CN113189666A - Obstacle detection system for working system - Google Patents
Obstacle detection system for working system Download PDFInfo
- Publication number
- CN113189666A CN113189666A CN202110473330.2A CN202110473330A CN113189666A CN 113189666 A CN113189666 A CN 113189666A CN 202110473330 A CN202110473330 A CN 202110473330A CN 113189666 A CN113189666 A CN 113189666A
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- China
- Prior art keywords
- boom
- obstacle
- systems
- sensor
- radiation
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- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 230000003287 optical effect Effects 0.000 claims abstract description 39
- 230000005855 radiation Effects 0.000 claims description 27
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
Abstract
The invention discloses an obstacle detection system for a working system, comprising a working head, a lifting arm, a first end and a second end, wherein the working head extends along a first axis between the first end and the second end and is arranged on a lifting rod; first and second transverse obstacle sensor systems mounted at each end of the boom, movable or deformable relative to the boom, and independent of each other in a direction of a second axis substantially perpendicular to the first axis of the boom, and each having a system extending in the same direction on both sides of the boom; the first and second optical systems are fixed to the first and second transverse obstacle sensor systems to detect the presence of obstacles in the path of the boom and to detect the movements and deformations of the transverse obstacle sensor systems with respect to each other, the safety system of the invention and the moving assembly according to the invention combining an electromechanical transverse obstacle sensor system with an optical system fixed to the transverse obstacle sensor system, with the same advantages as in the case of the fixed station.
Description
Technical Field
The invention relates to the technical field of obstacle detection, in particular to an obstacle detection system for a working system.
Background
For example, japanese patent application laid-open No. P2001-208843a, published on 8/3/2001, discloses an obstacle detection system including 4 ultrasonic sensors and a controller. Each ultrasonic sensor includes a microphone, a wave transmitting circuit, an attenuator (attenuator) circuit, and an amplifying circuit. The microphone is configured to transmit and receive ultrasonic waves. The wave transmitting circuit is configured to drive the microphone in accordance with control of the controller. The attenuator circuit and the amplifier circuit are configured to adjust the level of a signal obtained from the incoming ultrasonic waves.
The obstacle detection system is configured to: one of the plurality of (4) ultrasonic sensors emits ultrasonic waves, and the other ultrasonic sensors receive incoming ultrasonic waves obtained from the ultrasonic waves. This can expand the maximum detection range covered by the plurality of ultrasonic sensors.
In addition, the obstacle detection system is configured to: the detection range is switched from the short-distance range to the long-distance range, and the level of a signal obtained from the incoming ultrasonic waves is adjusted so that the beam angle (particularly, the vertical beam angle) for the long-distance range is smaller than the beam angle for the short-distance range. Thus, false detection due to small projections on the road surface or the like can be prevented, and for this purpose, an obstacle detection system for a working system is proposed.
Disclosure of Invention
The present invention is directed to an obstacle detection system for a working system to solve the problems set forth in the background art described above.
In order to achieve the purpose, the invention provides the following technical scheme: an obstacle detection system for a working system, comprising,
a working head having a boom extending along a first axis between first and second ends is mounted to the boom;
first and second transverse obstacle sensor systems mounted at each end of the boom, movable or deformable relative to the boom, and independent of each other in a direction of a second axis substantially perpendicular to the first axis of the boom, and each having a system extending in the same direction on both sides of the boom;
first and second optical systems are secured to the first and second lateral obstacle sensor systems to detect the presence of obstacles in the boom path and to detect movement and deformation of the lateral obstacle sensor systems relative to each other.
The invention is further preferred: the first and second optical systems each include a radiation emitter and a radiation sensor, the emitter being fixed to one of the lateral obstacle sensor systems and the associated sensor being fixed to the other lateral obstacle sensor system.
The invention is further preferred: further comprising third and fourth optical systems for detecting obstacles in the path of the boom, and wherein each third and fourth optical system is mounted on the boom by a rigid or deformable connection.
The invention is further preferred: each of the third and fourth obstacle sensing optical systems mounted on the boom includes a first radiation emitter and a first radiation sensor, and the first radiation emitter and the first radiation sensor of the third and fourth obstacle sensing optical systems are respectively fixed to a connecting device at a first end and a connecting device at a second end.
The invention is further preferred: the first radiation emitters of the third and fourth obstacle sensing optical systems and the first radiation sensors of the third and fourth obstacle sensing optical systems are fixed to the connecting device at the same end of the connecting device. The cantilever and reflector system are secured to a connection at the other end of the cantilever to reflect radiation from the first emitter to the first sensor.
The invention is further preferred: the first and second fixed optical systems on the first and second lateral obstacle sensor systems and the third and fourth optical systems mounted on the connecting device.
The invention is further preferred: first and second motion sensors associated with the first and second lateral obstacle sensor systems, respectively, for sensing obstacles disposed laterally with respect to the boom.
The invention is further preferred: the first and second lateral obstacle sensor systems further include a support mounted on the first and second lateral obstacle sensor systems and a fifth optical system fixed to the support to detect an obstacle when the boom moves.
Compared with the prior art, the invention has the beneficial effects that:
1. the safety system of the invention and the moving assembly according to the invention combine an electromechanical lateral obstacle sensor system with an optical system fixed to the lateral obstacle sensor system with the same advantages as in the case of a fixed table.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
Example (b):
the present invention provides an obstacle detection system for a working system, comprising,
a working head having a boom extending along a first axis between first and second ends is mounted to the boom;
first and second transverse obstacle sensor systems mounted at each end of the boom, movable or deformable relative to the boom, and independent of each other in a direction of a second axis substantially perpendicular to the first axis of the boom, and each having a system extending in the same direction on both sides of the boom;
first and second optical systems are secured to the first and second lateral obstacle sensor systems to detect the presence of obstacles in the boom path and to detect movement and deformation of the lateral obstacle sensor systems relative to each other.
In this embodiment, specifically: the first and second optical systems each include a radiation emitter and a radiation sensor, the emitter being fixed to one of the lateral obstacle sensor systems and the associated sensor being fixed to the other lateral obstacle sensor system.
In this embodiment, specifically: further comprising third and fourth optical systems for detecting obstacles in the path of the boom, and wherein each third and fourth optical system is mounted on the boom by a rigid or deformable connection.
In this embodiment, specifically: each of the third and fourth obstacle sensing optical systems mounted on the boom includes a first radiation emitter and a first radiation sensor, and the first radiation emitter and the first radiation sensor of the third and fourth obstacle sensing optical systems are respectively fixed to a connecting device at a first end and a connecting device at a second end.
In this embodiment, specifically: the first radiation emitters of the third and fourth obstacle sensing optical systems and the first radiation sensors of the third and fourth obstacle sensing optical systems are fixed to the connecting device at the same end of the connecting device. The cantilever and reflector system are secured to a connection at the other end of the cantilever to reflect radiation from the first emitter to the first sensor.
In this embodiment, specifically: the first and second fixed optical systems on the first and second lateral obstacle sensor systems and the third and fourth optical systems mounted on the connecting device.
In this embodiment, specifically: first and second motion sensors associated with the first and second lateral obstacle sensor systems, respectively, for sensing obstacles disposed laterally with respect to the boom.
In this embodiment, specifically: the first and second lateral obstacle sensor systems further include a support installed on the first and second lateral obstacle sensor systems and a fifth optical system fixed to the support to detect an obstacle when the boom moves;
the bracket is placed on the bracket, and the non-rigid connection is arranged at the end part of the bracket; optical elements at the free ends of the connections, usually placed in the path of the beams, these connections being connected at the top of the support and preferably having a curved circular arc or annular shape, providing protection in the form of an "umbrella" or hemisphere around the combination formed by the working heads; the combination is preferably rotatable about the end of the support and/or movable in translation along the axis X;
the cutting head is provided with a protective cover which is opened when the machine is stopped and the operator works on the cutting head, for example to replace the cutting wheel;
a structure of an optical system connected to both ends of the moving boom and provided with a transmitter/receiver system may be used; the structure has some flexibility or ability to deform in the direction of axis X; the presence of a lateral obstruction (e.g. an operator's limb) causes deformation of such a structure and interferes with the optical path between the transmitter system and the receiver system it carries; this interference with the light path changes the intensity of the signal emitted by the sensor, which again leads to a stoppage of the cutting system;
a structure of the above type can be used without any other lateral sensor system, in particular without a rod; it can also be combined with a system of rods, which can move with respect to the direction of the axis X; as described above, the boom and an electromechanical sensor system trip, or otherwise alter, a signal received by a receiver secured to the boom;
a lateral impact occurs along the axis of the rod-causing the switch to trip, as previously described, and also causing the machine to stop; in case of failure of one of the switches, the combination of transmitter and receiver again constitutes a second level of safety.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An obstacle detection system for a work system, comprising, characterized in that:
a working head having a boom extending along a first axis between first and second ends is mounted to the boom;
first and second transverse obstacle sensor systems mounted at each end of the boom, movable or deformable relative to the boom, and independent of each other in a direction of a second axis substantially perpendicular to the first axis of the boom, and each having a system extending in the same direction on both sides of the boom;
first and second optical systems are secured to the first and second lateral obstacle sensor systems to detect the presence of obstacles in the boom path and to detect movement and deformation of the lateral obstacle sensor systems relative to each other.
2. An obstacle detection system for a working system according to claim 1, characterized in that: the first and second optical systems each include a radiation emitter and a radiation sensor, the emitter being fixed to one of the lateral obstacle sensor systems and the associated sensor being fixed to the other lateral obstacle sensor system.
3. An obstacle detection system for a working system according to claim 1, characterized in that: further comprising third and fourth optical systems for detecting obstacles in the path of the boom, and wherein each third and fourth optical system is mounted on the boom by a rigid or deformable connection.
4. An obstacle detection system for a working system according to claim 1, characterized in that: each of the third and fourth obstacle sensing optical systems mounted on the boom includes a first radiation emitter and a first radiation sensor, and the first radiation emitter and the first radiation sensor of the third and fourth obstacle sensing optical systems are respectively fixed to a connecting device at a first end and a connecting device at a second end.
5. An obstacle detection system for a working system according to claim 1, characterized in that: the first radiation emitters of the third and fourth obstacle sensing optical systems and the first radiation sensors of the third and fourth obstacle sensing optical systems are fixed to the connecting device at the same end of the connecting device. The cantilever and reflector system are secured to a connection at the other end of the cantilever to reflect radiation from the first emitter to the first sensor.
6. An obstacle detection system for a working system according to claim 1, characterized in that: the first and second fixed optical systems on the first and second lateral obstacle sensor systems and the third and fourth optical systems mounted on the connecting device.
7. An obstacle detection system for a working system according to claim 1, characterized in that: first and second motion sensors associated with the first and second lateral obstacle sensor systems, respectively, for sensing obstacles disposed laterally with respect to the boom.
8. An obstacle detection system for a working system according to claim 1, characterized in that: the first and second lateral obstacle sensor systems further include a support mounted on the first and second lateral obstacle sensor systems and a fifth optical system fixed to the support to detect an obstacle when the boom moves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110473330.2A CN113189666A (en) | 2021-04-29 | 2021-04-29 | Obstacle detection system for working system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110473330.2A CN113189666A (en) | 2021-04-29 | 2021-04-29 | Obstacle detection system for working system |
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| Publication Number | Publication Date |
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| CN113189666A true CN113189666A (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110473330.2A Pending CN113189666A (en) | 2021-04-29 | 2021-04-29 | Obstacle detection system for working system |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020190191A1 (en) * | 1999-12-24 | 2002-12-19 | Denis Maurin | Processing system with protective device for secure processing table |
| CN109642946A (en) * | 2016-08-04 | 2019-04-16 | 比亚乔公司 | Motorcycle with obstacle sensor |
-
2021
- 2021-04-29 CN CN202110473330.2A patent/CN113189666A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020190191A1 (en) * | 1999-12-24 | 2002-12-19 | Denis Maurin | Processing system with protective device for secure processing table |
| CN109642946A (en) * | 2016-08-04 | 2019-04-16 | 比亚乔公司 | Motorcycle with obstacle sensor |
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