Cantilever crane anti-collision monitoring system, cantilever crane and mechanical equipment

Abstract

The utility model relates to the field of mechanical equipment safety devices, and discloses a cantilever crane anti-collision monitoring system, a cantilever crane and mechanical equipment.The cantilever crane anti-collision monitoring system comprises a first detection unit and a second detection unit which are connected to a cantilever crane body and conduct detection in the tail end direction of the cantilever crane body; from the positions of the first detection unit and the second detection unit to at least part of the length area of the tail end of the arm support body, the scanning view fields of the first detection unit and the second detection unit surround the arm support body and have an overlapped scanning view field area. According to the cantilever crane anti-collision monitoring system, the scanning view fields of the first detection unit and the second detection unit surround the cantilever crane body, so that the surrounding environment of the cantilever crane can be relatively comprehensively monitored only by arranging at least two obstacle detection elements, and the deployment difficulty and the equipment cost of the cantilever crane anti-collision monitoring system are effectively reduced.

Description

Technical Field

[0001] The utility model relates to a safety device for mechanical equipment, and particularly to an anti-collision monitoring system for a boom. On this basis, the utility model also relates to a boom and mechanical equipment including the anti-collision monitoring system for the boom. Background Art

[0002] In various mechanical equipment with long booms, such as cranes, due to their complex and changeable operating environments and blind spots in the operator's field of vision, collisions with obstacles in the operating scene are likely to occur during boom movement, resulting in safety accidents. With the development of intelligent technologies, various safety devices based on sensing technologies are increasingly widely used in such mechanical equipment to prompt safety risks to the operator in a timely manner by sensing obstacles in the surrounding environment of the boom or to provide signals for automatically controlling boom movement.

[0003] In order to comprehensively monitor the surrounding environment of the boom, it is usually necessary to separately install detection elements such as ranging sensors on different sides of the boom for sensing obstacles existing in the corresponding directions. However, this not only brings a relatively high equipment cost due to the need for a relatively large number of detection elements, but also significantly increases the deployment difficulty of these detection elements for some mechanical equipment due to possible interference with other components. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome the problem in the prior art that it is inconvenient to arrange a relatively large number of obstacle detection elements on the boom, and to provide an anti-collision monitoring system for a boom, which can relatively comprehensively monitor the surrounding environment of the boom and effectively reduce the deployment difficulty of the obstacle detection elements.

[0005] To achieve the above purpose, on the one hand, the utility model provides an anti-collision monitoring system for a boom, including a first detection unit and a second detection unit connected to the boom body and detecting towards the end direction of the boom body. In at least a partial length area from the positions where the first detection unit and the second detection unit are located to the end of the boom body, the scanning fields of view of the first detection unit and the second detection unit surround the boom body and have an overlapping scanning field of view area.

[0006] Preferably, the cross-section of the boom body has a minimum circumscribed rectangle, and the first detection unit and the second detection unit are respectively connected to be located at the first vertex and the third vertex positions of the minimum circumscribed rectangle that are diagonal to each other, and the overlapping scanning field of view areas are respectively located at the positions corresponding to the second vertex and the fourth vertex that are diagonal to each other.

[0007] Preferably, the scanning fields of view of the first detection unit and the second detection unit and / or the two overlapping scanning field of view regions are symmetrically distributed about the center of the minimum circumscribed rectangle with respect to each other.

[0008] Preferably, in at least a partial length region from the positions where the first detection unit and the second detection unit are located to the end of the boom body, the scanning fields of view of the first detection unit and the second detection unit respectively include portions located on the surface of the boom body.

[0009] Preferably, the detection center lines of the first detection unit and the second detection unit are respectively parallel to the extending direction of the boom body.

[0010] Preferably, along the extending direction of the boom body, the distances between the first detection unit and the second detection unit and the rotation center at the root of the boom body are 1 m - 4 m.

[0011] Preferably, the first detection unit and the second detection unit are respectively lidar sensors connected to the boom body through mounting plates.

[0012] Preferably, the boom body includes a plurality of telescopically connected boom sections, and the first detection unit and the second detection unit are connected to the basic boom, or the boom body includes a plurality of boom segments that can be folded and unfolded with respect to each other, and the first detection unit and the second detection unit are connected at the root positions of at least some of the boom segments.

[0013] A second aspect of the present invention provides a boom, which includes a boom body and the above-mentioned boom anti-collision monitoring system connected to the boom body.

[0014] A third aspect of the present invention provides a mechanical equipment including the above-mentioned boom.

[0015] Through the above technical solutions, the boom anti-collision monitoring system of the present invention can respectively detect different regions around the boom body by the first detection unit and the second detection unit to sense obstacles in corresponding directions. Among them, by surrounding the boom body with the scanning fields of view of the first detection unit and the second detection unit, only at least two obstacle detection elements need to be set to relatively comprehensively monitor the surrounding environment of the boom, thereby effectively reducing its deployment difficulty and equipment cost. Description of the Drawings

[0016] Figure 1 is a schematic diagram of the scanning field of view when the boom anti-collision monitoring system of the present invention is applied to a telescopic boom;

[0017] Figure 2It is a schematic diagram of a boom anti-collision monitoring system and its scanning field of view according to a preferred embodiment of the present utility model.

[0018] Description of Reference Numerals

[0019] 1 - First detection unit; 2 - Second detection unit; 3 - Boom body; A1 - First scanning field of view; A2 - Second scanning field of view; A3 - Overlapping scanning field of view area; Lh - Transverse range of the scanning field of view; Lv - Longitudinal range of the scanning field of view; R - Minimum circumscribed rectangle; V1 - First vertex; V2 - Second vertex; V3 - Third vertex; V4 - Fourth vertex. Detailed Embodiment

[0020] The following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustration and explanation of the present utility model, and are not intended to limit the present utility model.

[0021] One aspect of the present utility model provides a boom anti-collision monitoring system, which can be used in various mechanical equipment with booms such as cranes, aerial ladder fire trucks, and concrete pump trucks, for monitoring obstacles that may appear around the boom during its movement to prevent collision accidents. As will be described later, the booms of such mechanical equipment can be telescopic booms for truck cranes, folding booms for concrete pump trucks, and jibs for tower cranes, etc.

[0022] In order to detect obstacles, an obstacle detection element, such as a ranging sensor, can be installed on the boom body. However, due to the occlusion of the boom body, the obstacle detection element installed on one side of the boom body can only sense obstacles in the corresponding direction, and additional obstacle detection elements need to be set for other areas around the boom body (which are occluded relative to the aforementioned obstacle detection element), resulting in higher equipment costs and deployment difficulties. For this reason, the present utility model optimizes the arrangement of the obstacle detection elements on the boom body. The following will mainly take the telescopic boom as an application scenario to exemplarily illustrate the boom anti-collision monitoring system of the present utility model.

[0023] As Figure 1 and Figure 2 shown, the boom anti-collision monitoring system of the present utility model includes at least two detection units installed on the boom body 3. The boom body 3 can be a telescopic boom for a truck crane. The two detection units are installed at positions close to the slewing center where the boom body 3 is connected to the turntable, so as to monitor the surrounding environment of most of the length area of the boom body 3. Figure 1 and Figure 2The ranges of the scanning fields of view of the detection units are respectively represented by dashed lines. The boom anti-collision monitoring system of the present utility model can relatively comprehensively monitor the surrounding environment of the boom, so as to promptly prompt the machine operator of safety risks or provide signals for automatically controlling the actions of the boom.

[0024] More specifically, as Figure 2 shown, the boom body 3 (each boom section) of the telescopic boom may have a generally rectangular cross-section. In actual products, due to the arc transition between adjacent side walls or the arched design of the top wall, etc., the cross-section may be of other shapes. For the sake of convenience of description, Figure 2 the minimum circumscribed rectangle R of the cross-section of the boom body 3 is shown in

[0025] The boom anti-collision monitoring system of the present utility model includes a first detection unit 1 and a second detection unit 2 that are connected to the boom body 3 and detect in the direction of the end of the boom body 3. Among them, the first detection unit 1 has a first scanning field of view A1, and the second detection unit 2 has a second scanning field of view A2. It can be understood that for a detection unit such as a lidar sensor, the laser beam emitted by it propagates in a conical divergent shape with the emission point as the vertex. Therefore, its scanning field of view should be conical. However, due to the obstruction of the boom body 3, a part of the scanning field of view is located on the surface of the boom body 3, so Figure 2 the first scanning field of view A1 and the second scanning field of view A2 shown in are respectively sectors with a central angle of not less than 270°. Among them, the transverse range Lh and the longitudinal range Lv of the scanning field of view of the first detection unit 1 are also marked in the figure. Of course, in actual applications, the detection unit is not limited to a lidar sensor, and can also be a camera or other types of sensors.

[0026] In at least part of the length region from the positions where the first detection unit 1 and the second detection unit 2 are located to the end of the boom body 3, the first scanning field of view A1 and the second scanning field of view A2 surround the boom body 3 and have an overlapping scanning field of view area A3 (that is, the first scanning field of view A1 and the second scanning field of view A2 have an overlapping area). Thus, the boom anti-collision monitoring system can respectively detect different regions around the boom body 3 by the first detection unit 1 and the second detection unit 2 to sense obstacles in the corresponding directions. Among them, by making the scanning fields of view of the first detection unit 1 and the second detection unit 2 surround the boom body 3, only at least two obstacle detection elements need to be set to relatively comprehensively monitor the surrounding environment of the boom, thereby effectively reducing its deployment difficulty and equipment cost.

[0027] Therefore, although in the illustrated preferred embodiment, the entire periphery of the boom body 3 is covered by making the first scanning field of view A1 and the second scanning field of view A2 have two overlapping regions at positions opposite to each other (forming two overlapping scanning field of view regions A3), and thus only the first detection unit 1 and the second detection unit 2 need to be provided to relatively comprehensively monitor the surrounding environment of the boom, the boom anti-collision monitoring system of the present utility model may also have more detection units.

[0028] In order to enable the first detection unit 1 and the second detection unit 2 to take into account different regions around the boom body 3, they may be respectively connected to the positions of the two diagonal vertices of the minimum circumscribed rectangle R of the cross-section of the boom body 3. Specifically, in Figure 2 the perspective shown, the minimum circumscribed rectangle R of the cross-section of the boom body 3 has a first vertex V1, a second vertex V2, a third vertex V3, and a fourth vertex V4 distributed in a clockwise order. The first detection unit 1 is connected to be located at the position of the first vertex V1 to be able to detect the regions above and to the left of the illustrated minimum circumscribed rectangle R; the second detection unit 2 is connected to be located at the position of the third vertex V3 to be able to detect the regions below and to the right of the illustrated minimum circumscribed rectangle R. Through this setting, the sizes of the scanning field of view regions of the first detection unit 1 and the second detection unit 2 around the boom body 3 are relatively balanced, and it is possible to better take into account monitoring for obstacles that may exist in all directions. Moreover, the first detection unit 1 and the second detection unit 2 may be connected to be as close as possible to the first vertex V1 and the third vertex V3 of the minimum circumscribed rectangle R to reduce the possibility of interference with other components.

[0029] In addition, the first scanning field of view A1 of the first detection unit 1 and the second scanning field of view A2 of the second detection unit 2 overlap at the positions corresponding to the second vertex V2 and the fourth vertex V4 respectively, and thus there are two overlapping scanning field of view regions A3, so that the detection range covers the entire periphery of the boom body 3. Among them, the first detection unit 1 and the second detection unit 2 may be arranged such that the first scanning field of view A1 and the second scanning field of view A2 are centrally symmetrically distributed with respect to the center of the minimum circumscribed rectangle R of the cross-section of the boom body 3. Additionally, the two overlapping scanning field of view regions A3 at the positions corresponding to the second vertex V2 and the fourth vertex V4 may also be centrally symmetrically distributed with respect to the center of the minimum circumscribed rectangle R of the cross-section of the boom body 3 to be able to relatively evenly detect obstacles that appear in different regions around the boom body 3.

[0030] By connecting the first detection unit 1 and the second detection unit 2 to the positions of the first vertex V1 and the third vertex V3 that are diagonal to each other of the minimum circumscribed rectangle R, it is also convenient to make a part of the first scanning field of view A1 and the second scanning field of view A2 located on the surface of the boom body 3, which can eliminate the scanning blind area near the position of the boom body 3 and further improve the safety of the mechanical equipment.

[0031] Typically, the detection center lines of the first detection unit 1 and the second detection unit 2 can be parallel to the extension direction of the boom body 3 respectively, so as to achieve the above-mentioned purposes of balanced detection and elimination of the scanning blind area. The first detection unit 1 and the second detection unit 2 can be lidar sensors, millimeter-wave radar sensors, ultrasonic radar sensors, etc. connected through a mounting plate welded to the boom body 3. Among them, in order to have a larger monitoring range, a lidar sensor is preferably used.

[0032] In order to facilitate the monitoring of the surrounding environment of most of the length area of the boom body 3, the first detection unit 1 and the second detection unit 2 can be connected as close as possible to the rotation center of its root. For example, for Figure 1 the telescopic boom shown, the boom body 3 has a plurality of boom sections connected in a telescopic manner and can be rotatably connected to the turntable through the basic boom. Then the first detection unit 1 and the second detection unit 2 can be connected to the basic boom, and the distance from the rotation center is 1m - 4m, so as to arrange other components such as covers near the rotation center and avoid interference.

[0033] For the folding boom, the boom body 3 includes a plurality of boom segments that can be folded and unfolded with each other. Then the first detection unit 1 and the second detection unit 2 can be connected at the root positions of one or more (even all) boom segments, and the positions of the first detection unit 1 and the second detection unit 2 are as close as possible to the roots of the boom segments where they are located.

[0034] By adopting the above boom anti-collision monitoring system provided by the present utility model, it is possible to scan the boom body and the surrounding environment in real time during the operation of the boom and obtain point cloud information. In practical applications, based on the hardware platform of the boom anti-collision monitoring system provided by the present utility model, data processing and algorithm analysis can be further synchronized to implement the boom anti-collision detection function. For example, through algorithms such as obstacle detection and spatial anti-collision calculation, the azimuth and size information of the obstacle and the anti-collision warning signal during the operation of the boom are output, providing environmental perception information for the boom to stop suddenly or bypass obstacles when encountering them. Based on the preferred implementation manner provided by the present utility model, it is possible to make the most of the scanning field of view of the lidar sensor to the greatest extent on the premise of ensuring full coverage around the boom, and effectively reduce the deployment quantity and difficulty of the lidar sensor.

[0035] The present utility model also provides a boom, which includes a boom body 3 and the above-mentioned boom anti-collision monitoring system connected to the boom body 3. In addition, the present utility model also provides a mechanical equipment including the boom, such as a crane, a ladder truck, a pump truck, etc.

[0036] The preferred embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited thereto. Within the technical concept scope of the present utility model, various simple modifications can be made to the technical solutions of the present utility model, including the combination of each specific technical feature in any suitable manner. To avoid unnecessary repetition, the present utility model will not separately describe various possible combination manners. But these simple modifications and combinations should also be regarded as the content disclosed by the present utility model and all fall within the protection scope of the present utility model.

Claims

1. A boom anti-collision monitoring system, characterized in that: The invention comprises a first detection unit (1) and a second detection unit (2) connected to a boom body (3) and detecting in the direction of the end of the boom body (3); from the position where the first detection unit (1) and the second detection unit (2) are located to at least a partial length area of ​​the end of the boom body (3), the scanning fields of view (A1, A2) of the first detection unit (1) and the second detection unit (2) surround the boom body (3) and have an overlapping scanning field of view area (A3).

2. The boom anti-collision monitoring system according to claim 1, characterized in that: The cross section of the arm body (3) has a minimum circumscribed rectangle (R), and the first detection unit (1) and the second detection unit (2) are respectively connected to be located at the first vertex (V1) and the third vertex (V3) of the minimum circumscribed rectangle (R) that are diagonally opposite to each other, and have the overlapping scanning field of view areas (A3) at the positions corresponding to the second vertex (V2) and the fourth vertex (V4) that are diagonally opposite to each other.

3. The boom anti-collision monitoring system according to claim 2, characterized in that: The scanning fields of view (A1, A2) of the first detection unit (1) and the second detection unit (2) and / or the two overlapping scanning field of view areas (A3) are centrally symmetrically distributed with respect to the center of the minimum circumscribed rectangle (R).

4. The boom anti-collision monitoring system according to claim 2, characterized in that: From the position where the first detection unit (1) and the second detection unit (2) are located to at least a partial length area of ​​the end of the arm body (3), the scanning fields of view (A1, A2) of the first detection unit (1) and the second detection unit (2) respectively include portions located on the surface of the arm body (3).

5. The boom anti-collision monitoring system according to claim 1, characterized in that: The detection center lines of the first detection unit (1) and the second detection unit (2) are respectively parallel to the extension direction of the boom body (3).

6. The boom anti-collision monitoring system according to claim 1, characterized in that: Along the extension direction of the boom body (3), the distance between the first detection unit (1) and the second detection unit (2) and the root rotation center of the boom body (3) is 1m-4m.

7. The boom anti-collision monitoring system according to claim 1, characterized in that: The first detection unit (1) and the second detection unit (2) are respectively laser radar sensors connected to the boom body (3) via a mounting plate.

8. The boom anti-collision monitoring system according to claim 1, characterized in that: The boom body (3) comprises a plurality of telescopically connected arm sections, the first detection unit (1) and the second detection unit (2) are connected to a basic arm, or the boom body (3) comprises a plurality of arm segments that can be folded and unfolded relative to each other, and the first detection unit (1) and the second detection unit (2) are connected to the root positions of at least some of the arm segments.

9. A boom, characterized in that: The boom comprises a boom body (3) and a boom anti-collision monitoring system according to any one of claims 1 to 8 connected to the boom body (3).

10. A mechanical device, characterized in that: The mechanical equipment comprises a boom according to claim 9.

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