CN209291821U - Engineering machinery and its working space dynamic collision avoidance system - Google Patents
Engineering machinery and its working space dynamic collision avoidance system Download PDFInfo
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- CN209291821U CN209291821U CN201821826029.5U CN201821826029U CN209291821U CN 209291821 U CN209291821 U CN 209291821U CN 201821826029 U CN201821826029 U CN 201821826029U CN 209291821 U CN209291821 U CN 209291821U
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Abstract
The utility model discloses a kind of engineering machinery and its working space dynamic collision avoidance system.The system environments sensing device, cantilever crane movement sensing device, working space dynamic collision prevention device and executive device, wherein, environmental perception device is arranged on engineering machinery cantilever crane, with the obstacle information around scanning probe engineering machinery cantilever crane, and the obstacle information is sent to working space dynamic collision prevention device；Cantilever crane movement sensing device is arranged on engineering machinery cantilever crane, to obtain the cantilever crane motion information of engineering machinery, and the cantilever crane motion information is sent to working space dynamic collision prevention device；In the case that barrier coordinate of the working space dynamic collision prevention device around engineering machinery cantilever crane is located at predetermined prewarning area around cantilever crane, instruction executive device sends out collision warning information.The utility model in engineering machinery by increasing environmental perception device, and can may be collided dangerous state with dynamic scan ambient enviroment, automatic identification.
Description
Technical field
The utility model relates to engineering machinery field, in particular to a kind of engineering machinery and its working space dynamic anticollision
System.
Background technique
Crane is the most important engineering machinery for carrying out lifting operation, but its operating environment is complicated and changeable, accident rate
It is higher.The main reason for causing the accident is collision caused by lifting overload and the limitation of the operation visual field.
Summary of the invention
It is found by the applicant that: the relevant technologies collision during lifting operation in order to prevent is advised using the path before lifting
The solution drawn.
Path planning before lifting is to establish its kinematics and kinetic simulation using crane as multivariant manipulator
Type can configure in space at it and calculate its anticollision path by optimizing anti-collision algorithm.But due to searching algorithm usually compared with
It is more demanding to computer resource for complexity, it is difficult to be realized on Vehicle Controller.In addition, path planning is used before lifting
Barrier model be static models, but construction site is dynamic environment, therefore it calculates anticollision path and actual conditions not
Symbol.
In view of the above technical problem, the utility model provides a kind of engineering machinery and its working space dynamic anticollision system
System, ensure that safety of crane during lifting operation, alleviates the working strength of operator.
One aspect according to the present utility model provides a kind of working space dynamic collision avoidance system, including environment sensing
Device, cantilever crane movement sensing device, working space dynamic collision prevention device and executive device, in which:
Environmental perception device is connect with working space dynamic collision prevention device, and cantilever crane movement sensing device and working space are dynamic
The connection of state collision prevention device, working space dynamic collision prevention device are connect with executive device；
Environmental perception device is arranged on engineering machinery cantilever crane, with the barrier letter around scanning probe engineering machinery cantilever crane
Breath, and the obstacle information is sent to working space dynamic collision prevention device；Cantilever crane movement sensing device is arranged in engineering
On mechanical cantilever crane, to obtain the cantilever crane motion information of engineering machinery, and the cantilever crane motion information is sent to working space and is moved
State collision prevention device；Barrier coordinate of the working space dynamic collision prevention device around engineering machinery cantilever crane is located at around cantilever crane
In the case where predetermined prewarning area, instruction executive device sends out collision warning information.
In some embodiments of the utility model, the environmental perception device includes level detection equipment and vertical sounding
At least one of in equipment, in which:
The level detection equipment is arranged in cantilever crane bottom surface, with the barrier in scanning probe cantilever crane rotary motion direction；
The vertical sounding equipment is arranged in cantilever crane side, with the barrier of the scanning probe luffing range of cantilever support direction of motion.
In some embodiments of the utility model, the level detection equipment and the vertical sounding equipment are millimeter
Wave radar.
In some embodiments of the utility model, the investigative range of the level detection equipment is to be axially formed along cantilever crane
The fan-shaped region parallel with cantilever crane bottom surface；
The investigative range of the vertical sounding equipment is the fan-shaped region parallel with cantilever crane side being axially formed along cantilever crane.
In some embodiments of the utility model, the level detection equipment and the vertical sounding equipment are installed in
Engineering machinery basic arm is close to the position of amplitude oil cylinder hinge joint.
In some embodiments of the utility model, the cantilever crane movement sensing device includes angle of revolution sensor, becomes
At least one of in width angular transducer, collapsing length sensor and suspension hook linear transducer；
The cantilever crane motion information includes arm support rotation angle, luffing range of cantilever support angle, boom frame telescopic length and lift hook position
At least one of in information.
In some embodiments of the utility model, warning device is connect with the working space dynamic collision prevention device,
With according to the instruction of working space dynamic collision prevention device, the case where the barrier coordinate is located at different predetermined prewarning areas
Under, send out corresponding collision warning information；
Braking equipment is connect with the working space dynamic collision prevention device, according to working space dynamic collision prevention device
Instruction, in the case where the barrier coordinate is located at emergency braking area, to crane arm support carry out emergency braking.
In some embodiments of the utility model, the warning device includes display, early warning buzzer and alarm lamp
At least one of in.
In some embodiments of the utility model, the working space dynamic collision prevention device is car-mounted computer.
Another aspect according to the present utility model provides a kind of engineering machinery, including as described in above-mentioned any embodiment
Working space dynamic collision avoidance system.
The utility model can round-the-clock, peripheral obstacle situation in work machine cantilever crane motion process in real time,
Perception lifting Spatial distributions information, carrying out anticollision early warning can control, to ensure that engineering machinery during lifting operation
Safety, mitigate the working strength of operator.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of some embodiments of the utility model working space dynamic collision avoidance system.
Fig. 2 is the schematic diagram of other embodiments of the utility model working space dynamic collision avoidance system.
Fig. 3 is the scheme of installation of the other embodiment of the utility model working space dynamic collision avoidance system.
Fig. 4 is the schematic diagram of horizontal precautionary areas in some embodiments of the utility model.
Fig. 5 is the schematic diagram of vertical precautionary areas in some embodiments of the utility model.
Fig. 6 is the schematic diagram that vertical direction detection range is determined in some embodiments of the utility model.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to this is practical
Novel and its application or any restrictions used.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, is fallen within the protection scope of the utility model.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
Up to the unlimited the scope of the utility model processed of formula and numerical value.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
It is found by the applicant that: in some embodiments of the relevant technologies, the collision between crane parts is avoided by protective device,
The interaction of boom and working space is not accounted for.
In other embodiments of the relevant technologies, lifting operation space only considers static models, does not account for dynamic space
Model will cause failing to judge for collision status.
In other embodiments of the relevant technologies, working space infomation detection mode does not have round-the-clock property, by environment, day
The influences such as gas, dust are very big.
In other embodiments of the relevant technologies, sensor, detection collision are installed by the specific position in working space
It may.These embodiments are not suitable for the construction site of dynamic change.
To solve at least one of above technical problem, the utility model proposes a kind of working space dynamic anticollision systems
System, is further described combined with specific embodiments below.
Fig. 1 is the schematic diagram of some embodiments of the utility model working space dynamic collision avoidance system.
Fig. 2 is the schematic diagram of other embodiments of the utility model working space dynamic collision avoidance system.Such as Fig. 1 and Fig. 2
Shown, the working space dynamic collision avoidance system may include environmental perception device 100, cantilever crane movement sensing device 200, make
Industry Spatial distributions collision prevention device 300 and executive device 400, in which:
Environmental perception device 100 is connect with working space dynamic collision prevention device 300, cantilever crane movement sensing device 200 with
Working space dynamic collision prevention device 300 connects, and working space dynamic collision prevention device 300 is connect with executive device 400.
Environmental perception device 100 is arranged on engineering machinery cantilever crane, for obtaining the barrier around engineering machinery cantilever crane
Information, and the obstacle information is sent to working space dynamic collision prevention device 300.
In some embodiments of the utility model, the engineering machinery can be crane.
In some embodiments of the utility model, the environmental perception device 100 may include level detection equipment 110
With at least one in vertical sounding equipment 120, in which:
Level detection equipment 110, the barrier for scanning probe cantilever crane rotary motion direction.
Vertical sounding equipment 120, the barrier for the scanning probe luffing range of cantilever support direction of motion.
In some embodiments of the utility model, the level detection equipment 110 and vertical sounding equipment 120 can be with
It is embodied as millimetre-wave radar.The level detection equipment 110 can be implemented as horizontal sweep millimetre-wave radar, the vertical sounding
Equipment 120 can be implemented as vertical scanning millimetre-wave radar.
In some embodiments of the utility model, the level detection equipment 110 and vertical sounding equipment 120 can also be with
Be embodied as electromagnetic surveying equipment, microwave radar sensor, laser sensor, in ultrasonic sensor at least one of.
Cantilever crane movement sensing device 200 for obtaining the cantilever crane motion information of engineering machinery, and the cantilever crane is moved and is believed
Breath is sent to working space dynamic collision prevention device 300.
In some embodiments of the utility model, the cantilever crane motion information may include arm support rotation angle, cantilever crane
At least one of in change angle, boom frame telescopic length and lift hook position information.
In some embodiments of the utility model, as shown in Fig. 2, the cantilever crane movement sensing device 200 may include
In angle of revolution sensor 210, change angle sensor 220, collapsing length sensor 230 and suspension hook linear transducer 240
At least one of.
Working space dynamic collision prevention device 300, for receiving obstacle information and work around engineering machinery cantilever crane
The cantilever crane motion information of journey machinery；Obstacle article coordinate is determined according to the obstacle information and the cantilever crane motion information；Judgement
Whether the obstacle article coordinate is located at predetermined prewarning area；In the case where the barrier coordinate is located at predetermined prewarning area,
Instruction executive device 400 sends out collision warning information.
In some embodiments of the utility model, the working space dynamic collision prevention device can be vehicle computing
Machine.
In some embodiments of the utility model, control equipment 200 also can be implemented as Vehicle Controller, car-mounted display
Device, vehicle-mounted power limit device or other electronic components for having data and calculating analytic function.
In some embodiments of the utility model, working space dynamic collision prevention device 300 be can be also used for around arm
Predetermined prewarning area is arranged in frame, wherein the predetermined prewarning area may include apart from cantilever crane emergency braking area from the near to the remote,
At least one of danger early warning area and safe early warning area.
Executive device 400 sends out collision warning for the instruction according to working space dynamic collision prevention device 300
Information.
The utility model above-described embodiment can realize working space dynamic collision prevention device 300 and ring using CAN bus
Communication between border sensing device 100, cantilever crane movement sensing device 200 and executive device 400.
The utility model above-described embodiment can also be using other nets for having data-transformation facility such as Ethernet, internets
Network form realizes the communication connection between working space dynamic collision prevention device 300 and executive device 400.
In some embodiments of the utility model, as shown in Fig. 2, the executive device 400 may include warning device
410 and braking equipment 420 at least one of, in which:
Warning device 410, for the instruction according to working space dynamic collision prevention device 300, in the obstacle article coordinate
In the case where different predetermined prewarning areas, corresponding collision warning information is sent out.
In some embodiments of the utility model, the warning device 410 can be implemented as acoustic-optic alarm, buzzing
At least one of in the warning devices such as device, alarm lamp.
In some embodiments of the utility model, warning device 410 may include the visualization of collision information warning information
Display module and anti-collision warning information sound and light alarm module, in which:
Collision information warning information visualization display module, for the people by collision information by compositions such as animation, figures
Machine interactive interface real-time display anti-collision warning information, can make operator intuitively know that collision accident may occur, to adopt
Take corresponding measure.
Anti-collision warning information sound and light alarm module, for issuing the alarm of different frequency according to the probability of happening of collision accident
Sound and light of warning to remind operator's collision accident that may occur make operator not omit warning information.
In some embodiments of the utility model, the anti-collision warning information sound and light alarm module can be implemented as being used for
The Vehicular display device of audible alarm and visual cues.
In some embodiments of the utility model, the acoustic-optic alarm also can be implemented as tablet computer, with vehicle
Load other elements for having human-computer interaction function such as laptop.
In some embodiments of the utility model, the warning device 410 can be implemented as human-computer interaction device.It is described
Human-computer interaction device is the color screen displays with touch function, and the human-computer interaction function which plays is main are as follows: (1) sets
Set or cancel hoisting operation space anti-collision.(2) three-dimensional real-time display barrier away from crane telescopic arm head or by
The distance of hanging object body.(3) when detection range is less than safe distance, pop-up dialog box prompt operator pays attention to current state, together
Shi Jinhang sound-light alarm, to guarantee hoisting operation safety.
Braking equipment 420, for the instruction according to working space dynamic collision prevention device 300, in the obstacle article coordinate
In the case where emergency braking area, emergency braking is carried out to crane arm support.The braking of the utility model above-described embodiment is set
It is ready for use on and emergency braking is carried out to crane arm support when collision accident will occur, to avoid colliding.
In some embodiments of the utility model, braking equipment 420 can be implemented as the braking equipments such as pump, valve, motor.
The braking equipment 420 and warning device 410 of the utility model above-described embodiment receive control by CAN bus
The work such as corresponding actions, including transfer tube, valve, motor are carried out after instruction or stopping, driving acoustic-optic alarm open or close
Deng ensure that hoisting operation safety to prevent the generation of lifting risk of collision.
It is especially a kind of based on milli based on the utility model working space dynamic collision avoidance system provided by the above embodiment
The mobilecrane lifting operation Spatial distributions collision avoidance system of metre wave radar technological development, the utility model above-described embodiment
Interbehavior based on real-time dynamic space information and prediction boom and working space develops avoidance algorithm, avoids collision status
Fail to judge；The utility model above-described embodiment uses millimetre-wave radar, is adapted to various weathers, in rain and snow, greasy weather, dirt
Native environment can detect dynamic space information；The collision prevention device of the utility model above-described embodiment is mounted on crane, can
To work with crane to any construction site.
Fig. 3 is the scheme of installation of the other embodiment of the utility model working space dynamic collision avoidance system.Such as Fig. 3 institute
Show, the level detection equipment 110 of Fig. 2 embodiment can be set in cantilever crane bottom surface；The vertical sounding equipment 120 of Fig. 2 embodiment can
To be arranged in cantilever crane side.
In some embodiments of the utility model, level detection equipment 110 and vertical sounding equipment 120 be can be implemented as
Millimetre-wave radar.
The utility model above-described embodiment uses 2 detecting devices, and is laid out according to crane structure feature and is stretched in lifting
Contracting arm side and basal surface position.The detecting devices placement scheme of the utility model above-described embodiment makes whole objects in space exploration
The visualization of body can be accurately positioned any Obstacle Position so as to prevent vision dead zone, to extreme position and
The barrier of shape carries out planning modeling.
The utility model above-described embodiment provides the space anticollision early warning in a kind of crane hanging component operation process
System.Wherein, which includes the mutual collision between crane and operating environment, hanging object and operating environment.
The utility model above-described embodiment is realized by cognition and three-dimensional Reconstruction to ambient enviroment for precarious position
Automatic identification and early warning, wherein three-dimensional Reconstruction refers to: the number for being suitble to computer representation and processing is established to three-dimension object
Learn model.Three-dimensional Reconstruction refers to establish the barrier in hoisting operation space and close in the utility model above-described embodiment
The suitable 3 d structure model that can be used for risk prediction.
The utility model above-described embodiment using crane system as carrier, open by 2 detecting devices installation sites of making rational planning for
Hair can accurately predict the algorithm of Obstacle Position and appearance information.According to space aufbauprinciple it is found that known two detections sense
Device coordinate position, and relative distance of the barrier away from each sensor can be asked, then the coordinate position of barrier is unique.
Fig. 3 is the scheme of installation of some embodiments of the utility model working space dynamic collision avoidance system.Such as Fig. 3 institute
Show, the millimeter of millimetre-wave radar, vertical scanning that the hardware of the working space dynamic collision avoidance system is scanned by horizontal direction
The equipment groups such as wave radar, cantilever crane movement sensing device, car-mounted computer, display, early warning buzzer, alarm lamp and relevant cables
At.Wherein, two millimetre-wave radars for realizing environmental perception device 100 in Fig. 1 or Fig. 2 embodiment function；Vehicle computing
Machine for realizing working space dynamic collision prevention device 300 in Fig. 1 or Fig. 2 embodiment function；Display, early warning buzzer and
Alarm lamp for realizing executive device 400 in Fig. 1 or Fig. 2 embodiment function.
As shown in figure 3, two millimetre-wave radars are mounted on crane basic arm close to amplitude oil cylinder hinge joint position, acquisition
Obstacle information around cantilever crane.Car-mounted computer, display, early warning buzzer and alarm lamp are mounted in operating room.
Car-mounted computer is connect by CAN bus with millimetre-wave radar and cantilever crane movement sensing device, for reading millimeter
Wave radar information, cantilever crane motion information, carry out the filtering of information with merge, run anticollision warning algorithm, it is pre- according to anticollision
Alert calculated result exports corresponding signal and instruction.
Early warning buzzer is connected by the output port of cable and car-mounted computer, according to different zone of alarm (such as Fig. 4 and figure
The different zone of alarm of 5 embodiments) issue different frequency sound, cantilever crane is closer at a distance from barrier, the frequency of alarm sound
It is faster.
The connection of the output port of alarm lamp and car-mounted computer, the light of different colours is issued according to zone of alarm.In this reality
With in novel some embodiments, for the different zone of alarm of such as Fig. 4 and Fig. 5 embodiment, the color of precautionary areas light is green,
The color of danger early warning area light is yellow, and the color of emergency braking area light is red.
Real-time control of the utility model above-described embodiment during crane hanging component is calculated by perception site environment
Obstacle information of the crane in lifting path, real-time judge precarious position, and and alarm or emergency braking.
The utility model above-described embodiment is based on millimetre-wave radar technological development mobilecrane lifting operation space
Dynamic collision avoidance system this system obviates the interaction for not accounting for cantilever crane and space of relevant technology systems, does not account for hanging
The defects of filling Spatial distributions information, being unable to all weather operations and need to install additional site environment sensor, with crane collection
At together, can it is round-the-clock, detect peripheral obstacle situation in crane arm support motion process, perception lifting space in real time
Multidate information, carrying out anticollision early warning can control, to ensure that safety of crane during lifting operation, alleviate behaviour
Make the working strength of personnel.
Fig. 2 embodiment gives the schematic diagram of some embodiments of the utility model working space dynamic collision prevention device.
As shown in Fig. 2, the working space dynamic collision prevention device 300 may include information Fusion Module 310 and anticollision control mould
Block 320, in which:
Information Fusion Module 310, for receiving the arm of obstacle information and engineering machinery around engineering machinery cantilever crane
Frame motion information；Obstacle article coordinate is determined according to the obstacle information and the cantilever crane motion information.
In some embodiments of the utility model, information Fusion Module 310 can be used for receiving environmental perception device 100
The obstacle information of acquisition, the obstacle information include obstacle information and the luffing range of cantilever support movement in cantilever crane rotary motion direction
At least one of in the obstacle information in direction.
In some embodiments of the utility model, information Fusion Module 310 can be used for receiving arm motion perception dress
The cantilever crane motion information of 200 acquisitions is set, wherein the cantilever crane motion information includes arm support rotation angle, luffing range of cantilever support angle, arm
At least one of in frame collapsing length and lift hook position information.
In some embodiments of the utility model, information Fusion Module 310 can be used for after activation system, read milli
The cantilever crane motion information that the information and cantilever crane movement sensing device 200 of metre wave radar obtain, wherein the cantilever crane motion information
Including at least one in arm support rotation angle, luffing range of cantilever support angle, boom frame telescopic length and lift hook position information.
In some embodiments of the utility model, information Fusion Module 310 can be used for radar information according to signal
Attribute be filtered, reject deceptive information, obtain real obstruction information, then by the movement of the coordinate of barrier and cantilever crane
Information fusion, conversion to current arm support coordinate system.
In some embodiments of the utility model, information Fusion Module 310 can be used for according to signal attribute to described
Obstacle information is filtered, and rejects deceptive information, obtains real obstruction information；By obstacle information and cantilever crane motion information
It is merged, obstacle article coordinate is converted to the obstacle article coordinate of current arm support coordinate system.
Anticollision control module 320, for judging whether the obstacle article coordinate is located at predetermined prewarning area；And described
In the case that barrier coordinate is located at predetermined prewarning area, instruction executive device 400 sends out collision warning information.
In some embodiments of the utility model, anticollision control module 320 can be used for being believed according to obstacle article coordinate
Breath and the alarm region information of setting carry out a possibility that judgement collision occurs, and then carry out anticollision according to judging result and determine
Plan, and export preventing collision protection control instruction.
It is especially a kind of based on milli based on the utility model working space dynamic collision prevention device provided by the above embodiment
The mobilecrane lifting operation Spatial distributions collision prevention device of metre wave radar technological development, the utility model above-described embodiment
Interbehavior based on real-time dynamic space information and prediction boom and working space develops avoidance algorithm, avoids collision status
Fail to judge；The utility model above-described embodiment uses millimetre-wave radar, is adapted to various weathers, in rain and snow, greasy weather, dirt
Native environment can detect dynamic space information；The collision prevention device of the utility model above-described embodiment is mounted on crane, can
To work with crane to any construction site.
In some embodiments of the utility model, anticollision control module 320 can be also used for presetting predetermined pre-
Police region domain.
In some embodiments of the utility model, it is predetermined that anticollision control module 320 is used around cantilever crane setting
Prewarning area, wherein the predetermined prewarning area includes at least one in emergency braking area, danger early warning area and safe early warning area
It is a.
Fig. 4 is the schematic diagram of horizontal precautionary areas in some embodiments of the utility model.Fig. 5 is some implementations of the utility model
The schematic diagram of vertical precautionary areas in example.
In some embodiments of the utility model, as shown in Figure 4 and Figure 5, anticollision control module 320 can be used for
Cantilever crane horizontally and vertically, surrounds cantilever crane, emergency braking area, danger early warning area and safety is respectively set from the near to the remote
Precautionary areas.
Wherein, safe early warning area refers to being closer for cantilever crane and barrier, but arm will not also occur according to present speed
Frame and barrier collide, and operator can continue to operate, but the moment is needed to pay attention to.Danger early warning area refers to cantilever crane and barrier
Distance very close to, will collide according to present speed, but also need a period of time, during this period of time, operator takes
Correctly operation then can avoid collision.Emergency braking area refers to that cantilever crane is very close at a distance from barrier, according to current speed
Degree can collide immediately, and operator does not have time enough reaction, so controller issues emergent stopping instruction automatically.
In some embodiments of the utility model, anticollision control module 320 can be also used for being arranged such as Fig. 4 and Fig. 5
Each zone of alarm parameter, wherein the parameter includes minimum distance and maximum distance of each alarm apart from cantilever crane, with
And the parameters such as width of each zone of alarm.
In some embodiments of the utility model, anticollision control module 320 can be also used for sitting in the barrier
In the case where predetermined prewarning area, instruction executive device 400 sends out collision warning information or executes to be referred to mark accordingly
It enables.
In some embodiments of the utility model, anticollision control module 320 can be also used for sitting in the barrier
For mark in the case where emergency braking area, instruction executive device 400 carries out emergency braking to crane arm support.
Fig. 6 is the schematic diagram that vertical direction detection range is determined in some embodiments of the utility model.In the utility model
Some embodiments in, anticollision control module 320 can be also used for the terrain clearance and anti-collision when being in horizontal according to cantilever crane
Hit system farthest detecting distance determine vertical sounding equipment 120 vertical sounding equipment 120 angle detection range.
It is found by the applicant that: when radar is irradiated ground, due to multipath reflection effect, many clutters, shadow can be generated
Ring the calculating of collision avoidance system.
Influence of the utility model above-described embodiment in order to avoid multipath reflection, the angle needs of vertical direction detection range
It is limited, method of determination is as shown in Fig. 6.H is terrain clearance when cantilever crane is in horizontal in Fig. 6, and L is collision avoidance system
Farthest detecting distance, α are the half of the angular range of vertical millimetre-wave radar detection, can be acquired by formula (1).
A=arctan (h/L) (1)
In some embodiments of the utility model, anticollision control module 320 can be also used for setting vertical sounding and set
Standby 120 working range are as follows: the fan-shaped region parallel with crane arm side is axially formed along lifting telescopic arm；Level detection is set
The working range of equipment 110 are as follows: the fan-shaped region parallel with crane arm bottom surface is axially formed along lifting telescopic arm.
The utility model above-described embodiment is based on millimetre-wave radar technological development mobilecrane lifting operation space
Dynamic collision avoidance system, this system overcomes the relevant technologies not to account for the interaction of cantilever crane and space, does not account for lifting space
Multidate information, the defects of being unable to all weather operations and needing to install additional site environment sensor, are integrated in one with crane
Rise, can it is round-the-clock, in real time detect crane arm support motion process in peripheral obstacle situation, perception lifting Spatial distributions letter
Breath, carrying out anticollision early warning can control, to ensure that safety of crane during lifting operation, alleviate operator
Working strength.
Another aspect according to the present utility model, provides a kind of engineering machinery, including as above-mentioned any embodiment (such as is schemed
2) the working space dynamic collision prevention device described in, or including as described in above-mentioned any embodiment (such as Fig. 1 or Fig. 2 embodiment)
Working space dynamic collision avoidance system.
In some embodiments of the utility model, the engineering machinery can be crane.The utility model operation is empty
Between dynamic collision avoidance system can have hydraulic system and electric-control system.
The first, hydraulic system.
Motor, amplitude oil cylinder, telescopic oil cylinder and rotary motor of hydraulic system etc. can be used as executive device, control lifting
Machine corresponding mechanism carries out corresponding actions.
Hydraulic system can also include:
The crane hoisting mechanism that can be driven by motor, risen in vertical direction/fall weight.
The variable amplitude mechanism for crane that can be driven by amplitude oil cylinder, for changing suspended object away from vehicle body centre distance.
The crane telescopic mechanism that can be driven by telescopic oil cylinder, is used for extension/contraction crane arm.
The crane rotation mechanism that can be driven by rotary motor, for changing lifting work angle in horizontal plane.
The second, electric-control system.
The electric-control system has CAN bus network, can provide information transfer function for each electrical part.
The electric-control system has Vehicular display device, has human-computer interaction function, can carry out danger warning and real time data is aobvious
Show.
The electric-control system has Vehicle Controller, is responsible for data and calculates analysis and the publication of control command.
The electric-control system configures two millimetre-wave radars, for carrying out spatial obstacle object model buildings.
Based on the utility model engineering machinery provided by the above embodiment, not accounting for for existing system and technology is overcome
The interaction in cantilever crane and space does not account for lifting Spatial distributions information, is unable to all weather operations and needs to install additional scene
The defects of environmental sensor, can it is round-the-clock, in real time detect crane arm support motion process in peripheral obstacle situation, perception
Spatial distributions information is lifted, it is controllable to carry out anticollision early warning, thus ensure that safety of crane during lifting operation,
Alleviate the working strength of operator.
The utility model above-described embodiment in the engineering machinery such as crane by increasing the environment of such as millimetre-wave radar
Sensing device, can may be collided dangerous state with dynamic scan ambient enviroment, automatic identification, to effectively reduce
The generation of weight risk of collision, improves crane service life.
Working space dynamic collision prevention device described above can be implemented as executing function described herein
The general processor of energy, Programmable logical controller equipment (PLC), digital signal processor (DSP), specific integrated circuit
(ASIC), field programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic device
Part, discrete hardware components or it is any appropriately combined.
So far, the utility model is described in detail.In order to avoid covering the design of the utility model, this is not described
Some details well known to field.Those skilled in the art as described above, completely it can be appreciated how implementing public here
The technical solution opened.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Description of the utility model is given for the purpose of illustration and description, and is not that exhaustively or incite somebody to action this
Utility model is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.
Embodiment was chosen and described in order to better illustrate the principle and practical application of the utility model, and makes the common skill of this field
Art personnel it will be appreciated that the utility model to designing various embodiments suitable for specific applications with various modifications.
Claims (10)
1. a kind of working space dynamic collision avoidance system, which is characterized in that filled including environmental perception device, cantilever crane motion perception
It sets, working space dynamic collision prevention device and executive device, in which:
Environmental perception device is connect with working space dynamic collision prevention device, and cantilever crane movement sensing device and working space dynamic are anti-
Crash device connection, working space dynamic collision prevention device are connect with executive device；
Environmental perception device is arranged on engineering machinery cantilever crane, with the obstacle information around scanning probe engineering machinery cantilever crane,
And the obstacle information is sent to working space dynamic collision prevention device；Cantilever crane movement sensing device is arranged in engineering machinery
On cantilever crane, to obtain the cantilever crane motion information of engineering machinery, and the cantilever crane motion information is sent to working space dynamic and is prevented
Crash device；Barrier coordinate of the working space dynamic collision prevention device around engineering machinery cantilever crane, which is located at around cantilever crane, to be made a reservation for
In the case where prewarning area, instruction executive device sends out collision warning information.
2. working space dynamic collision avoidance system according to claim 1, which is characterized in that the environmental perception device packet
Include at least one in level detection equipment and vertical sounding equipment, in which:
The level detection equipment is arranged in cantilever crane bottom surface, with the barrier in scanning probe cantilever crane rotary motion direction；
The vertical sounding equipment is arranged in cantilever crane side, with the barrier of the scanning probe luffing range of cantilever support direction of motion.
3. working space dynamic collision avoidance system according to claim 2, which is characterized in that
The level detection equipment and the vertical sounding equipment are millimetre-wave radar.
4. working space dynamic collision avoidance system according to claim 2, which is characterized in that
The investigative range of the level detection equipment is the fan-shaped region parallel with cantilever crane bottom surface being axially formed along cantilever crane；
The investigative range of the vertical sounding equipment is the fan-shaped region parallel with cantilever crane side being axially formed along cantilever crane.
5. the working space dynamic collision avoidance system according to any one of claim 2-4, which is characterized in that
It is hinged close to amplitude oil cylinder that the level detection equipment and the vertical sounding equipment are installed in engineering machinery basic arm
The position of point.
6. working space dynamic collision avoidance system described in any one of -4 according to claim 1, which is characterized in that
The cantilever crane movement sensing device includes angle of revolution sensor, change angle sensor, collapsing length sensor and hangs
At least one of in hook linear transducer；
The cantilever crane motion information includes arm support rotation angle, luffing range of cantilever support angle, boom frame telescopic length and lift hook position information
At least one of in.
7. working space dynamic collision avoidance system described in any one of -4 according to claim 1, which is characterized in that the execution
Device includes at least one in warning device and braking equipment, in which:
Warning device is connect with the working space dynamic collision prevention device, according to the finger of working space dynamic collision prevention device
Show, in the case where the barrier coordinate is located at different predetermined prewarning areas, sends out corresponding collision warning information；
Braking equipment is connect with the working space dynamic collision prevention device, according to the finger of working space dynamic collision prevention device
Show, in the case where the barrier coordinate is located at emergency braking area, emergency braking is carried out to crane arm support.
8. working space dynamic collision avoidance system according to claim 7, which is characterized in that the warning device includes aobvious
Show at least one in device, early warning buzzer and alarm lamp.
9. working space dynamic collision avoidance system described in any one of -4 according to claim 1, which is characterized in that the operation
Spatial distributions collision prevention device is car-mounted computer.
10. a kind of engineering machinery, which is characterized in that anti-including working space dynamic as claimed in any one of claims 1-9 wherein
Collision system.
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| CN201821826029.5U CN209291821U (en) | 2018-11-07 | 2018-11-07 | Engineering machinery and its working space dynamic collision avoidance system |
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| CN201821826029.5U CN209291821U (en) | 2018-11-07 | 2018-11-07 | Engineering machinery and its working space dynamic collision avoidance system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109095356A (en) * | 2018-11-07 | 2018-12-28 | 徐工集团工程机械有限公司 | Engineering machinery and its working space dynamic collision-proof method, device and system |
| CN110507417A (en) * | 2019-08-30 | 2019-11-29 | 上海声勤信息科技有限公司 | A kind of operating room medical mechanical arm anti-collision system |
| CN112922639A (en) * | 2021-02-04 | 2021-06-08 | 中联重科股份有限公司 | Protection method and protection device for wet spraying machine, controller and wet spraying machine |
| CN113247803A (en) * | 2021-06-11 | 2021-08-13 | 中国能源建设集团湖南火电建设有限公司 | Large and medium-sized machine operation state monitoring system |
| CN114215362A (en) * | 2021-12-17 | 2022-03-22 | 徐州徐工施维英机械有限公司 | Automatic obstacle avoidance system and method for arm support and pump truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109095356A (en) * | 2018-11-07 | 2018-12-28 | 徐工集团工程机械有限公司 | Engineering machinery and its working space dynamic collision-proof method, device and system |
| CN109095356B (en) * | 2018-11-07 | 2024-03-01 | 江苏徐工国重实验室科技有限公司 | Engineering machinery and operation space dynamic anti-collision method, device and system thereof |
| US11975951B2 (en) | 2018-11-07 | 2024-05-07 | XCMG Construction Machinery Co., Ltd. | Engineering machinery and dynamic anti-collision method, device, and system for operation space of the engineering machinery |
| CN110507417A (en) * | 2019-08-30 | 2019-11-29 | 上海声勤信息科技有限公司 | A kind of operating room medical mechanical arm anti-collision system |
| CN112922639A (en) * | 2021-02-04 | 2021-06-08 | 中联重科股份有限公司 | Protection method and protection device for wet spraying machine, controller and wet spraying machine |
| CN112922639B (en) * | 2021-02-04 | 2022-04-01 | 中联重科股份有限公司 | Protection method and protection device for wet spraying machine, controller and wet spraying machine |
| CN113247803A (en) * | 2021-06-11 | 2021-08-13 | 中国能源建设集团湖南火电建设有限公司 | Large and medium-sized machine operation state monitoring system |
| CN114215362A (en) * | 2021-12-17 | 2022-03-22 | 徐州徐工施维英机械有限公司 | Automatic obstacle avoidance system and method for arm support and pump truck |
| CN114215362B (en) * | 2021-12-17 | 2023-04-25 | 徐州徐工施维英机械有限公司 | Automatic arm support obstacle avoidance system, obstacle avoidance method and pump truck |
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