigger signal; When the current state of each of the trigger signals indicates a non-triggered state, a reset permission signal is generated, which is used to allow the lockout to be released.

[0058] When the fault-locking self-sustaining module passes the system-wide safety verification, it is specifically used for: Perform a drive status verification operation to obtain a drive status verification flag, which is used to indicate that the drive power supply is in a disconnected state. Perform a braking status verification operation to obtain a braking status verification flag, which is used to indicate that the braking mechanism is in a locked state. Perform a trigger signal verification operation to obtain a trigger signal verification flag, which is used to indicate that both the first type of safety state signal and the second type of trigger signal are in a non-triggered state. Perform a fault latch verification operation to obtain a fault latch verification flag, which is used to indicate that the fault latch is in a valid holding state. When the drive status verification flag, the braking status verification flag, the trigger signal verification flag, and the fault latch verification flag all indicate that they meet the preset safety requirements, a safety verification qualified signal is generated.

[0059] When the fault-locking self-holding module performs the unlocking and restores grandstand movement permissions, it is specifically used for: Obtain a reset permission signal, which is used to authorize the release of the fault lockout state; In response to the reset permission signal, a reset command is issued to the fault latch, the reset command being used to clear the latch state and generate a reset completion flag; After obtaining the reset completion flag, the grandstand movement authorization operation is performed, and a movement enable signal is generated. The movement enable signal is used to restore the grandstand movement permission. The motion enable signal is placed into the motion control interface so that the grandstand movement operation is re-enabled.

[0060] The fault-locking self-holding module continuously collects real-time level data from the reset interface using fixed wiring. It uses the factory-preset no-load level as the idle state judgment benchmark and the standard level generated by manual physical pressing as the trigger state judgment benchmark. The module starts the continuous recording of the reset trigger duration the moment the interface level switches from the idle level to the trigger level.

[0061] The fault-locking self-holding module continuously captures the status signal output by the reset interface during the recording period of the reset trigger duration. It uses the level transition boundary pre-frozen in the hardware storage unit as the jitter judgment benchmark. The status signal is locked at the standard level corresponding to the trigger throughout the entire process. As long as the level fluctuation range does not exceed the predetermined transition boundary, it can meet the judgment condition of continuously maintaining the trigger state without jitter.

[0062] The fault-locking self-holding module retrieves the preset maintenance duration threshold of the hardware pre-entered according to the whole machine reset safety specification. When the recorded reset trigger maintenance duration reaches the same standard as the preset maintenance duration threshold, and the status signal meets the judgment condition of continuous triggering and no jitter, the module generates a valid reset request in a fixed level format.

[0063] After receiving a valid reset request, the fault interlock self-holding module initiates the trigger signal disappearance detection operation. It connects the output terminals of the first type of safety status signal and the second type of trigger signal through a preset dedicated hardware line, collects the real-time level information of the two types of trigger signals one by one, and finally summarizes the current status of each trigger signal.

[0064] The fault-locking self-holding module verifies the current status of the first type of safety status signal and the second type of trigger signal one by one. When both signals match the hardware-pre-stored non-triggered level reference, the module generates a reset permission signal of the specified level specification. The generated reset permission signal plays a control role in allowing the release of the lockout.

[0065] The fault-locking self-sustaining module connects to the drive control interface through a dedicated hardware line to perform drive status verification operations. It collects the actual level data of the interface points and uses the power disconnection level pre-set in the hardware storage unit as the judgment benchmark to generate a drive status verification flag. The generated drive status verification flag is used to indicate that the drive power supply is in a disconnected state.

[0066] The fault-locking self-holding module relies on the standardized wiring to connect to the brake control interface to perform brake status verification operations. It collects hardware level information fed back by the brake components, uses the preset brake locking level as the judgment benchmark to generate a brake status verification flag, and the generated brake status verification flag is used to indicate that the brake mechanism is in the locking state.

[0067] The fault-locking self-holding module connects to the output terminals of the first type of safety status signal and the second type of trigger signal respectively to perform trigger signal verification operation. It picks up the real-time level of the two types of signals one by one, and uses the corresponding level of the signal not being triggered pre-stored in the hardware as the judgment benchmark to generate a trigger signal verification flag. The generated trigger signal verification flag is used to indicate that both the first type of safety status signal and the second type of trigger signal are in a non-triggered state.

[0068] The fault latch self-holding module connects to the signal pin of the local fault latch device to perform a fault latch verification operation. It collects the level signal output by the latch device and uses the system-fixed valid latch level as the judgment benchmark to generate a fault latch verification flag. The generated fault latch verification flag is used to indicate that the fault latch is in a valid holding state.

[0069] The fault-locking self-holding module compares and verifies the four verification flags with their respective preset safety requirement level references in sequence. When the drive status verification flag, braking status verification flag, trigger signal verification flag, and fault latching verification flag all match the corresponding safety references, the module generates a safety verification qualified signal with a unified level specification.

[0070] The fault-locking self-holding module receives externally transmitted reset permission signals through pre-defined hardware terminals. These signals use a pre-set standard level as the basis for valid authorization and have the intended function of authorizing the release of the fault-locking state.

[0071] After the fault latch self-holding module detects that the reset permission signal level matches the preset reference, it sends a reset command with a fixed level specification to the fault latch via an independent hardware line. The reset command drives the internal latch hardware contacts of the fault latch to reset to clear the original latch state. After the latch state is cleared, the fault latch outputs a reset completion indicator with a uniform specification.

[0072] After the fault-locked self-holding module acquires a reset completion flag indicating that the level meets the preset qualified standard, it initiates the grandstand movement authorization operation. Relying on the module's built-in authorization hardware path, it generates a movement enable signal with a fixed level pattern. The generated movement enable signal is responsible for restoring the grandstand movement permission.

[0073] The fault-locking self-sustaining module uses dedicated wiring to connect the generated movement enable signal to the motion control interface with fixed hardware specifications. After receiving the corresponding level signal, the motion control interface closes the internal permission conduction contact, and the corresponding movement operation of the grandstand obtains the operating conditions to be restarted.

[0074] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0075] This application embodiment can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A stand obstacle avoidance system based on smart sensors, characterized in that, The system includes a sensor synchronous acquisition module, a dual-domain signal generation module, an emergency stop logic linkage module, and a fault interlock self-holding module, wherein: The sensor synchronization acquisition module is used to synchronously control the front distance sensor to continuously measure distance and generate distance sensing signals after the system powers on and passes the self-test and generates a ready signal, and at the same time control the bottom thermal imaging sensor to collect on-site thermal radiation distribution data. The dual-domain signal generation module is used to compare the measured distance corresponding to the distance sensing signal with the preset safety threshold to generate a first type of safety status signal, and to combine the thermal radiation distribution data to identify human body characteristic heat sources to generate a second type of trigger signal. The emergency stop logic linkage module is used to connect the first type of safety status signal and the second type of trigger signal to the hardware or logic circuit. When any one of them is triggered, an emergency stop command is output. The emergency stop command simultaneously cuts off the grandstand drive power, drives the mechanical brake to lock, and activates the audible and visual alarm. The fault-locking self-holding module is used to latch the fault in response to the emergency stop command, and only after manual physical reset and full system safety verification are passed can the lock be released and the grandstand movement permission be restored.

2. The grandstand obstacle avoidance system based on intelligent sensors as described in claim 1, characterized in that, After the sensor synchronization acquisition module completes the system power-on self-test and generates a ready signal, it is specifically used for: Perform a first self-test operation and obtain a first self-test response, the first self-test response being used to indicate the status of the ranging function; Perform a second self-test operation and obtain a second self-test response, which is used to indicate the status of the thermal radiation acquisition function. Perform a third self-test operation and obtain a third self-test response, the third self-test response being used to indicate the status of the braking control function; Perform the fourth self-test operation and obtain the fourth self-test response, which is used to indicate the status of the alarm output function. When the first self-test response, the second self-test response, the third self-test response, and the fourth self-test response all indicate that the function is normal, the ready signal is generated.

3. The grandstand obstacle avoidance system based on intelligent sensors as described in claim 2, characterized in that, When the sensing synchronization acquisition module performs synchronous control of the front distance sensor to continuously measure distance and generate a distance sensing signal, and simultaneously controls the bottom thermal imaging sensor to acquire on-site thermal radiation distribution data, it is specifically used for: A synchronization trigger signal is generated, which is used to simultaneously initiate the first acquisition operation and the second acquisition operation; In response to the synchronization trigger signal, the first acquisition operation is performed to acquire a distance sensing signal, which reflects the spatial distance status. In response to the synchronization trigger signal, the second acquisition operation is executed simultaneously with the first acquisition operation to acquire thermal radiation distribution data, which reflects the temperature distribution state.

4. The grandstand obstacle avoidance system based on intelligent sensors as described in claim 1, characterized in that, When the dual-domain signal generation module performs the process of combining thermal radiation distribution data to identify human body characteristic heat sources and generate a second type of trigger signal, it is specifically used for: Multiple regions to be inspected are divided from the thermal radiation distribution data. Each region to be inspected corresponds to a set of characteristic parameters, which include a first characteristic value, a second characteristic value, and a distribution sequence. The first feature value of each region to be inspected is compared with a preset first feature interval, and candidate regions whose first feature values ​​fall within the preset first feature interval are selected. For each candidate region, its second feature value is compared with a preset second feature threshold, and candidate regions whose second feature value exceeds the preset second feature threshold are eliminated to obtain a first-stage filtered region. Obtain the distribution sequence of a single-filtered region within multiple consecutive acquisition cycles, and determine whether the distribution sequence satisfies the continuous change indicator, wherein the continuous change indicator means that the difference in the distribution sequence between adjacent acquisition cycles does not exceed a preset difference upper limit. When there is a distribution sequence of at least one primary screening region that satisfies the continuous change indication, the primary screening region is identified as the target heat source, and the second type of trigger signal is generated.

5. The grandstand obstacle avoidance system based on intelligent sensors as described in claim 4, characterized in that, When the dual-domain signal generation module compares the measured distance corresponding to the distance sensing signal with a preset safety threshold to generate a first-type safety status signal, it is specifically used for: The current state representation value carried by the distance sensing signal is compared with the reference benchmark value carried by the preset security threshold to generate a comparison indication, wherein the comparison indication is used to represent the magnitude relationship between the current state representation value and the reference benchmark value. The comparison indication is used as the first control input. When the first control input represents the current state representation value, it reaches the reference benchmark value. A first type of safety state signal with a first state is output. The comparison indication is used as a second control input. When the second control input indicates that the current state representation value has not reached the reference benchmark value, a first type of safety state signal with a second state is output.

6. The grandstand obstacle avoidance system based on intelligent sensors as described in claim 1, characterized in that, When the emergency stop logic linkage module executes the first type of safety status signal and the second type of trigger signal connected to the hardware or logic circuit, it is specifically used for: The first type of safety status signal is used as the first input signal, and the second type of trigger signal is used as the second input signal; The first input signal and the second input signal are respectively connected to the first input port and the second input port of the logic merging loop; The logic merging loop is configured to output a merging trigger indication when the first input port receives a valid trigger state or the second input port receives a valid trigger state. The merge trigger indication is output as an emergency stop start command.

7. The grandstand obstacle avoidance system based on intelligent sensors as described in claim 6, characterized in that, When the emergency stop logic linkage module synchronously cuts off the grandstand drive power, locks the drive mechanical brake, and simultaneously activates the audible and visual alarm, it is specifically used for: In response to the emergency stop command, a first drive-away command, a second lock command, and a third warning command are issued in parallel. The first drive-away command is used to cancel the drive enable, the second lock command is used to trigger the braking execution, and the third warning command is used to activate the alarm output. The first drive-away command is placed into the drive control interface to cut off the drive power supply; The second lock command is placed into the brake control interface to lock the mechanical brake mechanism; The third warning command is inserted into the alarm control interface to activate the audible and visual alarm device.

8. The grandstand obstacle avoidance system based on intelligent sensors as described in claim 1, characterized in that, The fault-locking self-holding module, when releasing the lockout only after a manual physical reset and a successful system-wide safety check, is specifically used for: Continuously monitor the status changes of the reset interface. When the reset interface is detected to switch from idle state to triggered state, start recording the reset trigger duration. During the recording of the reset trigger duration, the status signal of the reset interface is continuously acquired to determine whether the status signal is continuously maintained in the trigger state and does not jitter. When the reset trigger duration reaches the preset duration threshold and the status signal continues to maintain the trigger state without jitter, a valid reset request is generated. In response to the valid reset request, a trigger signal disappearance detection operation is performed to obtain the current status of each trigger signal, which includes a first type of safety status signal and a second type of trigger signal; When the current state of each of the trigger signals indicates a non-triggered state, a reset permission signal is generated, which is used to allow the lockout to be released.

9. The grandstand obstacle avoidance system based on intelligent sensors as described in claim 8, characterized in that, When the fault-locking self-sustaining module passes the system-wide safety verification, it is specifically used for: Perform a drive status verification operation to obtain a drive status verification flag, which is used to indicate that the drive power supply is in a disconnected state. Perform a braking status verification operation to obtain a braking status verification flag, which is used to indicate that the braking mechanism is in a locked state. Perform a trigger signal verification operation to obtain a trigger signal verification flag, which is used to indicate that both the first type of safety state signal and the second type of trigger signal are in a non-triggered state. Perform a fault latch verification operation to obtain a fault latch verification flag, which is used to indicate that the fault latch is in a valid holding state. When the drive status verification flag, the braking status verification flag, the trigger signal verification flag, and the fault latch verification flag all indicate that they meet the preset safety requirements, a safety verification qualified signal is generated.

10. The grandstand obstacle avoidance system based on intelligent sensors as described in claim 9, characterized in that, When the fault-locking self-holding module performs the unlocking and restores grandstand movement permissions, it is specifically used for: Obtain a reset permission signal, which is used to authorize the release of the fault lockout state; In response to the reset permission signal, a reset command is issued to the fault latch, the reset command being used to clear the latch state and generate a reset completion flag; After obtaining the reset completion flag, the grandstand movement authorization operation is performed, and a movement enable signal is generated. The movement enable signal is used to restore the grandstand movement permission. The motion enable signal is placed into the motion control interface so that the grandstand movement operation is re-enabled.

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