CN116748701A - Automatic obstacle avoidance laser cutting head - Google Patents
Automatic obstacle avoidance laser cutting head Download PDFInfo
- Publication number
- CN116748701A CN116748701A CN202311011913.9A CN202311011913A CN116748701A CN 116748701 A CN116748701 A CN 116748701A CN 202311011913 A CN202311011913 A CN 202311011913A CN 116748701 A CN116748701 A CN 116748701A
- Authority
- CN
- China
- Prior art keywords
- obstacle
- air bag
- cutting head
- obstacle avoidance
- laser cutting
- 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.)
- Pending
Links
- 238000003698 laser cutting Methods 0.000 title claims abstract description 25
- 238000005520 cutting process Methods 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 15
- 239000000919 ceramic Substances 0.000 claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims abstract description 8
- 239000007789 gas Substances 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 4
- 239000000567 combustion gas Substances 0.000 claims description 3
- 238000002485 combustion reaction Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The invention belongs to the technical field of laser cutting, and provides an automatic obstacle avoidance laser cutting head, which comprises: the device comprises a mounting round table, a ceramic ring, a nozzle, an obstacle avoidance detector and an anti-collision air bag, wherein the anti-collision air bag and the obstacle avoidance detector are mounted on the side surface of the mounting round table; the ceramic ring is arranged on the lower surface of the installation round table through the locking ring; the nozzle is arranged on the ceramic ring; the obstacle avoidance detector comprises a bracket, a camera and an infrared ranging sensor, wherein the camera is arranged on the side surface of the bracket, the infrared ranging sensor is arranged at the bottom of the bracket and is used for detecting an obstacle in the vertical direction, and the camera is used for detecting a transverse obstacle; can detect the barrier of radial and vertical direction and realize avoiding the barrier to appear suddenly as the barrier, if judge that the collision is unavoidable, can adopt crashproof gasbag to protect, avoid the cutting head damage.
Description
Technical Field
The invention belongs to the technical field of laser cutting, and particularly relates to an automatic obstacle avoidance laser cutting head.
Background
In the control of a laser cutting machine tool, the distance between a laser cutting head and the surface of a workpiece changes due to the fluctuation of the surface of a cutting plate or the deformation factor of the workpiece, so that the quality of a cut finished product is affected. During the cutting process, it is very dangerous if the surface of the board is obstructed and not cleaned in time. For example, in the laser cutting process, the cut workpiece is not directly separated from the plate due to the effect of gravity, but is clamped on the cut plate, one part of the workpiece is protruded at one end of the cut plate facing the cutting head, when the cutting head moves or cuts, the workpiece is very easy to collide with the protruded workpiece, on one hand, the produced workpiece can be damaged, on the other hand, the cutting head is damaged with high probability, so that the efficiency of laser cutting is greatly reduced, and the cost of laser cutting is increased.
And the starting and stopping of the laser cutting machine need the cooperation of a lot of spare parts to use, and frequent shut down is very big to the damage of laser cutting machine, if the shut down can appear following condition as soon as detecting the obstacle: first, the detection position is very close to the cutting head, and even if an obstacle is detected, the cutting head cannot be stopped immediately, and the cutting head may collide with the obstacle. Second, in order to stop the cutting head with enough reaction time, the detection position is far away from the cutting head, the cutting head is stopped when an obstacle is detected, and in fact, the movement track of the cutting head does not pass the obstacle, but the frequent stopping has great damage to the laser cutting machine. Third, there are sudden events, such as loosening and falling of a workpiece, when an obstacle suddenly appears, a cutting head in the current movement process directly collides with the obstacle to cause damage, and how to avoid damage to the cutting head caused by the obstacle in the sudden situation is a problem to be solved.
Disclosure of Invention
In order to solve at least one technical problem in the background art, a first aspect of the present invention provides an automatic obstacle avoidance laser cutting head, which adopts a mounting round table to set an obstacle avoidance detector and an anti-collision air bag, can detect obstacles in radial and vertical directions and realize obstacle avoidance, and can adopt the anti-collision air bag to protect against cutting head damage if collision is unavoidable.
In order to achieve the above purpose, the present invention adopts the following technical scheme: an automatic obstacle avoidance laser cutting head comprising: the device comprises a mounting round table, a ceramic ring, a nozzle, an obstacle avoidance detector and an anti-collision air bag, wherein the anti-collision air bag and the obstacle avoidance detector are mounted on the side surface of the mounting round table; the ceramic ring is arranged on the lower surface of the installation round table through the locking ring; the nozzle is arranged on the ceramic ring.
The obstacle avoidance detector comprises a bracket, a camera and an infrared ranging sensor, wherein the camera is arranged on the side surface of the bracket, the infrared ranging sensor is arranged at the bottom of the bracket, the infrared ranging sensor is used for detecting an obstacle in the vertical direction, and the camera is used for detecting a transverse obstacle;
the anti-collision air bag comprises an air bag support and an air bag, the air bag support is connected with the air bag through an inflation tube, the air bag support is arranged on the side face of the installation round table, a strip-shaped groove is formed in the side wall of the air bag support, the air bag is installed in the strip-shaped groove, and a gas generator is arranged in the air bag support.
Further, the side wall of the air bag support is provided with mounting holes at intervals of 90 degrees along the circumferential direction, and the mounting round table is mounted in a matched mode with the air bag support through the mounting holes.
Further, the gas generator includes a housing having a first container having a first bottom surface portion and a second container having a second bottom surface portion, the first container and the second container having a gas generating agent therein, combustion gas generated by combustion of the gas generating agent, the first container and the second container being joined at predetermined positions on respective sides thereof to form the housing; and an igniter mounted to the mounting hole portion, the mounting hole portion communicating an inside of the housing with an outside and formed at a second bottom surface portion of the second container.
Further, a plurality of cameras arranged on the installation round table are utilized to collect image data around the nozzle in real time; the image detection whether there is an obstacle or not, and judging obstacle position information, the steps of which include: simultaneously acquiring color images from three cameras, and performing graying treatment to obtain a complete gray image through an image stitching algorithm; and carrying out binarization processing on the gray level image obtained by the processing to obtain a binary image with barrier edge information. Edge information in each image is identified, and obstacle edge pixel point coordinates are determined. And finally judging the obstacle and finally obtaining the position information of the obstacle.
Further, a plurality of infrared ranging sensors arranged on the installation round table are utilized to collect the distance from the nozzle to the plate to be cut in real time, whether the obstacle exists at the detection position of the second sensor on the plate to be cut is judged in the vertical direction, the motor control system can be utilized to analyze and calculate the position of the obstacle, and the movement path reaching the target position is planned and updated in real time; the method comprises the following steps: coordinate conversion is carried out on the position information of the obstacle, and the position of the obstacle relative to the tail end of the nozzle is determined; judging whether the obstacle is positioned on the existing planned path, if so, re-planning the optimal path to bypass the obstacle, otherwise, continuing to advance according to the original planned path; the motor control system runs according to the planned path, avoids the obstacle and moves to the appointed position.
Further, when the obstacle suddenly appears and the motor control system judges that collision cannot be avoided, the gas generator arranged in the air bag support is used for generating high-pressure gas before collision and impact, the high-pressure gas is filled into the air bag, and the air bag is rapidly expanded and unfolded to protect the cutting head.
The beneficial effects of the invention are as follows:
the invention adopts the installation round table to arrange the obstacle avoidance detector and the anti-collision air bag, can detect the obstacle in the radial direction and the vertical direction and realize obstacle avoidance, and can adopt the anti-collision air bag to protect if the obstacle is judged to be unavoidable when suddenly appear, thereby avoiding the damage of the cutting head; and acquiring image data around the nozzles in real time by utilizing a plurality of cameras arranged on the installation round table, simultaneously acquiring color images for the three cameras, and carrying out graying treatment by an image stitching algorithm to obtain a complete gray image. And carrying out binarization processing on the gray level image obtained by the processing to obtain a binary image with barrier edge information. Edge information in each image is identified, and obstacle edge pixel point coordinates are determined. Finally judging the obstacle, finally obtaining the position information of the obstacle, and transmitting the obtained obstacle information to a motor control system; the obstacle information is transmitted to the lower computer control system through the serial port of the PC, and the motor control system can be utilized to analyze and calculate the position of the obstacle, so that the movement path reaching the target position can be planned and updated in real time.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic view of an automatic obstacle avoidance laser cutting head according to a first view angle;
FIG. 2 is a schematic view of a structure of a second view of the automatic obstacle avoidance laser cutting head of the present invention;
FIG. 3 is a structural cross-sectional view of an impact resilience bag of the present invention;
wherein: 1. installing a round table; 2. an air bag support; 3. an air bag; 4. a bracket; 5. a camera; 6. an infrared ranging sensor; 7. a ceramic ring; 8. a nozzle; 9. a gas generator.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. refer to an orientation or a positional relationship based on that shown in the drawings, and are merely relational terms, which are used for convenience in describing structural relationships of various components or elements of the present invention, and do not denote any one of the components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly attached," "connected," "coupled," and the like are to be construed broadly and refer to either a fixed connection or an integral or removable connection; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present invention can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present invention.
Examples
As shown in fig. 1-3, the present embodiment provides an automatic obstacle avoidance laser cutting head, including: the device comprises a mounting round table 1, a ceramic ring 7, a nozzle 8, an obstacle avoidance detector and an anti-collision air bag, wherein the obstacle avoidance detector is mounted on the side surface of the mounting round table 1; the ceramic ring 7 is arranged on the lower surface of the installation round table 1 through a locking ring; the nozzle 8 is arranged on the ceramic ring 7.
The obstacle avoidance detector comprises a support 4, a camera 5 and an infrared ranging sensor 6, wherein the camera 5 is arranged on the side face of the support 4, the infrared ranging sensor 6 is arranged at the bottom of the support 4, the infrared ranging sensor 6 is used for detecting an obstacle in the vertical direction, and the camera 5 is used for detecting a transverse obstacle; the camera 5 and the infrared ranging sensor 6 are both connected with the motor control system and transmit data into the motor control system.
The anti-collision airbag comprises an airbag support 2 and an airbag 3, the airbag support 2 is connected with the airbag 3 through an inflation tube, the airbag support 2 is arranged on the side face of the installation round table 1, the side wall of the airbag support 2 is provided with installation holes along the circumferential direction of the airbag support at intervals of 90 degrees, and the installation round table 1 is installed in cooperation with the airbag support 2 through the installation holes. The side wall of the air bag support 2 is provided with a strip-shaped groove, an air bag 3 is arranged in the strip-shaped groove, a gas generator 9 is arranged in the air bag support 2, an obstacle avoidance detector detects an obstacle, when the situation that collision cannot be avoided is judged, a gas generating device arranged in the air bag support 2 is used for generating high-pressure gas before collision and impact, the high-pressure gas is filled into the air bag 3, and the air bag 3 is rapidly inflated and unfolded to protect a cutting head. As an embodiment, the gas generator 9 may be ignited by an ignition device, and the gas generator 9 is detonated to generate high-pressure gas. The gas generator 9 includes a housing having a first container including a first bottom surface portion and a second container including a second bottom surface portion, the first container and the second container having a gas generating agent therein, combustion gas generated by combustion of the gas generating agent, the first container and the second container being joined at predetermined positions on respective sides thereof to form the housing; and an igniter mounted to the mounting hole portion, the mounting hole portion communicating an inside of the housing with an outside and formed at a second bottom surface portion of the second container. Image data around the nozzle 8 is acquired in real time by a plurality of cameras 5 mounted on the mount table 1.
And transmitting the acquired image data to a PC. The camera 5 adopts a USB interface, and can directly transmit data through USB, so that the transmission speed is high.
The image is preprocessed, the image preprocessing comprises image histogram equalization, simple image filtering and the like, so that the influence of the image relative to site environment noise is reduced, the image is clearer, and the subsequent processing is facilitated.
The image detection whether there is an obstacle or not, and judging obstacle position information, the steps of which include: color images are acquired simultaneously for the three cameras 5, and then graying processing is carried out through an image stitching algorithm to obtain a complete gray image. And carrying out binarization processing on the gray level image obtained by the processing to obtain a binary image with barrier edge information. Edge information in each image is identified, and obstacle edge pixel point coordinates are determined. And finally judging the obstacle and finally obtaining the position information of the obstacle.
Transmitting the obtained obstacle information to a motor control system; and transmitting the barrier information to a lower computer control system through a serial port of the PC.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An automatic obstacle avoidance laser cutting head, comprising: the device comprises a mounting round table, a ceramic ring, a nozzle, an obstacle avoidance detector and an anti-collision air bag, wherein the anti-collision air bag and the obstacle avoidance detector are mounted on the side surface of the mounting round table; the ceramic ring is arranged on the lower surface of the installation round table through the locking ring; the nozzle is arranged on the ceramic ring;
the obstacle avoidance detector comprises a bracket, a camera and an infrared ranging sensor, wherein the camera is arranged on the side surface of the bracket, the infrared ranging sensor is arranged at the bottom of the bracket, the infrared ranging sensor is used for detecting an obstacle in the vertical direction, and the camera is used for detecting a transverse obstacle;
the anti-collision air bag comprises an air bag support and an air bag, the air bag support is connected with the air bag through an inflation tube, the air bag support is arranged on the side face of the installation round table, a strip-shaped groove is formed in the side wall of the air bag support, the air bag is installed in the strip-shaped groove, and a gas generator is arranged in the air bag support.
2. The automatic obstacle avoidance laser cutting head of claim 1 wherein the side wall of the air bag support is provided with mounting holes at each 90 ° interval along the circumferential direction thereof, and the mounting bosses are mounted in cooperation with the air bag support through the mounting holes.
3. The automatic obstacle avoidance laser cutting head of claim 1 wherein the gas generator comprises a housing having a first container comprising a first bottom surface portion and a second container comprising a second bottom surface portion, the first container and the second container having a gas generating agent therein, combustion gas generated by combustion of the gas generating agent, the first container and the second container being joined at respective side predetermined locations to form the housing; and an igniter mounted to the mounting hole portion, the mounting hole portion communicating an inside of the housing with an outside and formed at a second bottom surface portion of the second container.
4. The automatic obstacle avoidance laser cutting head of claim 1 wherein image data about the nozzle is acquired in real time using a plurality of cameras mounted on a mounting boss; the image detection whether there is an obstacle or not, and judging obstacle position information, the steps of which include: simultaneously acquiring color images from three cameras, and performing graying treatment to obtain a complete gray image through an image stitching algorithm; and carrying out binarization processing on the gray level image obtained by the processing to obtain a binary image with barrier edge information. Edge information in each image is identified, and obstacle edge pixel point coordinates are determined. And finally judging the obstacle and finally obtaining the position information of the obstacle.
5. The automatic obstacle avoidance laser cutting head according to claim 1, wherein the distance from the nozzle to the board to be cut is acquired in real time by using a plurality of infrared ranging sensors arranged on the installation round table, whether an obstacle exists at the detection position of a second sensor on the board to be cut is judged in the vertical direction, and the position of the obstacle can be analyzed and calculated by using a motor control system, so that the movement path reaching the target position can be planned and updated in real time; the method comprises the following steps: coordinate conversion is carried out on the position information of the obstacle, and the position of the obstacle relative to the tail end of the nozzle is determined; judging whether the obstacle is positioned on the existing planned path, if so, re-planning the optimal path to bypass the obstacle, otherwise, continuing to advance according to the original planned path; the motor control system runs according to the planned path, avoids the obstacle and moves to the appointed position.
6. The automatic obstacle avoidance laser cutting head of claim 1 wherein when an obstacle suddenly appears, the motor control system determines that a collision cannot be avoided, a gas generator contained in the air bag support is utilized to generate high pressure gas before the collision and impact, the high pressure gas is filled into the air bag, and the air bag is rapidly inflated and deployed to protect the cutting head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311011913.9A CN116748701A (en) | 2023-08-11 | 2023-08-11 | Automatic obstacle avoidance laser cutting head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311011913.9A CN116748701A (en) | 2023-08-11 | 2023-08-11 | Automatic obstacle avoidance laser cutting head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116748701A true CN116748701A (en) | 2023-09-15 |
Family
ID=87959327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311011913.9A Pending CN116748701A (en) | 2023-08-11 | 2023-08-11 | Automatic obstacle avoidance laser cutting head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116748701A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2658003Y (en) * | 2003-11-19 | 2004-11-24 | 周明武 | Vehicle safety air bag |
| CN101468628A (en) * | 2007-12-27 | 2009-07-01 | 上海林静医疗器械有限公司 | Vehicle anticollision buffering mechanism |
| CN104354859A (en) * | 2014-10-23 | 2015-02-18 | 安徽大学 | Miniature detection aircraft capable of avoiding obstacles |
| CN104960467A (en) * | 2015-05-27 | 2015-10-07 | 苏州合欣美电子科技有限公司 | Anti-collision device based on laser technology |
| CN109702321A (en) * | 2018-12-05 | 2019-05-03 | 上海砺晟光电技术有限公司 | Laser cutting head anti-collision early warning system and method based on structure light |
| CN208853950U (en) * | 2018-09-11 | 2019-05-14 | 东莞市中灿伟兴智能设备有限公司 | A kind of bar code engraving laser engraving machine protective device |
| CN209754299U (en) * | 2019-04-18 | 2019-12-10 | 上海维宏智能技术有限公司 | Laser cutting head for realizing side impact prevention performance and corresponding numerical control system |
| CN111618445A (en) * | 2020-05-15 | 2020-09-04 | 河南美聚企业管理咨询有限公司 | Laser cutting head adjustment and conversion system for laser cutting machine |
| CN213163740U (en) * | 2020-08-03 | 2021-05-11 | 乔继兵 | Anti-collision device of numerical control cutting head with flat special-shaped grooves |
| CN112902958A (en) * | 2019-11-19 | 2021-06-04 | 珠海市一微半导体有限公司 | Mobile robot based on laser visual information obstacle avoidance navigation |
| CN113510702A (en) * | 2021-06-16 | 2021-10-19 | 扬州鹏顺散热器有限公司 | Industrial robot based on laser vision guide |
| CN217122148U (en) * | 2021-11-24 | 2022-08-05 | 龙雕智能装备(山东)有限公司 | Optical fiber laser cutting machine touches alarm device |
| CN116279263A (en) * | 2023-02-20 | 2023-06-23 | 黄锋 | Vehicle safety airbag system and airbag inflation method |
-
2023
- 2023-08-11 CN CN202311011913.9A patent/CN116748701A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2658003Y (en) * | 2003-11-19 | 2004-11-24 | 周明武 | Vehicle safety air bag |
| CN101468628A (en) * | 2007-12-27 | 2009-07-01 | 上海林静医疗器械有限公司 | Vehicle anticollision buffering mechanism |
| CN104354859A (en) * | 2014-10-23 | 2015-02-18 | 安徽大学 | Miniature detection aircraft capable of avoiding obstacles |
| CN104960467A (en) * | 2015-05-27 | 2015-10-07 | 苏州合欣美电子科技有限公司 | Anti-collision device based on laser technology |
| CN208853950U (en) * | 2018-09-11 | 2019-05-14 | 东莞市中灿伟兴智能设备有限公司 | A kind of bar code engraving laser engraving machine protective device |
| CN109702321A (en) * | 2018-12-05 | 2019-05-03 | 上海砺晟光电技术有限公司 | Laser cutting head anti-collision early warning system and method based on structure light |
| CN209754299U (en) * | 2019-04-18 | 2019-12-10 | 上海维宏智能技术有限公司 | Laser cutting head for realizing side impact prevention performance and corresponding numerical control system |
| CN112902958A (en) * | 2019-11-19 | 2021-06-04 | 珠海市一微半导体有限公司 | Mobile robot based on laser visual information obstacle avoidance navigation |
| CN111618445A (en) * | 2020-05-15 | 2020-09-04 | 河南美聚企业管理咨询有限公司 | Laser cutting head adjustment and conversion system for laser cutting machine |
| CN213163740U (en) * | 2020-08-03 | 2021-05-11 | 乔继兵 | Anti-collision device of numerical control cutting head with flat special-shaped grooves |
| CN113510702A (en) * | 2021-06-16 | 2021-10-19 | 扬州鹏顺散热器有限公司 | Industrial robot based on laser vision guide |
| CN217122148U (en) * | 2021-11-24 | 2022-08-05 | 龙雕智能装备(山东)有限公司 | Optical fiber laser cutting machine touches alarm device |
| CN116279263A (en) * | 2023-02-20 | 2023-06-23 | 黄锋 | Vehicle safety airbag system and airbag inflation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102065975B1 (en) | Safety Management System Using a Lidar for Heavy Machine | |
| US8024067B2 (en) | Working station | |
| JP6306544B2 (en) | Machine tool cleaning system | |
| RU2459138C2 (en) | Processing machine control device | |
| US6204756B1 (en) | Diagnostics for vehicle deformation sensor system | |
| US7164118B2 (en) | Method and system for obstacle detection | |
| KR100656212B1 (en) | Airbag system with vehicle occupant sensor on the airbag | |
| US9081046B2 (en) | Proximity detection system with concurrent RF and magnetic fields | |
| CN108778635B (en) | Collision processing method and device, robot and computer-readable storage medium | |
| CN106825913A (en) | Apparatus and method for monitoring the working space of Materialbearbeitung mit Laserlicht | |
| JP2007308110A (en) | Pedestrian protection device | |
| CN115359121B (en) | Laser radar shielding judging and cleaning method and device | |
| CN116748701A (en) | Automatic obstacle avoidance laser cutting head | |
| CN109426265A (en) | From mobile device | |
| CN113022434A (en) | Automatic door opening anti-collision device and method for vehicle | |
| CN109910808A (en) | A kind of control method and control system avoiding false triggering air bag | |
| CN208864218U (en) | A kind of clean robot anticollision device, collision-prevention device | |
| CN109634298A (en) | System and method for the navigation flight device in hangar | |
| CN112881029B (en) | Vehicle chassis detection method and system | |
| CN116189105A (en) | Lane information acquisition device and motion control method in information acquisition process | |
| CN103806912B (en) | Development machine anti-collision control system | |
| CN115338548A (en) | Obstacle avoiding method and system for cutting head of plane cutting machine | |
| KR102544505B1 (en) | Crash preventing system of crane and crash preventing method thereof | |
| CN209182503U (en) | A kind of reverse radar system comprising road surface detecting function | |
| JP2005178526A (en) | Vehicular obstacle detection device |
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 |