CN113582023B - Anti-collision protection method for truck head, controller thereof and anti-collision protection system - Google Patents
Anti-collision protection method for truck head, controller thereof and anti-collision protection system Download PDFInfo
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- CN113582023B CN113582023B CN202110859903.5A CN202110859903A CN113582023B CN 113582023 B CN113582023 B CN 113582023B CN 202110859903 A CN202110859903 A CN 202110859903A CN 113582023 B CN113582023 B CN 113582023B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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Abstract
According to the method, point cloud data of a scanner after scanning an integrated card are obtained, a contour map of the integrated card is generated according to the point cloud data, the contour map of the integrated card is calibrated according to a standard contour map of an integrated card head of the integrated card, the contour map of the integrated card head is generated, the distance between the integrated card head and a container in the vertical direction is obtained according to the contour map of the integrated card head, and early warning information is generated when the distance is smaller than a preset distance. The method can accurately judge the position of the truck head of the truck, and in the process of loading and unloading the container by the lifting appliance, the distance between the truck head and the container is judged in real time, and when the distance is smaller than the minimum safety distance, a warning is sent out in time, so that the occurrence of safety casualties is greatly avoided, and the safety of the truck head and a truck driver in the process is improved.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to an anti-collision protection method for a truck head, a controller thereof and an anti-collision protection system.
Background
At present, the container is often required to be transported in a collection card working in a port environment, and when the container is automatically grabbed and placed in the process of loading and unloading, a lifting appliance is used for loading and unloading the container, and the position of a head and a carriage is misjudged or a collection card driver is misjudged to stop the head in a loading and unloading area, so that the head of the container is very easy to damage due to smashing of the container caused by smashing the head of the collection card, and the death of the collection card driver is further caused.
Therefore, how to effectively identify the head position of the truck in real time becomes an important safety problem for yard automation. At present, the measures for protecting the truck head in the related art are usually completed by positioning the truck, a threshold signal is triggered by the position of the truck, and whether the truck head is safe is judged according to whether the threshold is reached. The method still has the problem that the judged head position is not accurate enough. Therefore, how to further improve the accuracy of the position judgment of the vehicle head, and further ensure the safety of the vehicle head and the driver is needed to be solved.
Disclosure of Invention
In view of the above, the application provides a method for protecting a truck head from collision, a controller thereof and a collision protection system thereof, which solve the technical problems that the judgment of the position of the truck head is not accurate enough and the safety guarantee of the truck head and a driver cannot be further improved in the prior art.
According to one aspect of the application, the application provides a method for protecting a truck head from collision, comprising the following steps: acquiring point cloud data after a scanner scans a set card; generating a contour map of the set card according to the point cloud data; calibrating the contour map of the collector according to the standard contour map of the collector head of the collector, and generating the contour map of the collector head; acquiring the distance between the truck head and a container grabbed by a lifting appliance in the vertical direction according to the contour diagram of the truck head; and when the distance is smaller than the preset distance, generating early warning information.
Optionally, the generating the profile of the set card according to the point cloud data includes: scanning the point cloud data of the set card one by adopting a first window; when the number of the point clouds in the first window is smaller than or equal to a first preset number, deleting the point cloud data in the first window to generate effective point cloud data of the set card; and generating a contour map of the set card according to the effective point cloud data of the set card.
Optionally, the radius of the first window is 10cm, and the first preset number is 5.
Optionally, the scanner is mounted on a lifting appliance; the method for acquiring the point cloud data after the scanner scans the set card comprises the following steps: acquiring the head height of the collecting card; the height of the lifting appliance is obtained, and the height of the lifting appliance is the vertical distance between the lifting appliance and the lane where the collecting card is positioned in the vertical direction; acquiring original point cloud data after a scanner scans the set card; and performing filtering processing on the original point cloud data of the collector card, deleting the original point cloud data positioned between the head height of the collector card and the height of the lifting appliance, and generating the point cloud data of the collector card.
Optionally, the vehicle head height of the integrated circuit card is: 2.4 m-3.2 m.
Optionally, the obtaining, according to the profile of the truck head, a distance between the truck head and the container grabbed by the lifting appliance in a vertical direction includes: acquiring a corner point of a maximum inflection point of the profile diagram of the truck head in a first direction according to the profile diagram of the truck head, wherein the first direction is perpendicular to the vertical direction; according to the point cloud data of the angular points, the distance between the angular points and the scanner in the vertical direction is obtained; the distance between the corner point and the container grabbed by the lifting appliance in the vertical direction is the distance between the truck head of the truck and the container grabbed by the lifting appliance in the vertical direction.
Optionally, the preset distance is 1m.
According to a second aspect of the present application, the present application provides a truck head anti-collision protection controller, including a data acquisition module, configured to acquire point cloud data after a scanner scans a truck; the identification module is used for generating a contour map of the set card according to the point cloud data; calibrating the contour map of the collector according to the standard contour map of the collector head of the collector, and generating the contour map of the collector head; the distance calculation module is used for obtaining the distance between the truck head and the container in the vertical direction according to the profile diagram of the truck head; and the early warning information generation module is used for generating early warning information when the distance is smaller than a preset distance.
According to a third aspect of the present application, there is provided a truck head collision avoidance system comprising: the scanner is arranged on the crane, wherein a scanning line of the scanner is parallel to the central line of the lane where the collecting card is positioned; the head anti-collision protection controller of the truck is in communication connection with the scanner; the anti-collision protection controller of the truck head is the anti-collision protection controller of the truck head.
Optionally, the crane comprises a lifting appliance, a lane cart supporting leg and a trolley frame; wherein the scanner is arranged on a lifting appliance or a supporting leg or a trolley frame of the lane cart.
According to the method, point cloud data of a scanner after scanning a truck head are obtained, a contour map of the truck head is generated according to the point cloud data, the contour map of the truck head is calibrated according to a standard contour map of the truck head, a contour map of the truck head is generated, the distance between the truck head and a container in the vertical direction is obtained according to the contour map of the truck head, and early warning information is generated when the distance is smaller than a preset distance. The position of the truck head of the truck is accurately judged, the distance between the truck head and the container is judged in real time in the process of loading and unloading the container by the lifting appliance, and when the distance is smaller than the minimum safety distance, a warning is timely sent out, so that the occurrence of safety casualties is greatly avoided, and the safety of the truck head and a truck driver in the process is improved.
Drawings
FIG. 1 is a schematic flow chart of a method for protecting a truck head from collision according to an embodiment of the application;
fig. 2 is a diagram showing a positional relationship among a truck, a hanger and a container in a method for protecting a truck head from collision according to an embodiment of the present application;
fig. 3 is a schematic diagram of a cluster card generated by a plurality of point cloud data in a coordinate system in a method for protecting a cluster truck head from collision according to an embodiment of the present application;
fig. 4 is a schematic flow chart of step S2 in a method for protecting a truck head from collision according to an embodiment of the application;
fig. 5 is a schematic flow chart of step S1 in a method for protecting a truck head from collision according to an embodiment of the application;
fig. 6 is a schematic flow chart of step S4 in a method for protecting a truck head from collision according to an embodiment of the application;
FIG. 7 is a schematic structural diagram of a truck head collision avoidance controller according to an embodiment of the present application;
fig. 8 is a diagram showing a position relationship between a crane and a truck in a truck head anti-collision protection system according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Reference numerals: 1. a controller; 11. a data acquisition module; 12. an identification module; 13. a distance calculation module; 14. the early warning information generation module; 2. a crane; 201. a container; 2021. a truck head; 21. a lifting appliance; 22. supporting legs of the large vehicle on the lane; 23. a trolley frame; 3. a scanner; 600. an electronic device; 601. a processor; 602. A memory; 603. an input device; 604. and an output device.
Detailed Description
In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined. All directional indications (such as up, down, left, right, front, rear, top, bottom … …) in embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the figures), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed or inherent to such process, method, article, or apparatus but may optionally include other steps or elements not listed.
Furthermore, references herein to "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 1 is a schematic flow chart of a method for protecting a truck head from collision according to an embodiment of the present application, and fig. 2 is a diagram showing a positional relationship among a truck, a hanger 21 and a container 201 in the method for protecting a truck head from collision according to an embodiment of the present application.
As shown in fig. 1 and 2, the method for protecting the head of the truck for preventing collision comprises the following steps:
step S1: acquiring point cloud data after the scanner 3 scans the set card;
the point cloud data is a set of vectors in a coordinate system, and is used for representing geometric positions in the coordinate system, and the point cloud data is point cloud data of a plurality of points acquired by the scanner 3 when detecting the set card;
step S2: generating a contour map of the set card according to the point cloud data;
fig. 3 is a schematic diagram of a truck head in a coordinate system generated by a plurality of point cloud data in the method for protecting the truck head of the present application, as shown in fig. 3, because the point cloud data of a plurality of points of the truck head collected by the scanner 3 is used for representing the aggregate position of a point in the coordinate system, the positions of a plurality of points on the truck head can be generated according to the point cloud data of a plurality of points, and the schematic diagram of the truck head in the coordinate system can be generated;
step S3: calibrating the profile of the collector truck head 2021 according to the standard profile of the collector truck head 2021 of the collector truck, and generating the profile of the collector truck head 2021;
because the header 2021 is characterized by a convex shape, the profile can be searched with the convex shape as the characteristic, so that the performance of the header 2021 on the profile can be identified, namely, the profile of the header is calibrated by the standard profile of the header 2021, and the profile of the header 2021 is identified in the profile of the header;
step S4: acquiring the distance between the truck head 2021 and the container 201 grasped by the lifting appliance 21 in the vertical direction according to the profile of the truck head 2021;
since the point cloud data is the position data of a point on the truck in the coordinate system, the point cloud data of a point on the truck head 2021 is collected, so that the coordinate data (such as ordinate data and abscissa data) of the point in the coordinate system can be obtained, and then the distance between the truck head 2021 and the container 201 grabbed by the lifting tool 21 in the vertical direction can be obtained according to the point cloud data, as shown in fig. 2, the distance between the truck head 2021 and the container 201 grabbed by the lifting tool 21 in the vertical direction is L;
step S5: judging whether the distance L is smaller than a preset distance, and generating early warning information when the distance L is smaller than the preset distance.
The pre-warning information is used for prompting that the distance between the container 201 grabbed on the lifting tool 21 and the truck collecting head 2021 is smaller, if the lifting tool 21 continues to move downwards at the position, the container 201 can collide with the truck collecting head 2021, so that after the pre-warning information is generated, the pre-warning information can be transmitted to the controller 1 for controlling the lifting tool 21, and the controller 1 for controlling the lifting tool 21 can directly control the lifting tool 21 to move in the horizontal direction according to the pre-warning information, so that the container 201 grabbed by the lifting tool 21 is far away from the truck collecting head 2021, and the container 201 can stably fall into a truck collecting box; on the other hand, the pre-warning information may be in the form of sounds or words or the like that are easily received by the staff member, known by the staff member, and then the staff member controls the spreader 21 to move in the horizontal direction so that the container 201 grasped by the spreader 21 is away from the truck-collecting head 2021.
The anti-collision method for the truck collecting head 2021 provided by the application can accurately judge the position of the truck collecting head 2021, and in the process of loading and unloading the container 201 by the lifting appliance 21, the distance between the truck collecting head 2021 and the container 201 is judged in real time, and when the distance is smaller than the minimum safe distance, early warning information is sent out in time, so that the occurrence of safe casualties is greatly avoided, and the safety of the truck collecting head 2021 and a truck collecting driver in the process is improved.
Specifically, the preset distance in step S5 is 1m. It should be clear that during lifting and lowering of the container 201 by the spreader 21, the container 201 has a large inertia due to a large weight; meanwhile, when the worker obtains the alarm information and takes protective measures, a certain reaction time is needed, so that when the preset distance is smaller than 1m, the risk that the large container 201 impacts the vehicle head exists, and when the preset distance is larger than 1m, the worker is safer, and therefore the preset distance is set to be 1m more suitable.
In a possible implementation manner, fig. 4 is a schematic flow chart of step S2 in a method for protecting a truck head from collision according to an embodiment of the present application, and as shown in fig. 4, step S2 (generating an outline diagram of a truck according to point cloud data) specifically includes the following steps:
step S21: scanning the point cloud data of the set card one by adopting a first window;
step S22: judging whether the number of the point clouds in the first window is smaller than or equal to a first preset number, and deleting the point cloud data in the first window to generate effective point cloud data of the set card when the number of the point clouds in the first window is smaller than or equal to the first preset number;
because the multiple points of the collector card are concentrated, if the point data in one range is less, the points are possibly isolated points, so that in order to make the detection precision higher, the isolated points are deleted, the existence of interference points is reduced, and the detection precision is improved;
step S23: and generating a contour map of the set card according to the effective point cloud data of the set card.
When the port encounters rainy or snowy weather, raindrops or snowflakes will interfere with the point cloud data of the scanner 3, so that the interfering point clouds can be filtered through step S22, thereby further improving the accuracy of the effective point cloud data, and further improving the accuracy of the contour map of the header card and the contour map of the header truck 2021.
Specifically, the radius of the first window is 10cm, and the first preset number is 5. It can be understood that when the number of the point clouds in the range with the radius of 10cm is less than 5, the point cloud data can be deleted as the interference point cloud, so that the influence of extreme weather on the judgment of the contour of the header card and the contour of the header card vehicle head 2021 is greatly reduced.
In a possible implementation manner, fig. 5 is a schematic flow chart of step S1 in a method for protecting a truck head from collision according to an embodiment of the present application; as shown in fig. 2 and 5, when the scanner 3 is mounted on the hanger 21, that is, the scanner 3 moves up and down along with the hanger 21, in this case, step S1 (to obtain the point cloud data after the scan of the header card by the scanner 3) may specifically include the following steps:
step S11: acquiring the head height D of the collecting card;
the height D of the head of the collector card, namely the distance from the highest position of the head of the collector card to the ground, is a certain value as long as the type of the collector card can be obtained as the collector card is manufactured according to the standard;
step S12: acquiring the height H of the lifting appliance 21, wherein the height H of the lifting appliance 21 is the vertical distance between the lifting appliance 21 and a vehicle channel where the truck is positioned in the vertical direction;
since the lifting appliance 21 needs to put the grabbed container 201 into the truck carriage, the lifting appliance 21 will move up and down, and thus the height H of the lifting appliance 21, that is, the height of the lifting appliance 21 from the ground, needs to be obtained in real time;
step S13: acquiring original point cloud data after the scanner 3 scans the set card;
step S14: and (3) filtering the original point cloud data of the collector card, deleting the original point cloud data positioned between the head height D of the collector card and the height H of the lifting appliance 21, and generating the point cloud data of the collector card. When the scanner 3 is mounted on the lifting tool 21, the scanner 3 is lifted along with the lifting of the lifting tool 21, and the lifting tool 21 is required to lift the container 201 and then transfer to a carriage of the truck, and the height of the truck from the ground is required to be higher than the height of the truck head 2021, so that the height range where the truck head 2021 possibly exists is set as D, the vertical distance between the lifting tool 21 and the lane where the truck is located in the vertical direction is set as H, and point cloud data between the distances (H-D) is invalid data, thereby obtaining valid point cloud data of the truck. The effectiveness of the point cloud data is improved, thereby improving the accuracy of the header profile generated by the scanner 3 and the header 2021 profile.
It should be noted that, the installation position of the scanner 3 is not limited to the lifting tool 21, and the scanner can be installed at other positions of the crane, and when the installation position of the scanner 3 is not on the lifting tool 21, the scanning range is fixed, so that excessive invalid point clouds do not need to be deleted, and the method is more convenient. Therefore, the present application does not further limit the installation position of the scanner 3.
Specifically, the vehicle head height D of the collecting card is: 2.4 m-3.2 m. Since the height of the top of the truck head 2021 is a certain standard, the height of the truck head 2021 also has a certain range according to the standard, and 2.4 m-3.2 m includes the heights of all truck heads of different models within the current general standard range, and the height D of the truck head is set within the range, so that the generated valid point cloud data of the truck is more comprehensive and reliable.
In a possible implementation manner, fig. 6 is a schematic flow chart of step S4 in a method for protecting a truck head from collision according to an embodiment of the present application, and as shown in fig. 6, step S4 (for obtaining a distance between the truck head 2021 and the container 201 in a vertical direction according to a profile of the truck head 2021) may specifically include the following steps:
step S41: acquiring the corner point of the maximum inflection point of the profile of the truck head 2021 in the first direction according to the profile of the truck head 2021, wherein the first direction is perpendicular to the vertical direction;
as shown in fig. 3, the corner point position indicated by a in fig. 3 is the corner point position of the maximum inflection point in the first direction, and the height of the horizontal line where the corner point position of the maximum inflection point is located from the ground is the height of the upper surface of the truck head 2021.
Step S42: according to the point cloud data of the angular points, the distance between the angular points and the scanner 3 in the vertical direction is obtained;
wherein the distance between the corner point and the scanner 3 in the vertical direction is the distance between the truck head 2021 and the scanner 3 in the vertical direction.
The corner position may be understood as the position at which the vertical height of the truck head 2021 is located, and when the corner position is determined, the vertical height of the truck head 2021 may also be determined accordingly. Through the steps, the angular point position can be obtained more accurately, so that the height of the truck head 2021 can be determined more accurately, and the safety is improved.
As a second aspect of the present application, the present application provides a head-up collision protection controller for a truck for applying the head-up collision protection method as shown in fig. 1. Fig. 7 is a schematic structural diagram of a head-on collision protection controller of a truck, according to an embodiment of the present application, as shown in fig. 7, the head-on collision protection controller of the truck includes:
the data acquisition module 11 is used for acquiring point cloud data after the scanner scans the set card;
the identification module 12 is used for generating a profile diagram of the set card according to the point cloud data; calibrating the contour map of the collector card according to the standard contour map of the collector card head of the collector card to generate the contour map of the collector card head;
the distance calculation module 13 is used for obtaining the distance between the truck head and the container in the vertical direction according to the profile diagram of the truck head; and
the early warning information generation module 14 is configured to generate early warning information when the distance is smaller than a preset distance.
According to the head anti-collision controller of the truck, the point cloud data scanned by the scanner is acquired through the data acquisition module 11; after the point cloud data are identified by the identification module 12, generating a contour map of the collecting card, calibrating the contour map of the collecting card, and then generating a contour map of the collecting card head; then the distance between the truck head and the container in the vertical direction is calculated by a distance calculation module 13; and finally, when the distance is smaller than the preset distance, generating early warning information to remind the staff to stop loading by the early warning information generating module 14, so that the occurrence of casualties is avoided. The truck head anti-collision controller has the advantages that the truck head profile information generated by the truck head anti-collision controller is accurate, and the safety is higher.
As a third aspect of the present application, the present application provides a truck head collision avoidance system, for applying the truck head collision avoidance method and the truck head collision avoidance controller. Fig. 8 is a diagram showing a position relationship between a crane and a truck in a truck head anti-collision protection system according to an embodiment of the present application, where, as shown in fig. 3 and 8, the truck head 2021 anti-collision protection system includes a scanner 3 mounted on the crane 2, and a scanning line of the scanner 3 is parallel to a center line of a lane where the truck is located; and a truck-head 2021 bumper guard controller, the truck-head 2021 bumper guard controller being in communication connection with the scanner 3; the head 2021 bumper controller is the head 2021 bumper controller 1 of the second aspect of the present application. The system can more accurately generate the contour of the collector truck and the contour of the collector truck head 2021, and when the vertical height of the container 201 exceeds the safety range from the collector truck head 2021, early warning information is timely generated, so that the occurrence of casualties is greatly reduced, and the safety performance is improved.
In one possible implementation, as shown in fig. 8, the crane 2 comprises a spreader 21, a lane cart leg 22 and a trolley frame 23; the scanner 3 may be mounted on a spreader 21 or a trolley leg 22 or trolley frame 23, and the determination of the contour of the header card and the contour of the header truck head 2021 may be achieved, so the application is not limited to the specific location of the scanner 3 on the crane 2.
Next, an electronic device according to an embodiment of the present application is described with reference to fig. 9. Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the application.
As shown in fig. 9, the electronic device 600 includes one or more processors 601 and memory 602.
The processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or information execution capabilities and may control other components in the electronic device 600 to perform desired functions.
The memory 601 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, random Access Memory (RAM) and/or cache memory (cache) and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program information may be stored on a computer readable storage medium and the processor 601 may execute the program information to implement the truck head crash protection method of the present application as above or other desired functions.
In one example, the electronic device 600 may further include: input device 603 and output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 603 may include, for example, a keyboard, a mouse, and the like.
The output device 604 can output various information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device to which it is connected, and so forth.
Of course, only some of the components of the electronic device 600 that are relevant to the present application are shown in fig. 9 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 600 may include any other suitable components depending on the particular application.
In addition to the methods and apparatus described above, embodiments of the application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in a truck head collision avoidance method according to various embodiments of the application described in this specification.
The computer program product may include program code for carrying out operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer readable storage medium having stored thereon computer program information which, when executed by a processor, causes the processor to perform the steps in the truck head collision avoidance method according to various embodiments of the present application.
A computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in this application are merely examples and are not to be considered as limiting, and these advantages, benefits, effects, etc. are essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be separated and/or recombined. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features herein.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any modifications, equivalents, and alternatives falling within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (10)
1. A method of head crash protection for a collection truck, comprising:
acquiring point cloud data of a plurality of points acquired by a scanner when the scanner detects the set card after scanning the set card;
generating a contour map of the set card according to the point cloud data;
calibrating the contour map of the collector according to the standard contour map of the collector head of the collector, and generating the contour map of the collector head;
acquiring the distance between the truck head and a container grabbed by a lifting appliance in the vertical direction according to the contour diagram of the truck head;
and when the distance is smaller than the preset distance, generating early warning information.
2. The method of claim 1, wherein the generating the profile of the header card from the point cloud data comprises:
scanning the point cloud data of the set card one by adopting a first window;
when the number of the point clouds in the first window is smaller than or equal to a first preset number, deleting the point cloud data in the first window to generate effective point cloud data of the set card;
and generating a contour map of the set card according to the effective point cloud data of the set card.
3. The method of claim 2, wherein,
the radius of the first window is 10cm, and the first preset number is 5.
4. The method of claim 2, wherein the scanner is mounted on a spreader;
the method for acquiring the point cloud data after the scanner scans the set card comprises the following steps:
acquiring the head height of the collecting card;
the height of the lifting appliance is obtained, and the height of the lifting appliance is the vertical distance between the lifting appliance and the lane where the collecting card is positioned in the vertical direction;
acquiring original point cloud data after a scanner scans the set card; and
and carrying out filtering processing on the original point cloud data of the collector card, deleting the original point cloud data positioned between the head height of the collector card and the height of the lifting appliance, and generating the point cloud data of the collector card.
5. The method for protecting a truck head according to claim 4, wherein the truck head height of the truck is: 2.4 m-3.2 m.
6. The method for protecting the truck head of the truck according to claim 1, wherein the step of obtaining the distance between the truck head and the container grasped by the lifting appliance in the vertical direction according to the profile of the truck head comprises the following steps:
acquiring a corner point of a maximum inflection point of the profile of the truck head in a first direction according to the profile of the truck head, wherein the first direction is perpendicular to the vertical direction;
according to the point cloud data of the angular points, the distance between the angular points and the scanner in the vertical direction is obtained;
the distance between the corner point and the container grabbed by the lifting appliance in the vertical direction is the distance between the truck head of the truck and the container grabbed by the lifting appliance in the vertical direction.
7. The method of claim 1, wherein the predetermined distance is 1m.
8. A head-on collision protection controller for a truck, comprising:
the data acquisition module is used for acquiring point cloud data after the scanner scans the set card, wherein the point cloud data are acquired by the scanner when detecting the set card;
the identification module is used for generating a contour map of the set card according to the point cloud data; calibrating the contour map of the collector according to the standard contour map of the collector head of the collector, and generating the contour map of the collector head;
the distance calculation module is used for obtaining the distance between the truck head and the container in the vertical direction according to the profile diagram of the truck head; and
and the early warning information generation module is used for generating early warning information when the distance is smaller than a preset distance.
9. A collector truck head crash protection system comprising:
the scanner is arranged on the crane, wherein a scanning line of the scanner is parallel to the central line of the lane where the collecting card is positioned; and
the anti-collision protection controller of the truck head is in communication connection with the scanner;
wherein the truck head anti-collision protection controller is the truck head anti-collision protection controller of claim 8.
10. The truck head collision avoidance system of claim 9 wherein said crane comprises a spreader, a roadway cart leg, and a trolley frame;
wherein the scanner is arranged on a lifting appliance or a supporting leg or a trolley frame of the lane cart.
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| CN202110859903.5A CN113582023B (en) | 2021-07-28 | 2021-07-28 | Anti-collision protection method for truck head, controller thereof and anti-collision protection system |
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| CN202110859903.5A CN113582023B (en) | 2021-07-28 | 2021-07-28 | Anti-collision protection method for truck head, controller thereof and anti-collision protection system |
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