CN114368693A - 用于臂架的防碰撞方法、装置、处理器及起重机 - Google Patents
用于臂架的防碰撞方法、装置、处理器及起重机 Download PDFInfo
- Publication number
- CN114368693A CN114368693A CN202111454891.4A CN202111454891A CN114368693A CN 114368693 A CN114368693 A CN 114368693A CN 202111454891 A CN202111454891 A CN 202111454891A CN 114368693 A CN114368693 A CN 114368693A
- Authority
- CN
- China
- Prior art keywords
- boom
- arm support
- information
- obstacle
- motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 82
- 230000033001 locomotion Effects 0.000 claims abstract description 236
- 238000001514 detection method Methods 0.000 claims abstract description 105
- 238000003860 storage Methods 0.000 claims abstract description 21
- 230000002265 prevention Effects 0.000 claims abstract description 10
- 230000004888 barrier function Effects 0.000 claims abstract description 3
- 230000001133 acceleration Effects 0.000 claims description 24
- 230000011218 segmentation Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 230000007613 environmental effect Effects 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 5
- 238000002372 labelling Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 abstract description 8
- 238000010276 construction Methods 0.000 abstract description 6
- 230000015654 memory Effects 0.000 description 49
- 238000010586 diagram Methods 0.000 description 15
- 238000004590 computer program Methods 0.000 description 13
- 230000001360 synchronised effect Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000006996 mental state Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
-
- 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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- 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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- 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
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
Claims (25)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111454891.4A CN114368693B (zh) | 2021-12-01 | 2021-12-01 | 用于臂架的防碰撞方法、装置、处理器及起重机 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111454891.4A CN114368693B (zh) | 2021-12-01 | 2021-12-01 | 用于臂架的防碰撞方法、装置、处理器及起重机 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114368693A true CN114368693A (zh) | 2022-04-19 |
CN114368693B CN114368693B (zh) | 2023-06-02 |
Family
ID=81140669
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202111454891.4A Active CN114368693B (zh) | 2021-12-01 | 2021-12-01 | 用于臂架的防碰撞方法、装置、处理器及起重机 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114368693B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116281636A (zh) * | 2023-02-22 | 2023-06-23 | 中国建筑第五工程局有限公司 | 一种群塔作业防碰撞方法及系统 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN202689566U (zh) * | 2011-12-29 | 2013-01-23 | 中联重科股份有限公司 | 一种用于臂架的避障系统及包括该系统的工程机械设备 |
CN109095356A (zh) * | 2018-11-07 | 2018-12-28 | 徐工集团工程机械有限公司 | 工程机械及其作业空间动态防碰撞方法、装置和系统 |
CN109278045A (zh) * | 2018-09-14 | 2019-01-29 | 湖南希法工程机械有限公司 | 臂架防碰撞系统及方法 |
CN111332953A (zh) * | 2020-04-03 | 2020-06-26 | 浙江三一装备有限公司 | 起重机、检测装置及检测方法 |
CN111731240A (zh) * | 2020-06-18 | 2020-10-02 | 北京百度网讯科技有限公司 | 急刹车合理性评估方法、装置、设备以及存储介质 |
CN112115929A (zh) * | 2020-11-23 | 2020-12-22 | 国网瑞嘉(天津)智能机器人有限公司 | 一种作业臂架移动位姿的确定方法、装置及存储介质 |
CN112824307A (zh) * | 2019-11-20 | 2021-05-21 | 湖北易信机械有限公司 | 一种基于机器视觉的起重机吊臂控制方法 |
-
2021
- 2021-12-01 CN CN202111454891.4A patent/CN114368693B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN202689566U (zh) * | 2011-12-29 | 2013-01-23 | 中联重科股份有限公司 | 一种用于臂架的避障系统及包括该系统的工程机械设备 |
CN109278045A (zh) * | 2018-09-14 | 2019-01-29 | 湖南希法工程机械有限公司 | 臂架防碰撞系统及方法 |
CN109095356A (zh) * | 2018-11-07 | 2018-12-28 | 徐工集团工程机械有限公司 | 工程机械及其作业空间动态防碰撞方法、装置和系统 |
CN112824307A (zh) * | 2019-11-20 | 2021-05-21 | 湖北易信机械有限公司 | 一种基于机器视觉的起重机吊臂控制方法 |
CN111332953A (zh) * | 2020-04-03 | 2020-06-26 | 浙江三一装备有限公司 | 起重机、检测装置及检测方法 |
CN111731240A (zh) * | 2020-06-18 | 2020-10-02 | 北京百度网讯科技有限公司 | 急刹车合理性评估方法、装置、设备以及存储介质 |
CN112115929A (zh) * | 2020-11-23 | 2020-12-22 | 国网瑞嘉(天津)智能机器人有限公司 | 一种作业臂架移动位姿的确定方法、装置及存储介质 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116281636A (zh) * | 2023-02-22 | 2023-06-23 | 中国建筑第五工程局有限公司 | 一种群塔作业防碰撞方法及系统 |
CN116281636B (zh) * | 2023-02-22 | 2024-01-09 | 中国建筑第五工程局有限公司 | 一种群塔作业防碰撞方法及系统 |
Also Published As
Publication number | Publication date |
---|---|
CN114368693B (zh) | 2023-06-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109080626B (zh) | 车辆故障处理方法 | |
US11975951B2 (en) | Engineering machinery and dynamic anti-collision method, device, and system for operation space of the engineering machinery | |
US11124199B2 (en) | Automatic driving system, fault alarm method and device | |
US20200074769A1 (en) | Vehicle Fault Handling Method, Apparatus, Device and Storage Medium | |
US9052393B2 (en) | Object recognition system having radar and camera input | |
US11579285B2 (en) | Intelligent roadside unit | |
US20140205139A1 (en) | Object recognition system implementing image data transformation | |
EP3776128B1 (en) | Apparatus, system, and method of using depth assessment for autonomous robot navigation | |
EP3624083A1 (en) | Intelligent roadside unit | |
KR20210040320A (ko) | 클라우드 제어 플랫폼용 이벤트 검출방법, 장치, 기기와 저장매체 및 컴퓨터 프로그램 | |
CN113734163A (zh) | 无人车的控制方法、装置、存储介质及电子设备 | |
CN114368693A (zh) | 用于臂架的防碰撞方法、装置、处理器及起重机 | |
CN114275681B (zh) | 用于起重机的控制方法及装置、控制器和起重机 | |
CN113199484B (zh) | 机器人安全运行方法、设备及存储介质 | |
CN114419859A (zh) | 用于支腿的安全检测方法、处理器、装置及消防车 | |
CN111593891A (zh) | 工程机械臂架类设备的安全预警方法、装置及该工程机械 | |
CN114170846A (zh) | 车辆变道预警方法、装置、设备以及存储介质 | |
CN113552890A (zh) | 机器人避障控制方法、装置及机器人 | |
CN111625000A (zh) | 机器人、用于机器人的避障方法和装置 | |
CN114442616A (zh) | 用于挖掘机的控制方法、装置、处理器及挖掘机 | |
CN113581074B (zh) | 工程机械主动安全避障的监控方法、监控装置及工程机械 | |
CN115951621B (zh) | 高空作业平台避障控制方法、装置、电子设备及存储介质 | |
CN114474158B (zh) | 机器人移动路径检测方法及移动平台 | |
CN115947276A (zh) | 防碰撞控制系统及其控制方法、处理器及高空作业平台 | |
CN117765026A (zh) | 一种目标跟踪方法、系统、装置及存储介质 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20220419 Assignee: Hunan ZOOMLION Crawler Crane Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044887 Denomination of invention: Anti collision methods, devices, processors, and cranes for boom frames Granted publication date: 20230602 License type: Common License Record date: 20231030 Application publication date: 20220419 Assignee: Hunan Zoomlion engineering hoisting equipment Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044882 Denomination of invention: Anti collision methods, devices, processors, and cranes for boom frames Granted publication date: 20230602 License type: Common License Record date: 20231030 Application publication date: 20220419 Assignee: Zoomlion Heavy Industry Science and Technology Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044881 Denomination of invention: Anti collision methods, devices, processors, and cranes for boom frames Granted publication date: 20230602 License type: Common License Record date: 20231030 |