CN219475833U - Anti-collision detection system of multi-joint arm support - Google Patents
Anti-collision detection system of multi-joint arm support Download PDFInfo
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- CN219475833U CN219475833U CN202223358672.9U CN202223358672U CN219475833U CN 219475833 U CN219475833 U CN 219475833U CN 202223358672 U CN202223358672 U CN 202223358672U CN 219475833 U CN219475833 U CN 219475833U
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Abstract
The utility model discloses an anti-collision detection system of a multi-joint arm support, which comprises a plurality of laser radars and a controller. The plurality of laser radars are arranged on the multi-joint arm support, wherein at least two laser radars in the plurality of laser radars are connected to different arm sections of the multi-joint arm support. The controller is electrically connected with the plurality of laser radars, and the controller is used for carrying out anti-collision detection according to point clouds acquired by the plurality of laser radars. The anti-collision detection system adopted by the utility model effectively improves the anti-collision detection precision of the arm support.
Description
Technical Field
The utility model relates to the field of automatic control, in particular to an anti-collision detection system of a multi-joint arm support.
Background
The multi-joint arm support engineering equipment such as a pump truck, an automobile crane and the like is widely applied to the field of building construction, wherein the pump truck is mainly used for pouring concrete, the crane is used for carrying materials, and no matter which equipment is used, the current operation is mainly finished by the cooperative operation of a plurality of related personnel. However, the arm support is long, the arm support is large in gesture, most of the arm support works aloft, the sight of people is limited, particularly in a complex construction site environment, a large number of other dynamic barriers exist around the arm support, a driver can hardly observe the situation around the whole arm support, collision risks exist, and safety accidents are caused. At present, in the construction process of engineering machinery equipment such as pump trucks, automobile cranes and the like, judgment on the condition that obstacles exist around an arm support mainly depends on manual naked eye observation, and the observation range of people is very limited and vision blind areas exist, so that safety risks exist.
Disclosure of Invention
In view of the above, the present utility model is directed to an anti-collision detection system for a multi-joint arm support, which solves the problem that the anti-collision detection technology in the prior art is only directed to stationary objects and cannot actively detect dynamic obstacles.
In order to achieve the above purpose, the technical scheme of the utility model is realized as follows:
in a first aspect, the present utility model provides an anti-collision detection system for a multi-joint arm support, the anti-collision detection system comprising:
the plurality of laser radars are arranged on the multi-joint arm support, wherein at least two laser radars in the plurality of laser radars are connected to different arm sections of the multi-joint arm support;
the controller is electrically connected with the plurality of laser radars and is used for carrying out anti-collision detection according to the point clouds acquired by the plurality of laser radars.
In one embodiment, the lidar is disposed obliquely downward relative to the length of the attached arm segment.
In an embodiment, the laser radar is located within the detection range of the previous laser radar along the direction from the starting end to the end of the multi-joint arm support.
In an embodiment, in a case that the multi-joint arm support is a pump truck arm support, the plurality of laser radars are respectively disposed on a first arm section, a third arm section and a fifth arm section of the pump truck arm support.
In an embodiment, the anti-collision detection system further comprises a connection tool, and the laser radar is connected to the arm segment through the connection tool.
In an embodiment, the anti-collision detection system further comprises a camera, wherein the camera is electrically connected with the controller, and the controller is used for performing anti-collision detection according to the point cloud and the image acquired by the camera.
In an embodiment, the number of cameras is plural, and in the case that the multi-joint arm support is a pump truck arm support, the plural cameras are respectively disposed on a first arm section and a sixth arm section of the pump truck arm support.
In an embodiment, the collision avoidance system further comprises an image processor electrically connected to the camera, the lidar and the controller;
the image processor is used for processing the point cloud and the image, and the controller is particularly used for performing anti-collision detection according to the processed point cloud and the processed image.
In an embodiment, the collision avoidance detection system further comprises:
and the switch is connected between the laser radar and the camera and the image processor.
In an embodiment, the collision avoidance detection system further comprises:
and the alarm device is connected with the image processor.
From the above, the utility model discloses an anti-collision detection system of a multi-joint arm support, which comprises a plurality of laser radars and a controller. The plurality of laser radars are arranged on the multi-joint arm support, wherein at least two laser radars in the plurality of laser radars are connected to different arm sections of the multi-joint arm support. The controller is electrically connected with the plurality of laser radars, and the controller is used for carrying out anti-collision detection according to point clouds acquired by the plurality of laser radars. The anti-collision detection system adopted by the utility model effectively improves the anti-collision detection precision of the arm support.
According to the utility model, the anti-collision detection, alarm and obstacle avoidance functions of the unknown obstacles in the surrounding space of the arm support and the arm support are realized by the multi-joint arm support active anti-collision detection technology, manual intervention is not required in the whole process, the intelligent level of equipment is improved, and the digital construction requirement is met. The adopted laser radar sensing area is a conical space, a boom posture constraint method of a movable range of a specific joint is set, and when the sensor is as small as possible, the full coverage of the boom sensing area under a typical working condition is ensured, and the cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic hardware layout diagram of an anti-collision detection system of a multi-joint arm support provided by the utility model.
Fig. 2 is a schematic diagram of an anti-collision detection system for a multi-joint arm support according to the present utility model.
Fig. 3 is a laser radar tool design diagram of the anti-collision detection system of the multi-joint arm support.
Detailed Description
Specific embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art without making any inventive effort, are intended to be within the scope of the present utility model.
In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; the mechanical connection and the electrical connection can be adopted; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms described above will be understood to those of ordinary skill in the art in a specific context.
The terms "first," "second," "third," and the like, are merely used for distinguishing between similar elements or values and not necessarily for indicating or implying a relative importance or order.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of elements does not include only those elements but may include other elements not expressly listed.
Referring to fig. 1, fig. 2, and fig. 3, fig. 1 is a schematic hardware layout diagram of an anti-collision detection system (hereinafter referred to as an "anti-collision detection system") of a multi-joint arm support according to the present utility model. Fig. 2 is a schematic diagram of an anti-collision detection system for a multi-joint arm support according to the present utility model. Fig. 3 is a laser radar tool design diagram of the anti-collision detection system of the multi-joint arm support. The collision avoidance detection system 100 includes a lidar 110, a camera 120, an image processor 130, a controller 140, a switch 150, and an alarm 160.
In an embodiment, the lidar 110 is disposed on the multi-joint arm frame 115, where at least two lidars in the multiple lidars 110 are connected to different arm sections of the multi-joint arm frame 115, for example, the multi-joint arm frame 115 includes six arm frames, and in the case that the multi-joint arm frame 115 is a pump truck arm frame, the multiple lidars 110 are respectively disposed on a first arm section, a third arm section, and a fifth arm section of the pump truck arm frame. In other embodiments, the laser radar 110 may also be positioned on the second and the fourth arm frames of the multi-joint arm frame 115, and the preset position of the laser radar 110 is flexibly selected according to the detection state, so that when the sensors are as few as possible, the full coverage of the arm frame sensing area under the typical working condition is ensured, and the cost is effectively reduced. The controller 140 is electrically connected to the plurality of lidars 110, and the controller 140 is configured to perform anti-collision detection according to the point clouds collected by the plurality of lidars 110. For example, the lidar 110 and the camera 120 may be in communication connection or electrically connected to a whole vehicle system of the pump truck, and the lidar 110 and the camera 120 may be one or more in number and disposed at any position of the multi-joint arm support 115 according to a preset detection position. The image processor 130 is communicatively or electrically connected to the lidar 110 and the camera 120, for example, the image processor 130 may be connected to the lidar 110 and the camera 120 provided to the multi-joint boom 115 by a wired or wireless means. The controller 140 is electrically or communicatively coupled to the image processor 130. The switch 150 is electrically or communicatively connected between the lidar 110 and the camera 120 and the image processor 130. The alarm device 160 is electrically or communicatively coupled to the image processor 130. For example, the image processor 130, the switch 150, and the warning device 160 may be disposed within the cab 168. The controller 140 may be disposed inside or outside the cab 168, and the present utility model is not limited.
In one embodiment, lidar 110 is configured to obtain lidar data of the spatial extent of multi-joint boom 115. For example, the multi-joint boom 115 of the bump detection system 100 includes six booms, and the lidar 110 is positioned at one end of the first, third, and fifth sections of the multi-joint boom 115. For example, in the case where the multi-joint boom 115 is a pump truck boom, the camera 120 may be fixed to the first and sixth boom of the multi-joint boom 115. In other embodiments, where the camera 120 is positioned at one end of the second or fifth boom of the multi-joint boom 115, the camera 120 may be provided with a wide-angle lens to obtain a full boom spatial image of the multi-joint boom 115 of the pump truck, increasing the viewing angle. The lidar 110 is disposed obliquely downward with respect to the length direction of the connected arm segment, for example, the main obstacle to be detected by the lidar 110 is located at a position below the multi-joint arm support 115, so that the anti-collision detection effect can be improved; on the other hand, the main obstacle to be detected by the lidar 110 may also be located above the multi-joint arm support 115 or at a horizontal relative position, so that the full-space anti-collision detection effect can be improved. The following lidar 110 is located in the detection range of the preceding lidar 110 along the direction from the beginning to the end of the articulated arm frame 115, i.e. the (i+1) th lidar 110 is located in the detection range of the (i) th lidar 110, i is the arrangement sequence number of the lidars along the direction from the beginning to the end of the articulated arm frame. For example, when the multi-joint boom 115 includes six booms, the second lidar 110 is located within the detection range of the first lidar 110. The anti-collision detection system 100 further includes a connection tool (not shown) that connects the lidar 110 to the multi-joint arm support 115, for example, by screwing and/or moving a buckle.
In an embodiment, the image processor 130 is electrically connected to the camera 120, the laser radar 110, and the controller 140, and the image processor 130 receives laser radar data sent by the laser radar 110 and the full boom spatial image sent by the camera 120. The image processor 130 performs image processing (e.g., image synthesis, denoising, gray scale contrast enhancement, red eye reduction) on the lidar data and the full boom spatial image. The controller 140 is configured to perform anti-collision detection according to the point cloud and the image acquired by the camera 120. The controller 140 fuses the working condition parameters of the multi-joint arm support, the spatial image of the whole arm support and the laser radar data through an embedded software system to construct a spatial perception model of the whole arm support, and detects the spatial obstacle information around each joint arm support according to the spatial perception model of the whole arm support, so as to realize the active perception of dynamic and static obstacles in the pump truck operation environment and an anti-collision detection mechanism of the dynamic and static obstacles and the arm support. As for the image-based obstacle detection, the point cloud-based obstacle detection, and the image point cloud fusion-based obstacle detection, the detection can be achieved by the prior art, and detailed description thereof will be omitted herein.
In addition, the image processor 130 may be connected to the controller 140 through a CAN bus or ethernet, where the image processor 130 is configured to process the point cloud and the image, and the controller 140 is specifically configured to perform anti-collision detection according to the processed point cloud and the processed image. The switch 150 is connected between the laser radar 110 and the camera 120 and the image processor 130, and the switch 150 sends the laser radar data of the laser radar 110 and the full boom spatial image of the camera 120 to the image processor 130 through the ethernet. The alarm device 160 is connected to the image processor 130, and the alarm device 160 is configured to obtain the anti-collision alarm information sent by the image processor 130 and participate in the alarm function when the full boom spatial perception model detects that the spatial obstacle information around each joint boom meets the collision condition. For example, the image processor 130 may be communicatively coupled to the alarm device 160 via an AUX audio line. For example, the alarm device 160 may be a speaker or a buzzer, and when the collision condition is met, the speaker sends out a voice prompt or the buzzer sends out an alarm sound to remind the pump truck driver of the impending collision event so as to make emergency measures, thereby effectively increasing the functionality.
In an embodiment, the controller 140 detects space obstacle information (which can be used for acquiring multi-joint boom working condition parameters of a pump truck) around each boom according to the full boom space perception model, wherein the multi-joint boom working condition parameters and the laser radar data are acquired by the laser radar and the camera, and the multiple laser radars, the camera and the multi-joint boom working condition parameters are fused, the perception space range of the whole boom is spliced and covered, the preset position of the laser radar 110 is flexibly selected according to the detection state, the full coverage of the boom perception area under the typical working condition is ensured when the sensor is as small as possible, and the mode of effectively reducing the cost is used for constructing the full boom space perception model so as to acquire anti-collision alarm information and participate in an alarm function through the alarm device 160.
The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present utility model should be included in the present utility model. Accordingly, the scope of the utility model should be assessed as that of the appended claims.
Claims (10)
1. An anti-collision detection system of a multi-joint arm support, characterized in that the anti-collision detection system comprises:
the plurality of laser radars are arranged on the multi-joint arm support, wherein at least two laser radars in the plurality of laser radars are connected to different arm sections of the multi-joint arm support;
the controller is electrically connected with the plurality of laser radars and is used for carrying out anti-collision detection according to the point clouds acquired by the plurality of laser radars.
2. The collision avoidance system of claim 1 wherein the lidar is disposed at a downward incline relative to the length of the connected arm segment.
3. The collision avoidance system of claim 1 wherein the lidar is located within the detection range of the previous lidar in a direction from the beginning to the end of the articulated arm support.
4. The collision avoidance system of claim 1 wherein, where the multi-joint boom is a pump truck boom, the plurality of lidars are disposed on a first arm section, a third arm section, and a fifth arm section of the pump truck boom, respectively.
5. The anti-collision detection system of claim 1, further comprising a connection tool, the lidar being connected to the multi-joint boom via the connection tool.
6. The collision avoidance detection system of claim 1 further comprising a camera electrically connected to the controller for performing the collision avoidance detection based on the point cloud and the images acquired by the camera.
7. The collision avoidance system of claim 6 wherein the number of cameras is a plurality, and wherein in the case where the multi-joint boom is a pump truck boom, a plurality of cameras are disposed on the first arm segment and the sixth arm segment of the pump truck boom, respectively.
8. The collision avoidance detection system of claim 6 further comprising an image processor electrically connected to the camera, the lidar and the controller;
the image processor is used for processing the point cloud and the image, and the controller is particularly used for performing anti-collision detection according to the processed point cloud and the processed image.
9. The collision avoidance detection system of claim 8 wherein the collision avoidance detection system further comprises:
and the switch is connected between the laser radar and the camera and the image processor.
10. The collision avoidance detection system of claim 1 wherein the collision avoidance detection system further comprises:
and the alarm device is connected with the controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202223358672.9U CN219475833U (en) | 2022-12-14 | 2022-12-14 | Anti-collision detection system of multi-joint arm support |
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| CN202223358672.9U CN219475833U (en) | 2022-12-14 | 2022-12-14 | Anti-collision detection system of multi-joint arm support |
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| CN219475833U true CN219475833U (en) | 2023-08-04 |
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| CN202223358672.9U Active CN219475833U (en) | 2022-12-14 | 2022-12-14 | Anti-collision detection system of multi-joint arm support |
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