CN113075651A - Obstacle monitoring system and method - Google Patents

Obstacle monitoring system and method Download PDF

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Publication number
CN113075651A
CN113075651A CN202110337086.7A CN202110337086A CN113075651A CN 113075651 A CN113075651 A CN 113075651A CN 202110337086 A CN202110337086 A CN 202110337086A CN 113075651 A CN113075651 A CN 113075651A
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CN
China
Prior art keywords
distance
obstacle
drilling rig
processor
echo signal
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Pending
Application number
CN202110337086.7A
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Chinese (zh)
Inventor
孙博
刘伟
王文刚
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Beijing Sany Intelligent Technology Co Ltd
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Beijing Sany Intelligent Technology Co Ltd
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Priority to CN202110337086.7A priority Critical patent/CN113075651A/en
Publication of CN113075651A publication Critical patent/CN113075651A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes

Abstract

The application provides a barrier monitoring system and a method, which are applied to a rotary drilling rig, wherein the barrier monitoring system comprises an information acquisition module, a display module and a processor, the information acquisition module and the display module are electrically connected with the processor, the information acquisition module is arranged at the tail part of the rotary drilling rig, and the display module is arranged in a cab of the rotary drilling rig; the information acquisition module is used for transmitting an original signal and receiving an echo signal obtained after the original signal is reflected by a barrier; the processor is used for receiving the echo signal sent by the information acquisition module and determining the distance between the rotary drilling rig and the obstacle according to the original signal and the echo signal; the processor is also used for controlling the information acquisition module to acquire the image information of the barrier when the distance is smaller than or equal to the preset safe distance, and sending the image information to the display module for displaying. The driver observes the barrier through the display module, knows the environment outside the driver's cabin.

Description

Obstacle monitoring system and method
The application is a divisional application, and the application number of a parent application is as follows: 201910564557.0, case name: obstacle monitoring system and method, parent application date: 26/06/2019.
Technical Field
The application relates to the technical field of radar ranging, in particular to an obstacle monitoring system and method.
Background
The rotary drilling rig is a construction machine suitable for hole forming operation in building foundation engineering, is widely applied to construction of soil layers such as sandy soil, cohesive soil, silty soil and the like, and is also widely applied to construction of various foundation foundations such as cast-in-place piles, continuous walls, foundation reinforcement and the like.
The rotary drilling rig operates in complex environments such as construction, and when a driver operates the rotary drilling rig in a cab, the situation outside the vehicle cannot be known, so that the rotary drilling rig is easily collided with an obstacle, and the rotary drilling rig is damaged.
Disclosure of Invention
The application aims to provide a system and a method for monitoring obstacles, which can monitor obstacles outside a driving cab of a rotary drilling rig.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides an obstacle monitoring system applied to a rotary drilling rig, where the obstacle monitoring system includes an information acquisition module, a display module and a processor, the information acquisition module and the display module are both electrically connected to the processor, the information acquisition module is disposed at a tail of the rotary drilling rig, and the display module is disposed in a cab of the rotary drilling rig; the information acquisition module is used for transmitting an original signal and receiving an echo signal obtained after the original signal is reflected by an obstacle; the processor is used for receiving the echo signal sent by the information acquisition module and determining the distance between the rotary drilling rig and the obstacle according to the original signal and the echo signal; the processor is further used for controlling the information acquisition module to acquire the image information of the obstacle and sending the image information to the display module for displaying when the distance is smaller than or equal to a preset safe distance.
Optionally, the information acquisition module includes a distance measurement unit and a camera unit, and both the distance measurement unit and the camera unit are electrically connected to the processor; the distance measuring unit is used for transmitting the original signal and receiving the echo signal obtained after the original signal is reflected by the obstacle; the camera shooting unit is used for collecting the image information of the obstacle and sending the image information to the processor.
Optionally, the ranging unit includes a first radar and a second radar, both the first radar and the second radar are electrically connected to the processor, the first radar is installed on a first side of the tail of the rotary drilling rig, and the second radar is installed on a second side of the tail of the rotary drilling rig; the original signals comprise a first original signal and a second original signal, the echo signals comprise a first echo signal and/or a second echo signal, and the range comprises a first range and/or a second range; the first radar is used for transmitting the first original signal and receiving the first echo signal obtained after the first original signal is reflected by the obstacle; the second radar is used for sending the second original signal and receiving a second echo signal obtained after the second original signal is reflected by the obstacle.
The processor is further configured to: when the first echo signal is received and the second echo signal is not received, determining the first distance between the rotary drilling rig and the obstacle according to the first original signal and the first echo signal; or when the second echo signal is received and the first echo signal is not received, determining the second distance between the rotary drilling rig and the obstacle according to the second original signal and the second echo signal; or, when the first echo signal and the second echo signal are received, the first distance is determined according to the first original signal and the first echo signal, and the second distance is determined according to the second original signal and the second echo signal.
Optionally, the camera unit includes a first camera and a second camera, the first camera and the second camera are both electrically connected to the processor, the first camera is installed on a first side of the tail of the rotary drilling rig, and the second camera is installed on a second side of the tail of the rotary drilling rig.
The processor is further configured to: when the first distance is smaller than or equal to the preset safety distance, controlling the first camera to acquire the image information; or when the second distance is smaller than or equal to the preset safety distance, controlling the second camera to acquire the image information; or when the first distance is smaller than or equal to the preset safety distance and the second distance is smaller than or equal to the preset safety distance, controlling the first camera and the second camera to acquire the image information.
Optionally, the rotary drilling rig comprises a rotary motor and a traveling motor, and both the rotary motor and the traveling motor are electrically connected with the processor; the processor is further configured to prohibit the swing motor from rotating in a forward direction when the first distance is less than or equal to a preset stop distance, wherein the preset stop distance is less than the preset safety distance; the processor is further configured to prohibit reverse rotation of the swing motor when the second distance is less than or equal to the preset stop distance; the processor is further configured to prohibit reverse rotation of the travel motor when it is determined that the first distance and the second distance are both less than or equal to a preset stop distance.
Optionally, the obstacle monitoring system further comprises a first alarm module, the first alarm module being electrically connected to the processor; and the processor is also used for controlling the first alarm module to work when the distance is less than or equal to the preset safety distance.
Optionally, the obstacle monitoring system further comprises a second alarm module, the second alarm module being electrically connected to the processor; and the processor is further used for controlling the second alarm module to work when the distance is smaller than or equal to a preset stopping distance, wherein the preset stopping distance is smaller than the preset safety distance.
In a second aspect, an embodiment of the present application further provides an obstacle monitoring method, which is applied to the obstacle monitoring system in the first aspect, and the method includes: the information acquisition module transmits an original signal and receives an echo signal obtained after the original signal is reflected by a barrier; the processor receives the echo signal sent by the information acquisition module, and determines the distance between the rotary drilling rig and the barrier according to the original signal and the echo signal; and when the distance is smaller than or equal to a preset safe distance, the processor controls the information acquisition module to acquire the image information of the obstacle and sends the image information to the display module for displaying.
Optionally, the information acquisition module includes a ranging unit, and the ranging unit is electrically connected to the processor; the information acquisition module is used for transmitting an original signal and receiving an echo signal obtained after the original signal is reflected by an obstacle, and the steps comprise: the distance measuring unit transmits the original signal and receives the echo signal obtained after the original signal is reflected by the obstacle.
Optionally, the ranging unit includes a first radar and a second radar, both the first radar and the second radar are electrically connected to the processor, the first radar is installed on a first side of the tail of the rotary drilling rig, and the second radar is installed on a second side of the tail of the rotary drilling rig; the ranging unit is used for transmitting the original signal and receiving the echo signal obtained after the original signal is reflected by the obstacle, and comprises the following steps: the original signals comprise a first original signal and a second original signal, the echo signals comprise a first echo signal and/or a second echo signal, and the range comprises a first range and/or a second range; the first radar transmits the first original signal and receives the first echo signal obtained after the first original signal is reflected by the obstacle; and the second radar sends the second original signal and receives a second echo signal obtained after the second original signal is reflected by the obstacle.
The processor receives the echo signal sent by the information acquisition module, and determines the distance between the rotary drilling rig and the obstacle according to the original signal and the echo signal, wherein the step comprises the following steps: when the processor receives the first echo signal and does not receive the second echo signal, determining the first distance between the rotary drilling rig and the obstacle according to the first original signal and the first echo signal; or when the second echo signal is received and the first echo signal is not received, determining the second distance between the rotary drilling rig and the obstacle according to the second original signal and the second echo signal; or, when the first echo signal and the second echo signal are received, the first distance is determined according to the first original signal and the first echo signal, and the second distance is determined according to the second original signal and the second echo signal.
Compared with the prior art, the obstacle monitoring system and the obstacle monitoring method have the advantages that the original signal is transmitted through the information acquisition module, the original signal is reflected by the obstacle to obtain the echo signal, the echo signal is transmitted to the processor after being received by the information acquisition module, the processor receives the echo signal transmitted by the information acquisition module, and the distance between the rotary drilling rig and the obstacle is determined according to the time difference between the original signal and the echo signal; when the distance is smaller than or equal to the preset safety distance, the obstacle can be considered to threaten the driving of the rotary drilling machine, and at the moment, the processor controls the information acquisition module to acquire the image information of the obstacle and sends the image information to the display module to be displayed. A driver of the rotary drilling rig observes the obstacle through the display module, knows the environment outside the cab and avoids the damage of the rotary drilling rig caused by collision between the rotary drilling rig and the obstacle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an obstacle monitoring system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an obstacle monitoring system according to another embodiment of the present application;
fig. 3 is a schematic structural diagram of an obstacle monitoring system according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of an obstacle monitoring system according to another embodiment of the present application;
fig. 5 is a schematic structural diagram of an obstacle monitoring system according to another embodiment of the present application;
fig. 6 is a schematic flowchart of an obstacle monitoring method according to an embodiment of the present application;
fig. 7 is a schematic flowchart of an obstacle monitoring method according to another embodiment of the present application.
Icon: 1-an obstacle monitoring system; 2, a rotary drilling rig; 10-an information acquisition module; 110-a ranging unit; 111-a first radar; 112-a second radar; 120-a camera unit; 121-a first camera; 122-a second camera; 20-a display module; 30-a processor; 40-a rotary motor; 50-a travel motor; 60-a first alarm module; 70-second alarm module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The application provides an obstacle monitoring system, be applied to rotary drilling rig, fig. 1 is the structure schematic diagram of the obstacle monitoring system that an embodiment of the application provided, specifically, as shown in fig. 1, obstacle monitoring system 1 includes information acquisition module 10, display module 20 and treater 30, information acquisition module 10 and display module 20 all are connected with treater 30 electricity, information acquisition module 10 sets up at rotary drilling rig afterbody, display module 20 sets up in rotary drilling rig's driver's cabin.
When a driver works in the cab, the driver can observe the working environment of the head of the rotary drilling rig, but the environment of the tail of the rotary drilling rig cannot be directly observed in the cab, and optionally, the information acquisition module 10 is installed at the tail of the rotary drilling rig to acquire the obstacle information of the tail of the rotary drilling rig.
The information acquisition module 10 is used for transmitting an original signal and receiving an echo signal obtained after the original signal is reflected by an obstacle.
It should be noted that, the information acquisition module 10 transmits original signals to multiple directions in real time, when the original signals encounter an obstacle, the original signals are reflected by the obstacle and then propagate in a direction opposite to the original signals, and the original signals are attenuated by the obstacle and air, so that echo signals are obtained and received by the information acquisition module 10.
The processor 30 is configured to receive the echo signal sent by the information acquisition module 10, and determine a distance S1 between the rotary drilling rig and the obstacle according to the original signal and the echo signal.
Specifically, the information acquisition module 10 transmits the raw signal in real time on the one hand and transmits the raw signal to the processor 30 on the other hand. The processor 30 calculates the distance S1 between the rotary drilling rig and the obstacle according to the time difference between the original signal and the echo signal and the propagation speed of the original signal and the echo signal.
Alternatively, the Processor 30 may be a Central Processing Unit (CPU), a Network Processor (NP), or the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
The processor 30 is further configured to control the information collecting module 10 to collect image information of the obstacle and send the image information to the display module 20 for display when the distance S1 is less than or equal to the preset safe distance S2.
When the distance S1 is smaller than the preset safety distance S2, that is, in the distance range, the obstacle may cause a safety hazard to the driving of the rotary drilling rig, so as to ensure the safety of the rotary drilling rig and the driver, the obstacle in the distance range should be monitored, specifically, the information acquisition module 10 is further configured to acquire image information of the obstacle, the processor 30 controls the information acquisition module 10 to acquire the image information, and sends the image information to the display module 20 for display, and the driver may know the information of the obstacle through the image displayed by the display module 20.
Alternatively, the Display module 20 may be a Display, such as a CRT (Cathode Ray Tube) Display, an LCD (Liquid Crystal Display) Display, or the like.
The application provides an obstacle monitoring system, information acquisition module 10 launches original signal, and original signal obtains echo signal after the barrier reflection, and echo signal sends to treater 30 after being received by information acquisition module 10, and treater 30 receives the echo signal that information acquisition module 10 sent, confirms distance S1 between rotary drilling rig and the barrier according to the time difference between original signal and the echo signal. When the distance S1 is less than or equal to the preset safe distance S2, that is, when the distance S1 is less than or equal to the preset safe distance S2, the obstacle threatens driving of the rotary drilling rig, the processor 30 controls the information collecting module 10 to collect image information of the obstacle and transmits the image information to the display module 20 for display. The driver of the rotary drilling rig observes the obstacle through the display module 20, knows the environment outside the cab, and avoids the damage of the rotary drilling rig caused by collision between the rotary drilling rig and the obstacle.
Optionally, fig. 2 is a schematic structural diagram of an obstacle monitoring system according to another embodiment of the present application, and as shown in fig. 2, the information acquisition module 10 includes a distance measurement unit 110 and a camera unit 120, and the distance measurement unit 110 is electrically connected to the processor 30.
The ranging unit 110 is configured to transmit an original signal and receive an echo signal obtained after the original signal is reflected by an obstacle.
The camera unit 120 is configured to collect image information of an obstacle and send the image information to the processor 30.
Optionally, fig. 3 is a schematic structural diagram of an obstacle monitoring system according to another embodiment of the present application, and as shown in fig. 3, the ranging unit 110 includes a first radar 111 and a second radar 112, both the first radar 111 and the second radar 112 are electrically connected to the processor 30, the first radar 111 is installed on a first side of a tail portion of the rotary drilling rig, and the second radar 112 is installed on a second side of the tail portion of the rotary drilling rig.
The original signals include a first original signal and a second original signal, the echo signals include a first echo signal and/or a second echo signal, and the distance S1 includes a first distance S11 and/or a second distance S12.
The first radar 111 is configured to transmit a first original signal and receive a first echo signal obtained by reflecting the first original signal by an obstacle.
Specifically, the working process of the first radar 111 is as follows: the first radar 111 transmits first original signals to multiple directions in real time, the first original signals are electromagnetic wave signals, when the first original signals encounter an obstacle, the first original signals are reflected by the obstacle and then propagate in a propagation direction opposite to that of the first original signals to obtain first echo signals, the first echo signals are also electromagnetic wave signals, and compared with the first original signals, the first echo signals are electromagnetic wave signals subjected to energy attenuation of air, the obstacle and the like.
Alternatively, the first radar 111 may be, but is not limited to, a pulse laser radar, a continuous wave laser radar, or the like.
The second radar 112 is configured to send a second original signal and receive a second echo signal obtained after the second original signal is reflected by an obstacle.
In the present embodiment, the ranging unit 110 employs radar sets, i.e. a first radar 111 and a second radar 112. The working processes of the first radar 111 and the second radar 112 are the same, and the working process of the second radar 112 is not described herein.
Alternatively, the second radar 112 may be, but is not limited to, a pulsed lidar, a continuous wave lidar, or the like.
The processor 30 is further configured to:
and when the first echo signal is received and the second echo signal is not received, determining a first distance S11 between the rotary drilling rig and the obstacle according to the first original signal and the first echo signal.
It should be noted that, when the processor 30 receives the first echo signal, it indicates that the obstacle is within the scanning range of the first radar 111, and the obstacle is detected on the first side of the tail of the rotary drilling rig.
Or when the second echo signal is received and the first echo signal is not received, determining a second distance S12 between the rotary drilling rig and the obstacle according to the second original signal and the second echo signal.
It should be noted that, when the processor 30 receives the second echo signal, it indicates that the obstacle is in the scanning range of the second radar 112, and the obstacle is detected on the second side of the tail of the rotary drilling rig.
Alternatively, when the first echo signal and the second echo signal are received, the first distance S11 is determined according to the first original signal and the first echo signal, and the second distance S12 is determined according to the second original signal and the second echo signal.
It should be noted that, when the processor 30 receives the first echo signal and the second echo signal, it indicates that the obstacle is within the detection range of the first radar 111 and the detection range of the second radar 112, that is, the obstacle is within the common detection area of the first radar 111 and the second radar 112, that is, the obstacle is detected behind the tail of the rotary drilling rig.
With reference to fig. 3, optionally, the camera unit 120 includes a first camera 121 and a second camera 122, the first camera 121 and the second camera 122 are both electrically connected to the processor 30, the first camera 121 is installed on a first side of the tail portion of the rotary drilling rig, and the second camera 122 is installed on a second side of the tail portion of the rotary drilling rig.
Alternatively, the first camera 121 and the second camera 122 may be, but not limited to, a dome camera, an all-in-one camera, a high speed dome camera, a web camera, and the like.
The first camera 121 and the first radar 111 are installed on the same side of the tail of the rotary drilling rig, and when the first radar 111 detects an obstacle, the first camera 121 acquires an image of the obstacle on the first radar 111 side. The second camera 122 and the second radar 112 are installed on the same side of the tail of the rotary drilling rig, and when the second radar 112 detects an obstacle, the second camera 122 performs image acquisition on the obstacle on the second radar 112 side. When both the first radar 111 and the second radar 112 detect an obstacle, both the first camera 121 and the second camera 122 capture images of the obstacle. That is, the operation state of the first camera 121 depends on the result detected by the first radar 111, the operation state of the second camera 122 depends on the result detected by the second radar 112, and the first camera 121 and the second camera 122 are directly controlled by the processor 30, specifically:
the processor 30 is further configured to:
when the first distance S11 is less than or equal to the preset safe distance S2, the first camera 121 is controlled to capture image information.
Alternatively, when the second distance S12 is less than or equal to the preset safe distance S2, the second camera 122 is controlled to capture image information.
Alternatively, when the first distance S11 is less than or equal to the preset safe distance S2 and the second distance S12 is less than or equal to the preset safe distance S2, the first camera 121 and the second camera 122 are controlled to capture image information.
Optionally, fig. 4 is a schematic structural diagram of an obstacle monitoring system according to another embodiment of the present application, and as shown in fig. 4, on the basis of fig. 3, a rotary motor 40 and a traveling motor 50 are added, specifically, the rotary drilling rig 2 includes the rotary motor 40 and the traveling motor 50, and both the rotary motor 40 and the traveling motor 50 are electrically connected to the processor 30.
Alternatively, the swing motor 40 and the travel motor 50 may be, but are not limited to, a pneumatic motor, a hydraulic motor, an electric motor, or the like.
The processor 30 is further configured to prohibit the swing motor 40 from rotating in the forward direction when the first distance S11 is less than or equal to a preset stop distance S3, wherein the preset stop distance S3 is less than a preset safety distance S2.
It should be noted that the first distance S11 is obtained according to the first echo signal and the first original signal sent by the first radar 111, and when the first distance S11 is less than or equal to the preset stop distance S3, it is indicated that there is an obstacle on the first side of the tail of the rotary drilling rig 2, and the distance between the rotary drilling rig 2 and the obstacle is relatively short, and if the rotary drilling rig 2 continues to travel to the first side, the risk of collision between the rotary drilling rig 2 and the obstacle is high, so the rotary drilling rig 2 cannot travel to the first side, and the forward rotation of the slewing motor 40 drives the rotary drilling rig 2 to travel to the first side, so the slewing motor 40 of the rotary drilling rig 2 is controlled, and the slewing motor 40 is prohibited from rotating forward, so as to prevent the rotary drilling rig 2 from colliding with the obstacle.
It should be noted that the rotation direction of the rotary motor 40 and the traveling direction of the rotary drilling rig 2 may be determined according to the actual setting of the rotary drilling rig 2, and optionally, if the rotary motor 40 rotates forward and the rotary drilling rig 2 travels toward the first side, the rotary motor 40 rotates backward and the rotary drilling rig 2 travels toward the second side. If the rotary motor 40 rotates forward and the rotary drilling rig 2 travels towards the second side, the rotary motor 40 rotates backward and the rotary drilling rig 2 travels towards the first side.
The processor 30 is further configured to inhibit the swing motor 40 from rotating in the reverse direction when the second distance S12 is less than or equal to the preset stop distance S3.
It should be noted that the steering of the swing motor 40 is controlled according to the relationship between the second distance S12 and the preset stop distance S3, and the steering principle of the swing motor 40 is controlled according to the relationship between the first distance S11 and the preset stop distance S3, which is not repeated herein.
The processor 30 is also configured to prohibit reverse rotation of the travel motor 50 when it is determined that both the first distance S11 and the second distance S12 are less than or equal to the preset stop distance S3.
In this embodiment, both the first distance S11 and the second distance S12 are less than or equal to the preset stop distance S3, the traveling road motor is rotated reversely to control the rotary drilling rig 2 to retreat right behind the tail of the rotary drilling rig 2, the traveling motor 50 is prohibited from rotating reversely, and the rotary drilling rig 2 is prevented from colliding with the obstacle due to the retreat of the rotary drilling rig 2.
It should be noted that the environment of the head of the rotary drilling rig 2 can be directly observed by the driver through the cab, and therefore, the obstacle monitoring system 1 does not need to detect the direction of the vehicle head and control the forward rotation of the traveling motor 50.
It should be noted that the rotation direction of the traveling motor 50 and the traveling direction of the rotary drilling rig may be determined according to the actual configuration of the rotary drilling rig, and optionally, if the traveling motor 50 rotates forward and the rotary drilling rig 2 travels forward, the traveling motor 50 rotates backward and the rotary drilling rig 2 travels backward. If the traveling motor 50 rotates forward and the rotary drilling rig 2 travels backward, the traveling motor 50 rotates backward and the rotary drilling rig 2 travels forward.
Optionally, fig. 5 is a schematic structural diagram of an obstacle monitoring system according to another embodiment of the present application, and as shown in fig. 5, a first alarm module 60 and a second alarm module 70 are added on the basis of fig. 1, specifically, the obstacle monitoring system 1 further includes the first alarm module 60, and the first alarm module 60 is electrically connected to the processor 30.
Alternatively, the first alarm module 60 may be, but is not limited to, an alarm flashing light, a buzzer, etc.
The processor 30 is further configured to control the first alarm module 60 to operate when the distance S1 is less than or equal to the preset safety distance S2.
Alternatively, the processor 30 controlling the first alarm module 60 to operate may be: the controller outputs a high level to the first alarm module 60 connected with the controller, a relay coil of the first alarm module 60 is electrified, and a contact of the relay is closed, so that the first alarm module 60 is electrified to alarm.
With continued reference to fig. 5, the obstacle monitoring system 1 further includes a second alarm module 70, the second alarm module 70 being electrically connected to the processor 30.
Alternatively, the second alarm module 70 may be, but is not limited to, an alarm flashing light, a buzzer, etc.
The processor 30 is further configured to control the second alarm module 70 to operate when the distance S1 is less than or equal to a preset stop distance S2, wherein the preset stop distance S3 is less than a preset safety distance S2.
Alternatively, the processor 30 controlling the second alarm module 70 may operate by: the controller outputs high level to the second alarm module 70 connected with the controller, a relay coil of the second alarm module 70 is electrified, and a contact of the relay is closed, so that the second alarm module 70 is electrified to alarm.
Optionally, when the distance S1 between the obstacle and the rotary drilling rig 2 is less than or equal to the preset safe distance S2 and greater than or equal to the preset stopping distance S3, the first alarm module 60 alarms, in the distance interval, the rotary drilling rig 2 can still normally run, when the distance S1 between the obstacle and the rotary drilling rig 2 is less than or equal to the preset stopping distance S3, the second alarm module 70 alarms, that is, when the distance S1 is less than the preset stopping distance S3, because the preset stopping distance S3 is less than the preset safe distance S2, the distance S1 is necessarily less than the preset safe distance S2, and when the second alarm module 70 alarms, the first alarm module 60 also alarms.
The operating principle of the obstacle monitoring system 1 is as follows: the first radar 111 and the first camera 121 are both installed on a first side of the tail portion of the rotary drilling rig 2, the second radar 112 and the second camera 122 are both installed on a second side of the tail portion of the rotary drilling rig, the first radar 111 sends first original signals to all directions in real time, the first original signals are reflected in a direction opposite to the first original signals after encountering an obstacle to obtain first echo signals, the first radar 111 receives the first echo signals and sends the first echo signals to the processor 30, and the processor 30 obtains time and speed between the first original signals and the first echo signals sent by the first radar 111. The processor 30 calculates a first distance S11 between the rotary drilling rig 2 and the obstacle, and controls the first camera 121 to acquire image information of the obstacle and send the image information to the display module 20 for displaying when the first distance S11 is less than or equal to a preset safe distance S2, and controls the first alarm module 60 to alarm. When the first distance S11 is less than or equal to the preset stop distance S3, the processor 30 controls the second alarm module 70 to alarm and prohibits the swing motor 40 from rotating forward, in addition to controlling the first camera 121 to capture image information of an obstacle and controlling the first alarm module 60 to alarm. The calculation of the second distance S12 is performed based on the second echo information transmitted from the second radar 112, and the manner of controlling the second camera 122, the first alarm module 60, the second alarm module 70, and the swing motor 40 based on the second distance S12 is the same as that of the first radar 111.
The present application further provides an obstacle monitoring method, which is applicable to the obstacle monitoring system of the first aspect, specifically, fig. 6 is a schematic flow chart of the obstacle monitoring method provided in an embodiment of the present application, and as shown in fig. 6, the obstacle monitoring method includes:
s101, the information acquisition module transmits an original signal and receives an echo signal obtained after the original signal is reflected by an obstacle.
It should be noted that, the information acquisition module 10 transmits original signals to multiple directions in real time, when the original signals encounter an obstacle, the original signals are reflected by the obstacle and then propagate in a direction opposite to the original signals, and the original signals are attenuated by the obstacle and air, so that echo signals are obtained and received by the information acquisition module 10.
S102, the processor receives the echo signal sent by the information acquisition module, and determines the distance between the rotary drilling rig and the obstacle according to the original signal and the echo signal.
The processor 30 is configured to receive the echo signal sent by the information acquisition module 10, and determine a distance S1 between the rotary drilling rig and the obstacle according to the original signal and the echo signal.
Specifically, the information acquisition module 10 transmits the raw signal in real time on the one hand and transmits the raw signal to the processor 30 on the other hand. The processor 30 calculates the distance S1 between the rotary drilling rig and the obstacle according to the time difference between the original signal and the echo signal and the propagation speed of the original signal and the echo signal.
S103, when the distance is smaller than or equal to the preset safe distance, the processor controls the information acquisition module to acquire the image information of the barrier and sends the image information to the display module to be displayed.
When the distance S1 is smaller than the preset safety distance S2, that is, in the distance range, the obstacle may cause a safety hazard to the driving of the rotary drilling rig, so as to ensure the safety of the rotary drilling rig and the driver, the obstacle in the distance range should be monitored, specifically, the information acquisition module 10 is further configured to acquire image information of the obstacle, the processor 30 controls the information acquisition module 10 to acquire the image information, and sends the image information to the display module 20 for display, and the driver may know the information of the obstacle through the image displayed by the display module 20.
Optionally, the information acquisition module 10 includes a distance measurement unit 110, and both the distance measurement unit 110 and the camera unit 120 are electrically connected to the processor 30, fig. 7 is a schematic flow chart of an obstacle monitoring method according to another embodiment of the present application, as shown in fig. 7, and step S101 includes:
s101-1, the distance measuring unit transmits an original signal and receives an echo signal obtained after the original signal is reflected by an obstacle.
Optionally, the ranging unit 110 includes a first radar 111 and a second radar 112, both the first radar 111 and the second radar 112 are electrically connected to the processor 30, the first radar 111 is installed on a first side of the tail of the rotary drilling rig, and the second radar 112 is installed on a second side of the tail of the rotary drilling rig 2. S101-1, comprising:
the original signals comprise a first original signal and a second original signal, the echo signals comprise a first echo signal and/or a second echo signal, and the range comprises a first range and/or a second range.
S101-1a, a first radar transmits a first original signal and receives a first echo signal obtained after the first original signal is reflected by an obstacle.
Specifically, the working process of the first radar 111 is as follows: the first radar 111 transmits first original signals to multiple directions in real time, the first original signals are electromagnetic wave signals, when the first original signals encounter an obstacle, the first original signals are reflected by the obstacle and then propagate in a propagation direction opposite to that of the first original signals to obtain first echo signals, the first echo signals are also electromagnetic wave signals, and compared with the first original signals, the first echo signals are electromagnetic wave signals subjected to energy attenuation of air, the obstacle and the like.
And S101-1b, the second radar sends a second original signal and receives a second echo signal obtained after the second original signal is reflected by an obstacle.
It should be noted that the steps of S101-1a and S101-1b may be performed separately, or may be performed simultaneously, specifically, according to the actual position of the obstacle.
And S102, comprising the following steps:
s102-1, when the processor receives the first echo signal and does not receive the second echo signal, determining a first distance between the rotary drilling rig and the obstacle according to the first original signal and the first echo signal.
S102-2, when the processor receives the second echo signal and does not receive the first echo signal, determining a second distance between the rotary drilling rig and the obstacle according to the second original signal and the second echo signal.
S102-3, when the processor receives the first echo signal and the second echo signal, the processor determines a first distance according to the first original signal and the first echo signal, and determines a second distance according to the second original signal and the second echo signal.
The steps of S102-1, S102-2, and S102-3 are not performed simultaneously.
In summary, in the obstacle monitoring system and method, the information acquisition module 10 transmits an original signal, the original signal is reflected by an obstacle to obtain an echo signal, the echo signal is transmitted to the processor 30 after being received by the information acquisition module 10, the processor 30 receives the echo signal transmitted by the information acquisition module 10, and the distance S1 between the rotary drilling rig and the obstacle is determined according to the time difference between the original signal and the echo signal. When the distance S1 is less than or equal to the preset safe distance S2, the processor 30 controls the information collecting module 10 to collect the image information of the obstacle and sends the image information to the display module 20 for display. The driver of the rotary drilling rig observes the obstacle through the display module 20, and damage to the rotary drilling rig caused by collision between the rotary drilling rig and the obstacle is avoided.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (9)

1. The obstacle monitoring method is applied to a rotary drilling rig, the rotary drilling rig comprises an information acquisition module, a display module and a processor, the information acquisition module and the display module are electrically connected with the processor, and the method comprises the following steps:
the information acquisition module transmits an original signal and receives an echo signal obtained after the original signal is reflected by a barrier;
when the processor receives the echo signal sent by the information acquisition module, determining the distance between the rotary drilling rig and the obstacle according to the original signal and the echo signal;
and when the distance is smaller than or equal to a preset safe distance, the processor controls the information acquisition module to acquire the image information of the barrier, and controls the information acquisition module to acquire and send the image information to the display module for displaying.
2. The obstacle monitoring method according to claim 1, wherein the information acquisition module includes a ranging unit electrically connected to the processor;
the information acquisition module transmits an original signal and receives an echo signal obtained after the original signal is reflected by an obstacle, and the steps comprise:
the distance measuring unit transmits the original signal and receives the echo signal obtained after the original signal is reflected by the obstacle.
3. The obstacle monitoring method according to claim 2, wherein the ranging unit comprises a first radar and a second radar, the first radar and the second radar are both electrically connected with the processor, the first radar is mounted on a first side of the tail of the rotary drilling rig, and the second radar is mounted on a second side of the tail of the rotary drilling rig;
the original signals comprise a first original signal and a second original signal, the echo signals comprise a first echo signal and/or a second echo signal, and the range comprises a first range and/or a second range;
the steps of the ranging unit transmitting the original signal and receiving the echo signal obtained after the original signal is reflected by the obstacle include:
the first radar transmits the first original signal and receives the first echo signal obtained after the first original signal is reflected by the obstacle;
and the second radar sends the second original signal and receives a second echo signal obtained after the second original signal is reflected by the obstacle.
4. The obstacle monitoring method according to claim 3, wherein the step of determining, by the processor, the distance between the rotary drilling rig and the obstacle according to the original signal and the echo signal when receiving the echo signal sent by the information acquisition module includes:
when the processor receives the first echo signal and does not receive the second echo signal, determining the first distance between the rotary drilling rig and the obstacle according to the first original signal and the first echo signal;
or when the processor receives the second echo signal and does not receive the first echo signal, determining the second distance between the rotary drilling rig and the obstacle according to the second original signal and the second echo signal;
or, when receiving the first echo signal and the second echo signal, the processor determines the first distance according to the first original signal and the first echo signal, and determines the second distance according to the second original signal and the second echo signal.
5. The obstacle monitoring method according to claim 4, wherein the information acquisition module further comprises a camera unit, and the processor controls the information acquisition module to acquire image information of the obstacle and controls the information acquisition module to acquire the image information and send the image information to the display module for display when the distance is less than or equal to a preset safe distance, including:
the processor controls the camera unit to acquire the image information of the obstacle when the distance is smaller than or equal to a preset safe distance;
and the camera shooting unit sends the image information of the obstacle to the display module for displaying.
6. The obstacle monitoring method according to claim 5, wherein the camera unit comprises a first camera and a second camera, the first camera and the second camera are both electrically connected with the processor, the first camera is mounted on a first side of the tail of the rotary drilling rig, and the second camera is mounted on a second side of the tail of the rotary drilling rig;
the processor controls the camera unit to acquire the image information of the obstacle when the distance is smaller than or equal to a preset safe distance, and the method comprises the following steps:
the processor controls the first camera to acquire the image information when the first distance is smaller than or equal to the preset safety distance;
or the processor controls the second camera to acquire the image information when the second distance is less than or equal to the preset safety distance;
or the processor controls the first camera and the second camera to acquire the image information when the first distance is smaller than or equal to the preset safe distance and the second distance is smaller than or equal to the preset safe distance.
7. The obstruction monitoring method according to claim 2, further comprising:
when the first distance is smaller than or equal to a preset stopping distance, the processor controls a rotary motor of the rotary drilling rig to prohibit forward rotation, wherein the preset stopping distance is smaller than the preset safety distance;
when the second distance is smaller than or equal to the preset stopping distance, the processor controls a rotary motor of the rotary drilling rig to prohibit reverse rotation;
and the processor controls the traveling motor of the rotary drilling rig to prohibit reverse rotation when the first distance and the second distance are both smaller than or equal to a preset stopping distance.
8. The obstacle monitoring method according to claim 1, wherein the rotary drilling rig further comprises a first alarm module, and the first alarm module is electrically connected with the processor; the method further comprises the following steps:
and the processor controls the first alarm module to work when the distance is less than or equal to the preset safety distance.
9. The obstacle monitoring method according to claim 1, wherein the rotary drilling rig further comprises a second alarm module, and the second alarm module is electrically connected with the processor; the method further comprises the following steps:
and the processor controls the second alarm module to work when the distance is less than or equal to a preset stopping distance, wherein the preset stopping distance is less than the preset safety distance.
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