WO2020244010A1 - 臂架设备、臂架设备安全预警装置及方法 - Google Patents

臂架设备、臂架设备安全预警装置及方法 Download PDF

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Publication number
WO2020244010A1
WO2020244010A1 PCT/CN2019/093880 CN2019093880W WO2020244010A1 WO 2020244010 A1 WO2020244010 A1 WO 2020244010A1 CN 2019093880 W CN2019093880 W CN 2019093880W WO 2020244010 A1 WO2020244010 A1 WO 2020244010A1
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WIPO (PCT)
Prior art keywords
boom
early warning
preset area
image information
module
Prior art date
Application number
PCT/CN2019/093880
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English (en)
French (fr)
Inventor
谷云辉
田阳
陈平
Original Assignee
三一汽车制造有限公司
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Filing date
Publication date
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Publication of WO2020244010A1 publication Critical patent/WO2020244010A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/22—Status alarms responsive to presence or absence of persons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G08B21/24—Reminder alarms, e.g. anti-loss alarms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Definitions

  • This application relates to the technical field of boom equipment, in particular to a boom equipment safety early warning device, boom equipment, and boom equipment safety early warning method.
  • the safety early warning system of boom equipment is mainly used to monitor the operation of the material level, reversal, and fuel consumption of the boom equipment.
  • the safety early warning system will provide early warning, but the safety early warning system cannot monitor and pre-warn the condition of the surrounding space of the boom equipment, making the boom There are hidden safety hazards during the operation of the equipment, which affects the normal construction operation of the boom equipment.
  • This application aims to solve at least one of the technical problems existing in the prior art or related technologies.
  • the first aspect of this application proposes a safety early warning device for boom equipment.
  • the second aspect of the application proposes a boom device.
  • the third aspect of this application proposes a safety early warning method for boom equipment.
  • the first aspect of this application provides a safety early warning device for boom equipment, including: a monitoring module, a control module, and an early warning module; the monitoring module is used to collect image information in a preset area around the boom equipment; and control The module communicates with the monitoring module for receiving image information from the monitoring module and judging whether the preset area is safe according to the image information; the control module is also used to generate early warning information based on the unsafe conditions in the preset area; the early warning module Communicate with the control module to receive early warning information from the control module and send out early warnings based on the early warning information.
  • the monitoring module monitors the actual conditions of the preset area.
  • the control module will determine the boom equipment based on the image information monitored by the monitoring module There is a danger of collision with surrounding obstacles or people, that is, the preset area is unsafe.
  • the control module controls the early warning module to issue an early warning to remind the driver or operator of the boom equipment that the preset area is unsafe, reducing the boom There are hidden safety hazards during the operation of the equipment, to avoid the collision of the boom equipment with obstacles or the phenomenon of the boom equipment hitting people, and to ensure the normal construction of the boom equipment.
  • the image information includes whether there is an object in the preset area, the distance between the boom device and the object or the type of the object, etc., which can reflect the conditions of the preset area.
  • boom equipment safety early warning device in the above technical solution provided by this application may also have the following additional technical features:
  • the monitoring module includes: a boom monitoring module, which is arranged on the boom of the boom equipment, and is used to collect image information of the first preset area around the boom.
  • the boom monitoring module is set on the boom, and during the operation of the boom, the working space of the boom is monitored.
  • the boom equipment To prevent the boom from colliding with obstacles, prevent the boom from breaking, and ensure the safety during the operation of the boom.
  • the boom monitoring module is also used to collect image information in front of the boom movement.
  • the boom monitoring module is also used to monitor the conditions in front of the boom movement to avoid collisions between the boom and obstacles during the extension or retraction of the boom, and to further ensure the safety of the boom during operation Sex.
  • the monitoring module further includes: a front monitoring module, a rear monitoring module, and an outrigger monitoring module; the front monitoring module is set on the front of the boom equipment and is used to collect images of the second preset area Information; the rear monitoring module is set at the rear of the boom device to collect image information in the third preset area; the outrigger monitoring module is set on the outrigger of the boom device to collect images in the fourth preset area information.
  • the front monitoring module is installed at the front of the boom equipment
  • the rear monitoring module is installed at the rear of the boom equipment
  • the outrigger monitoring module is installed on the outriggers of the boom equipment to achieve full coverage of the preset area.
  • Position monitoring whether the boom equipment is in the process of driving, reversing, or in the process of boom equipment operation, as long as there are objects (obstacles or people, etc.) entering the preset area, it will provide early warning to the driver and operator , To avoid collision between boom equipment and objects.
  • the area monitored by the front monitoring module, the rear monitoring module and the outrigger monitoring module form a preset area.
  • the outrigger monitoring module is also used to collect image information in front of the outrigger movement during the extension or retraction of the outrigger.
  • the outrigger monitoring module is also used to monitor the conditions in front of the outrigger movement to avoid collisions between the outriggers and obstacles during the extension or retraction of the outriggers, and further ensure the safety of the outriggers during operation .
  • the monitoring module includes a camera, the camera is set on the boom equipment, the camera is used to collect image information of a preset area, and send the image information to the control module, so that the control module according to the image Information, obtain the distance information between the objects in the preset area and the boom equipment; and/or the monitoring module includes a radar, and the radar is set on the boom equipment to collect the distance between the objects in the preset area and the boom equipment And send the distance information to the control module; the control module is also used to determine whether the distance between the object in the preset area and the boom equipment is longer than the preset safety distance based on the object in the preset area When the distance to the boom equipment is not longer than the preset safety distance, the control module generates early warning information.
  • the control module includes a camera, the camera is set on the boom equipment, the camera is used to collect image information of a preset area, and send the image information to the control module, so that the control module according to the image Information, obtain the distance information between the objects in the preset area and the boom equipment
  • the monitoring module includes a radar.
  • the radar can collect the distance between the boom equipment and the object. When the distance is shorter than the safe distance, it means that an object enters the preset area of the boom equipment. When danger occurs, the control module generates early warning information and reminds the driver or operator of the boom equipment through the early warning module.
  • the preset safety distance can be determined based on the operating radius of the boom equipment, or based on past operating experience.
  • the monitoring module includes a camera, the camera is arranged on the boom equipment, and the camera is used to collect image information of a preset area; the safety warning device of the boom equipment also includes a display module, which is used for Receive the image information from the camera, and display the image according to the image information.
  • the camera is set on the boom equipment.
  • the camera is used to collect images around the boom equipment and send the images to the display module.
  • the display module then displays the images to the driver and/or operator, making the driving Both the operator and the operator can intuitively understand the conditions around the boom equipment.
  • the radar is a distance sensor.
  • the display module is a display or terminal arranged on the arm device.
  • the display can be an independent display or a display screen of a vehicle-mounted device.
  • the display module can also be a mobile terminal.
  • the number of radars is multiple, the cameras are infrared cameras, the number of infrared cameras is the same as the number of radars, and the radars and cameras are arranged in one-to-one correspondence; or radars and cameras are arranged alternately;
  • the display module displays the image on a split screen; based on the distance between the object in the preset area and the boom device is not longer than the preset In the case of a safe distance, the display module highlights the image of the preset area where the object is located.
  • the number of radars is multiple, which are respectively arranged at different positions on the boom equipment, so that the monitoring module can monitor the conditions of the preset area in all directions.
  • the number of cameras is set to be consistent with the number of radars, and the cameras and radars are set in one-to-one correspondence, that is, a camera is set next to each radar, so that the image collected by the camera corresponds to the monitoring area of the radar.
  • the images collected by each camera are displayed on the display module on a split screen.
  • an alarm will be issued on the image of the monitoring area , Or display the area image in full screen.
  • the infrared camera can shoot clearer images when the boom equipment is working at night, so that the controller can produce more accurate warning information based on the image information.
  • control module is further configured to receive image information from the camera, analyze the type information of the object according to the image information, and control the boom of the boom device according to the type information.
  • control module can analyze the type of the object according to the image collected by the camera.
  • the type of the object at least includes rocks, mechanical equipment, operators and non-operating personnel.
  • the driver or operator should stop the operation immediately and drive away the non-operating personnel to avoid accidental damage.
  • they can continue the operation. After this operation step is completed, proceed again Stones or mechanical equipment, when the operator enters the preset area, continue the operation.
  • control module obtains the type of the object, it can prompt the operator or driver through voice broadcast, and can also automatically control the work equipment.
  • judging whether the person entering the preset area is an operator or a non-operator can be achieved by judging whether the person is wearing a designated tooling, a helmet, or a specific logo.
  • the early warning module includes: a horn and an early warning light, the horn is set corresponding to the monitoring module, and the horn is used to emit a buzzer according to the early warning information; the early warning light is set corresponding to the monitoring module, and the early warning light is used according to The warning message sends out warning lights.
  • the early warning module includes a horn and an early warning light, and the horn and the early warning light send out early warnings at the same time, prompting the driver or operator in time to avoid safety accidents.
  • the boom equipment safety early warning device further includes a communication module, which is connected to the control module for sending image information to the server.
  • the communication module communicates with the server, and transmits the image information of the preset area to the control room, so that the relevant personnel can remotely monitor the operating status of the boom equipment.
  • the second aspect of the present application provides a boom equipment including the boom equipment safety early warning device as described in any of the above technical solutions, so the boom equipment has the boom equipment safety early warning device in any of the above technical solutions All the beneficial effects.
  • the boom equipment is a concrete pump truck.
  • the third aspect of this application provides a safety warning method for boom equipment, including: collecting image information in a preset area around the boom equipment; judging whether the preset area is safe according to the image information; based on the situation where the preset area is not safe , Generate early warning information; issue early warning based on the early warning information.
  • the monitoring module monitors the actual conditions of the preset area.
  • the control module will determine the boom equipment based on the image information monitored by the monitoring module There is a danger of collision with surrounding obstacles or people, that is, the preset area is unsafe.
  • the control module controls the early warning module to issue an early warning to remind the driver or operator of the boom equipment that the preset area is unsafe, reducing the boom There are hidden safety hazards during the operation of the equipment, to avoid the collision of the boom equipment with obstacles or the phenomenon of the boom equipment hitting people, and to ensure the normal construction of the boom equipment.
  • the image information includes whether there is an object in the preset area, the distance between the boom device and the object or the type of the object, etc., which can reflect the conditions of the preset area.
  • the safety early warning method for boom equipment in the above-mentioned technical solution provided by this application may also have the following additional technical features:
  • collecting image information of the preset area includes: collecting image information of the first preset area.
  • the boom monitoring module is set on the boom, and during the operation of the boom, the working space of the boom is monitored.
  • the boom equipment To prevent the boom from colliding with obstacles, prevent the boom from breaking, and ensure the safety during the operation of the boom.
  • collecting the image information of the preset area further includes: collecting the image information in front of the boom movement during the extension and/or retracting process of the boom.
  • the boom monitoring module is also used to monitor the conditions in front of the boom movement to avoid collisions between the boom and obstacles during the extension or retraction of the boom, and to further ensure the safety of the boom during operation Sex.
  • collecting image information of the preset area further includes: collecting image information of a second preset area; collecting image information of a third preset area; collecting image information of a fourth preset area.
  • the front monitoring module is installed at the front of the boom equipment
  • the rear monitoring module is installed at the rear of the boom equipment
  • the outrigger monitoring module is installed on the outriggers of the boom equipment to achieve full coverage of the preset area.
  • Position monitoring whether the boom equipment is in the process of driving, reversing, or in the process of boom equipment operation, as long as there are objects (obstacles or people, etc.) entering the preset area, it will provide early warning to the driver and operator , To avoid collision between boom equipment and objects.
  • the area monitored by the front monitoring module, the rear monitoring module and the outrigger monitoring module form a preset area.
  • collecting image information of the preset area further includes: collecting image information in front of the movement of the leg during the extension or retraction of the leg.
  • the outrigger monitoring module is also used to monitor the conditions in front of the outrigger movement to avoid collisions between the outriggers and obstacles during the extension or retraction of the outriggers, and further ensure the safety of the outriggers during operation .
  • collecting image information of the preset area includes: collecting distance information between an object in the preset area and the boom equipment; judging whether the preset area is safe according to the image information includes: according to the distance Information to determine whether the distance between the objects in the preset area and the boom equipment is longer than the preset safety distance; based on the situation that the preset area is unsafe, generating early warning information includes: based on the difference between the objects in the preset area and the boom equipment If the distance between them is not longer than the preset safety distance, an early warning message is generated.
  • the monitoring module includes a radar.
  • the radar can collect the distance between the boom equipment and the object. When the distance is shorter than the safe distance, it means that an object enters the preset area of the boom equipment. When danger occurs, the control module generates early warning information and reminds the driver or operator of the boom equipment through the early warning module.
  • the preset safety distance can be determined based on the operating radius of the boom equipment, or based on past operating experience.
  • collecting image information of the preset area further includes: collecting image information of the preset area; the boom equipment safety early warning method further includes: displaying images according to the image information.
  • the camera is set on the boom equipment.
  • the camera is used to collect images around the boom equipment and send the images to the display module.
  • the display module then displays the images to the driver and/or operator, making the driving Both the operator and the operator can intuitively understand the conditions around the boom equipment.
  • the radar is a distance sensor.
  • the display module is a display or terminal arranged on the arm device.
  • the display can be an independent display or a display screen of a vehicle-mounted device.
  • the display module can also be a mobile terminal.
  • the boom equipment safety early warning method further includes: analyzing the type information of the object according to the image information, and controlling the boom of the boom equipment according to the type information.
  • control module can analyze the type of the object according to the image collected by the camera.
  • the type of the object at least includes rocks, mechanical equipment, operators and non-operating personnel.
  • the driver or operator should stop the operation immediately and drive away the non-operating personnel to avoid accidental damage.
  • they can continue the operation. After this operation step is completed, proceed again Stones or mechanical equipment, when the operator enters the preset area, continue the operation.
  • control module obtains the type of the object, it can prompt the operator or driver through voice broadcast, and can also automatically control the work equipment.
  • judging whether the person entering the preset area is an operator or a non-operator can be achieved by judging whether the person is wearing a designated tooling, a helmet, or a specific logo.
  • Fig. 1 shows a schematic structural diagram of a boom device according to an embodiment of the present application
  • Figure 2 shows a top view of a boom device according to an embodiment of the present application
  • Figure 3 shows a structural block diagram of a safety early warning device for boom equipment according to an embodiment of the present application
  • Figure 4 shows a structural block diagram of a safety early warning device for boom equipment according to another embodiment of the present application
  • Figure 5 shows a structural block diagram of a monitoring module according to an embodiment of the present application
  • Fig. 6 shows a structural block diagram of a monitoring module according to another embodiment of the present application.
  • Figure 7 shows a structural block diagram of an early warning module according to an embodiment of the present application.
  • Fig. 8 shows a schematic diagram of the interaction between the modules of the safety early warning device for boom equipment according to an embodiment of the present application
  • Fig. 9 shows a flow chart of a safety early warning method for boom equipment according to an embodiment of the present application.
  • FIG. 10 shows a flowchart of a safety early warning method for boom equipment according to another embodiment of the present application.
  • FIG. 11 shows a flowchart of a safety early warning method for boom equipment according to still another embodiment of the present application.
  • FIG. 12 shows a flowchart of a safety early warning method for boom equipment according to another embodiment of the present application.
  • FIG. 13 shows a flow chart of a safety early warning method for boom equipment according to another embodiment of the present application.
  • FIG. 14 shows a flow chart of a safety early warning method for boom equipment according to still another embodiment of the present application.
  • the present application provides a boom equipment safety early warning device 30, which includes: a monitoring module 302, a control module 304, and an early warning module 306; a monitoring module 302 Used to collect image information in the preset area 5 around the boom equipment; the control module 304 communicates with the monitoring module 302 to receive image information from the monitoring module 302, and judge whether the preset area 5 is safe according to the image information; control module 304 is also used to generate early warning information when the preset area 5 is not safe; the early warning module 306 communicates with the control module 304, and is used to receive the early warning information from the control module 304 and issue an early warning according to the early warning information.
  • a monitoring module 302 Used to collect image information in the preset area 5 around the boom equipment
  • the control module 304 communicates with the monitoring module 302 to receive image information from the monitoring module 302, and judge whether the preset area 5 is safe according to the image information
  • control module 304 is also used to generate early warning information when the preset area 5 is not safe
  • the monitoring module 302 monitors the actual conditions of the preset area 5.
  • the control module 304 will determine whether the boom equipment exists or not according to the image information monitored by the monitoring module 302. The danger of collision with surrounding obstacles or people, that is, the preset area 5 is unsafe.
  • the control module 304 controls the early warning module 306 to issue an early warning to remind the driver or operator of the boom equipment that the preset area 5 is unsafe, reducing There are hidden safety hazards in the operation of the boom equipment to avoid collisions between the boom equipment and obstacles, or the phenomenon of the boom equipment hitting people, and to ensure the normal construction operation of the boom equipment.
  • the image information includes whether there is an object in the preset area 5, the distance between the boom device and the object or the type of the object, etc., which can reflect the condition of the preset area 5.
  • the preset area 5 includes a first preset area 58, a second preset area 52, a third preset area 54 and a fourth preset area 56;
  • the first preset area 58 is the area around the boom.
  • the boundary of the area is a first preset distance from the boom, and the first preset distance is set according to the effective monitoring distance of the monitoring module 302;
  • the second preset area 52 is a fan-shaped area in front of the front of the vehicle, and the boundary of the area is away from the second preset distance of the front of the vehicle.
  • the second preset distance is also set according to the effective monitoring distance of the monitoring module 302;
  • the third preset area 54 is the fan-shaped area behind the rear of the vehicle, and the boundary of this area is the third preset distance from the rear of the vehicle.
  • the preset distance is also set according to the effective monitoring distance of the monitoring module 302;
  • the fourth preset area 56 is the area on both sides of the leg 1, and the boundary of the area is the fourth preset distance from the leg 1, and the fourth preset distance is the same Set according to the effective monitoring distance of the monitoring module 302.
  • the monitoring module 302 includes: a boom monitoring module 3022, which is arranged on the boom 4 of the boom equipment, The image information of the first preset area 58 is collected.
  • the boom monitoring module 3022 is arranged on the boom 4, and during the operation of the boom 4, the working space of the boom 4 is monitored, and when there is an obstacle in the working space of the boom 4, it is reminded in time The driver and operator of the boom equipment avoid the collision of the boom 4 with obstacles, prevent the boom 4 from breaking, and ensure the safety of the boom 4 during operation.
  • the boom monitoring module 3022 is also used to collect image information in front of the movement of the boom 4.
  • the boom monitoring module 3022 is also used to monitor the situation before the boom 4 moves, avoiding the boom 4 from colliding with obstacles during the extension or retraction of the boom 4, and further ensuring the boom 4 Safety during operation.
  • the monitoring module 302 further includes: a front monitoring module 3024, a rear monitoring module 3026, and an outrigger monitoring module 3028; the front monitoring module 3024 is arranged on the arm The front 2 of the frame equipment is used to collect the image information of the second preset area 52; the rear monitoring module 3026 is arranged at the rear 3 of the boom equipment to collect the image information of the third preset area 54; the outrigger monitoring module 3028 It is set on the leg 1 of the boom device and is used to collect image information of the fourth preset area 56.
  • the front monitoring module 3024 is arranged on the front 2 of the boom equipment
  • the rear monitoring module 3026 is arranged on the rear 3 of the boom equipment
  • the outrigger monitoring module 3028 is arranged on the outrigger 1 of the boom equipment.
  • the area monitored by the front monitoring module 3024, the rear monitoring module 3026, and the outrigger monitoring module 3028 form the preset area 5.
  • the area within the dotted line is the preset area 5 of the boom equipment, and the preset area 5 includes a second preset area 52, a third preset area 54, and a fourth preset area.
  • the front monitoring module 3024 is used to monitor the second preset area 52
  • the second preset area 52 is located in front of the boom equipment
  • the rear monitoring module 3026 is used to monitor the third preset area 54
  • the third preset area 54 is located behind the boom equipment
  • the outrigger monitoring module 3028 is used to monitor the fourth preset area 56
  • the fourth preset area 56 is located to the side of the boom equipment
  • the boom monitoring module 3022 is used to monitor
  • the first preset area 58 is the preset area of the boom.
  • the leg monitoring module 3028 is also used to collect image information in front of the movement of the leg 1.
  • the outrigger monitoring module 3028 is also used to monitor the situation before the outrigger 1 moves, so as to prevent the outrigger 1 from colliding with obstacles during the extension or retraction of the outrigger 1, and further ensure the operation of the outrigger 1. Security in the process.
  • the monitoring module 302 includes a radar 3021, which is set on the boom equipment and used to collect objects and booms in the preset area 5.
  • Distance information between devices the control module 304 is also used to receive distance information from the radar 3021, and determine whether the distance between the objects in the preset area 5 and the boom equipment is longer than the preset safety distance based on the distance information; When the distance between the object in the preset area 5 and the boom equipment is not longer than the preset safety distance, the control module 304 generates early warning information.
  • the monitoring module 302 includes a radar 3021, and the radar 3021 can collect the distance between the boom device and the object. When the distance is shorter than the safe distance, it means that an object has entered the preset area of the boom device. Within 5 hours, danger is likely to occur, and then the control module 304 generates early warning information, and reminds the driver or operator of the boom equipment through the early warning module 306.
  • the monitoring module 302 includes a camera, the camera is arranged on the boom device, and the camera is used to collect the preset area And send the image information to the control module so that the control module obtains the distance information between the object in the preset area and the boom equipment according to the image information; the control module 304 is also used to The information determines whether the distance between the object in the preset area 5 and the boom equipment is longer than the preset safety distance; based on the case that the distance between the object in the preset area 5 and the boom equipment is not longer than the preset safety distance, The control module 304 generates early warning information.
  • the preset safety distance can be determined based on the operating radius of the boom equipment, or based on past operating experience.
  • the monitoring module 302 includes a camera 3023, the camera 3023 is arranged on the boom device, and the camera 3023 is used to collect image information of the preset area 5;
  • the boom equipment safety early warning device 30 also includes a display module 308, which is used to receive image information from the camera 3023 and display images according to the image information.
  • the camera 3023 is set on the boom equipment, the camera 3023 is used to collect images around the boom equipment, and send the images to the display module 308, and the display module 308 then displays the images to the driver and/or operation Operator, so that both the driver and the operator can intuitively understand the conditions around the boom equipment.
  • the radar 3021 is a distance sensor.
  • the display module 308 is a display or a terminal provided on the arm device.
  • the display can be an independent display or a display screen of a vehicle-mounted device.
  • the display module 308 may also be a mobile terminal.
  • the number of radars 3021 is multiple
  • the camera 3023 is an infrared camera
  • the number of the infrared camera is the same as the number of the radar 3021
  • the radar 3021 and the camera 3023 are arranged in one-to-one correspondence; or
  • the radar and the camera are arranged alternately; based on the condition that the distance between the object in the preset area 5 and the boom equipment is longer than the preset safety distance, the display module 308 displays the image in a split screen; based on the preset area 5 When the distance between the object and the boom device is not longer than the preset safety distance, the display module 308 highlights the image of the preset area where the object is located.
  • the monitoring module 302 can monitor the conditions of the preset area 5 in all directions.
  • the number of cameras 3023 is set to be the same as the number of radars 3021, and the cameras 3023 and the radars 3021 are set in one-to-one correspondence, that is, a camera 3023 is set next to each radar 3021, so that the image collected by the camera 3023 matches the monitoring area of the radar 3021 Correspondingly, it is more targeted when the driver and operator want to connect to the monitoring area. And when all the preset areas 5 are in a dangerous situation, the images collected by each camera 3023 are displayed on the display module 308 in a split screen.
  • the image of the area is monitored An alarm will be issued on the screen, or the image of the area will be displayed in full screen.
  • the infrared camera can shoot clearer images when the boom equipment is working at night, so that the controller can produce more accurate warning information based on the image information.
  • control module is further configured to receive image information from the camera 3023, analyze the type information of the object according to the image information, and control the boom 4 of the boom device according to the type information.
  • the control module 304 can analyze the type of the object according to the image collected by the camera 3023.
  • the type of the object includes at least rocks, mechanical equipment, operators, and non-operating personnel. When entering the preset area 5, it is non-operating. In the case of personnel, the driver or operator must immediately stop the operation and drive away the non-operating personnel to avoid accidental damage. When entering the stones or mechanical equipment in the preset area 5, they can continue to work until this operation step is completed After that, the stones or mechanical equipment are processed again, and when the operator enters the preset area 5, the operation is continued.
  • control module 304 can prompt the operator or driver through voice broadcast, and can also automatically control the work equipment.
  • judging whether the person entering the preset area 5 is an operator or a non-operator can be achieved by judging whether the person is wearing a designated tooling, a safety helmet, or a specific logo.
  • the early warning module 306 includes: a horn 3062 and an early warning light 3064.
  • the horn 3062 is set corresponding to the monitoring module 302, and the horn 3062 is used to send out warning information according to Buzzer;
  • the warning light 3064 is set corresponding to the monitoring module 302, and the warning light 3064 is used to emit warning lights according to the warning information.
  • the early warning module 306 includes a horn 3062 and an early warning light 3064.
  • the horn 3062 and the early warning light 3064 simultaneously send out an early warning to prompt the driver or operator in time to avoid safety accidents.
  • the boom equipment safety early warning device 30 further includes a communication module 309, which is connected to the control module 304, and is used to transfer image information Send to the server.
  • the communication module 309 communicates with the server, and transmits the image information of the preset area 5 to the control room, so that the relevant personnel can remotely monitor the operating status of the boom equipment.
  • the early warning module 306 includes a boom early warning module 3065, a front early warning module 3066, a rear early warning module 3067, and an outrigger early warning module 3068.
  • the display module 308 includes a boom display module 3082, a front display module 3084, Rear display module 3086 and leg display module 3088.
  • the front monitoring module 3024 sends the monitored image information of the second preset area 52 to the control module 304, and the control module 304 determines whether the second preset area 52 is safe. When the second preset area 52 is not safe, the control module 304 The early warning information is generated and sent to the pre-alarm module 3066 and the front display module 3084, so that the pre-alarm module 3066 performs an early warning, and the front display module 3084 displays the image of the second preset area 52.
  • the post-monitoring module 3026 sends the monitored image information of the third preset area 54 to the control module 304, and the control module 304 determines whether the third preset area 54 is safe. When the third preset area 54 is not safe, the control module 304 The early warning information is generated and sent to the post-alarm module 3067 and the post-display module 3086, so that the post-alarm module 3067 performs an early warning, and the post-display module 3086 displays the image of the third preset area 54.
  • the outrigger monitoring module 3028 sends the monitored image information of the fourth preset area 56 to the control module 304.
  • the control module 304 determines whether the fourth preset area 56 is safe. When the fourth preset area 56 is not safe, the control module 304 generates early warning information and sends it to the outrigger early warning module 3068 and the outrigger display module 3088, so that the outrigger early warning module 3068 performs an early warning, and the outrigger display module 3088 displays the image of the fourth preset area 56.
  • the boom monitoring module 3022 sends the monitored image information of the first preset area 58 to the control module 304, and the control module 304 determines whether the first preset area 58 is safe. When the first preset area 58 is not safe, the control module 304 generates early warning information and sends it to the boom early warning module 3065 and the boom display module 3082 so that the boom early warning module 3065 performs an early warning, and the boom display module 3082 displays the image of the first preset area 58.
  • the present application provides a boom equipment, including the boom equipment safety warning device as described in any of the above embodiments, so the boom equipment is equipped with the boom equipment described in any of the above embodiments All the beneficial effects of the safety pre-warning device of the boom equipment.
  • the boom equipment is a concrete pump truck.
  • the present application provides a safety warning method for boom equipment, including:
  • Step 402 Collect image information in a preset area around the boom device
  • Step 404 Determine whether the preset area is safe according to the image information
  • Step 406 Generate early warning information based on the situation that the preset area is not safe
  • Step 408 Issue an early warning based on the early warning information.
  • the monitoring module monitors the actual conditions of the preset area.
  • the control module will determine the presence of the boom equipment and the surrounding obstacles based on the image information monitored by the monitoring module Or the risk of human collision, that is, the preset area is unsafe.
  • the control module controls the early warning module to issue an early warning to remind the driver or operator of the boom equipment that the preset area is unsafe, reducing the presence of the boom equipment during the operation Hidden safety hazards to avoid collisions between the boom equipment and obstacles, or the boom equipment hitting people, and ensure the normal construction of the boom equipment.
  • the image information includes whether there is an object in the preset area, the distance between the boom device and the object or the type of the object, etc., which can reflect the conditions of the preset area.
  • the safety warning method for boom equipment includes:
  • Step 502 Collect image information of the first preset area
  • Step 504 Determine whether the preset area is safe according to the image information
  • Step 506 Generate early warning information based on the situation that the preset area is not safe
  • step 508 a warning is issued according to the warning information.
  • the boom monitoring module is set on the boom. During the operation of the boom, the working space of the boom is monitored. When there is an obstacle in the working space of the boom, it promptly reminds the driving of the boom equipment To prevent the boom from colliding with obstacles, prevent the boom from breaking, and ensure the safety during the operation of the boom.
  • the safety early warning method for boom equipment includes:
  • Step 602 in the process of extending and/or retracting the boom, collect image information in front of the boom movement
  • Step 604 Determine whether the preset area is safe according to the image information
  • Step 606 Generate early warning information based on the situation that the preset area is not safe
  • step 608 an early warning is issued based on the early warning information.
  • the boom monitoring module is also used to monitor the conditions in front of the boom movement to avoid collisions between the boom and obstacles during the extension or retraction of the boom, and to further ensure the safety of the boom during operation Sex.
  • the safety warning method for boom equipment includes:
  • Step 702 Collect image information of the first preset area
  • Step 704 Collect image information of the second preset area
  • Step 706 Collect image information of the third preset area.
  • Step 708 Collect image information of the fourth preset area
  • Step 710 Determine whether the preset area is safe according to the image information.
  • Step 712 Generate early warning information based on the situation that the preset area is not safe
  • Step 714 issue an early warning based on the early warning information.
  • the front monitoring module is installed at the front of the boom equipment
  • the rear monitoring module is installed at the rear of the boom equipment
  • the outrigger monitoring module is installed on the outriggers of the boom equipment to achieve full coverage of the preset area.
  • Position monitoring whether the boom equipment is in the process of driving, reversing, or in the process of boom equipment operation, as long as there are objects (obstacles or people, etc.) entering the preset area, it will provide early warning to the driver and operator , To avoid collision between boom equipment and objects.
  • the area monitored by the front monitoring module, the rear monitoring module and the outrigger monitoring module form a preset area.
  • the safety early warning method for boom equipment includes:
  • Step 802 in the process of extending or retracting the outrigger, collect image information before the outrigger moves;
  • Step 804 Determine whether the preset area is safe according to the image information
  • Step 806 Generate early warning information based on the situation that the preset area is not safe
  • step 808 an early warning is issued according to the early warning information.
  • the outrigger monitoring module is also used to monitor the conditions in front of the outrigger movement, to avoid collisions between the outriggers and obstacles during the extension or retraction of the outriggers, and to further ensure the safety of the outriggers during operation .
  • the safety warning method for boom equipment includes:
  • Step 902 Collect distance information between the object in the preset area and the boom device
  • Step 904 Determine whether the distance between the object in the preset area and the boom equipment is longer than the preset safety distance according to the distance information
  • Step 906 Generate early warning information based on the condition that the distance between the object in the preset area and the boom equipment is not longer than the preset safety distance;
  • step 908 a warning is issued according to the warning information.
  • the monitoring module includes a radar.
  • the radar can collect the distance between the boom device and the object. When the distance is shorter than the safe distance, it means that an object enters the preset area of the boom device. When danger occurs, the control module generates early warning information and reminds the driver or operator of the boom equipment through the early warning module.
  • the preset safety distance can be determined based on the operating radius of the boom equipment, or based on past operating experience.
  • collecting image information of the preset area further includes: collecting image information of the preset area; the boom equipment safety warning method further includes: displaying images according to the image information.
  • the camera is set on the boom equipment, and the camera is used to collect images around the boom equipment and send the images to the display module.
  • the display module then displays the images to the driver and/or operator to make driving Both the operator and the operator can intuitively understand the conditions around the boom equipment.
  • the radar is a distance sensor.
  • the display module is a display or terminal arranged on the arm device.
  • the display can be an independent display or a display screen of a vehicle-mounted device.
  • the display module can also be a mobile terminal.
  • the safety early warning method for boom equipment further includes: collecting image information of a preset area; analyzing the type information of the object according to the image information; and controlling the boom of the boom equipment according to the type information.
  • control module can analyze the type of the object according to the image collected by the camera.
  • the type of the object includes at least rocks, mechanical equipment, operators, and non-operators.
  • the driver or operator should stop the operation immediately and drive away the non-operating personnel to avoid accidental damage.
  • they can continue the operation. After this operation step is completed, proceed again Stones or mechanical equipment, when the operator enters the preset area, continue the operation.
  • control module can prompt the operator or driver through voice broadcast after acquiring the type of the object, and can also automatically control the work equipment.
  • judging whether the person entering the preset area is an operator or a non-operator can be achieved by judging whether the person is wearing a designated tooling, a helmet, or a specific logo.
  • the term “plurality” refers to two or more than two, unless clearly defined otherwise, the orientation or positional relationship indicated by the terms “upper” and “lower” are based on the drawings shown The orientation or positional relationship is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the application;
  • the terms “connected”, “installed”, “fixed”, etc. should be understood in a broad sense. For example, “connected” can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or through an intermediate connection. The medium is indirectly connected.
  • the specific meanings of the above terms in this application can be understood according to specific circumstances.

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Abstract

一种臂架设备安全预警装置、臂架设备及臂架设备安全预警方法，臂架设备安全预警装置（30）包括：监测模块（302）、控制模块（304）和预警模块（306）；监测模块（302）用于采集臂架设备预设区域（5）的图像信息；控制模块（304）与监测模块（302）通信，用于接收来自监测模块（302）的图像信息，并根据图像信息判断臂架设备预设区域（5）是否安全；控制模块（304）还用于基于臂架设备预设区域（5）不安全的情况下，生成预警信息；预警模块（306）与控制模块（304）通信，用于接收来自控制模块（304）的预警信息，并根据预警信息发出预警。该臂架设备安全预警装置，减少了臂架设备在作业过程中存在的安全隐患，避免臂架设备与障碍物发生撞击，或臂架设备撞人的现象发生，确保臂架设备正常地施工作业。

Description

臂架设备、臂架设备安全预警装置及方法
本申请要求于2019年06月03日提交中国专利局、申请号为201910476744.3、发明名称为“臂架设备、臂架设备安全预警装置及方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及臂架设备技术领域，具体而言，涉及一种臂架设备安全预警装置、臂架设备及臂架设备安全预警方法。
背景技术
目前，在相关技术中，臂架设备的安全预警系统主要用于监测臂架设备的料位、换向、倾角油耗等部件的运行情况。在臂架设备运行过程中，当料位、换向、倾角油耗等部件发生故障时，安全预警系统进行预警，但安全预警系统无法对臂架设备周边空间的状况进行监测和预警，使得臂架设备在作业过程中存在安全隐患，进而影响臂架设备正常地施工作业。
发明内容
本申请旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此，本申请的第一方面提出一种臂架设备安全预警装置。
本申请的第二方面提出一种臂架设备。
本申请的第三方面提出一种臂架设备安全预警方法。
有鉴于此，本申请的第一方面提供了一种臂架设备安全预警装置，包括：监测模块、控制模块和预警模块；监测模块用于采集臂架设备周围预设区域内的图像信息；控制模块与监测模块通信，用于接收来自监测模块的图像信息，并根据图像信息判断预设区域内是否安全；控制模块还用于基于预设区域内不安全的情况下，生成预警信息；预警模块与控制模块通 信，用于接收来自控制模块的预警信息，并根据预警信息发出预警。
本申请所提供的臂架设备安全预警装置，监测模块监测预设区域的实际状况，当臂架设备周围存在障碍物或人时，控制模块会根据监测模块监测到的图像信息来判断臂架设备存在与周围的障碍物或人碰撞的危险，即预设区域不安全，此时控制模块控制预警模块发出预警，以提示臂架设备的驾驶人员或操作人员预设区域不安全，减少了臂架设备在作业过程中存在安全隐患，避免臂架设备与障碍物发生撞击，或臂架设备撞人的现象发生，确保臂架设备正常地施工作业。
优选地，图像信息包括预设区域是否存在物体，臂架设备与物体之间的距离或物体的类型等可体现出预设区域状况的信息。
另外，本申请提供的上述技术方案中的臂架设备安全预警装置还可以具有如下附加技术特征：
在上述技术方案中，优选地，监测模块包括：臂架监测模块，臂架监测模块设置于臂架设备的臂架上，用于采集臂架周围的第一预设区域的图像信息。
在该技术方案中，臂架监测模块设置在臂架上，在臂架作业过程中，对臂架的作业空间进行监测，当臂架的作业空间存在障碍物时，及时提醒臂架设备的驾驶员和操作员，避免臂架与障碍物发生碰撞，防止臂架折断，确保臂架作业过程中的安全性。
在上述任一技术方案中，优选地，在臂架伸展和/或收回的过程中，臂架监测模块还用于采集臂架运动前方的图像信息。
在该技术方案中，臂架监测模块还用于监测臂架运动前方的状况，避免在臂架伸展或收回的过程中，避免臂架与障碍物发生碰撞，进一步确保臂架作业过程中的安全性。
在上述任一技术方案中，优选地，监测模块还包括：前监测模块、后监测模块和支腿监测模块；前监测模块设置于臂架设备的车头，用于采集第二预设区域的图像信息；后监测模块设置于臂架设备的车尾，用于采集第三预设区域的图像信息；支腿监测模块设置于臂架设备的支腿上，用于采集第四预设区域的图像信息。
在该技术方案中，前监测模块设置于臂架设备的车头，后监测模块设置于臂架设备的车尾，支腿监测模块设置于臂架设备的支腿上，实现对预设区域的全方位监测，无论臂架设备在行驶、倒车的过程中，还是在臂架设备作业的过程中，只要预设区域有物体(障碍物或人等)进入，均会向驾驶员和操作员提供预警，避免臂架设备与物体发生碰撞。尤其在臂架设备作业过程中，前监测模块、后监测模块和支腿监测模块所监测的区域形成预设区域，当与作业无关人员进入到预设区域后，会向驾驶员或操作员发出预警，驾驶员或操作员即可根据实际情况停止作业，以及驱离进入到预设区域的无关人员，避免在作业过程中损伤无关人员，确保了臂架设备作业过程的安全性。
在上述任一技术方案中，优选地，在支腿伸展或收回的过程中，支腿监测模块还用于采集支腿运动前方的图像信息。
在该技术方案中，支腿监测模块还用于监测支腿运动前方的状况，避免在支腿伸展或收回的过程中，支腿与障碍物发生碰撞，进一步确保支腿作业过程中的安全性。
在上述任一技术方案中，优选地，监测模块包括摄像头，摄像头设置在臂架设备上，摄像头用于采集预设区域的影像信息，并将影像信息发送至控制模块，以使控制模块根据影像信息，获取预设区域内的物体与臂架设备之间的距离信息；和/或监测模块包括雷达，雷达设置在臂架设备上，用于采集预设区域内的物体与臂架设备之间的距离信息，并将距离信息发送至控制模块；控制模块还用于根据距离信息判断预设区域内的物体与臂架设备之间的距离是否长于预设安全距离；基于预设区域内的物体与臂架设备之间的距离不长于预设安全距离的情况下，控制模块生成预警信息。
在该技术方案中，监测模块包括雷达，雷达可采集到臂架设备与物体之间的距离，当这个距离短于安全距离时，即表示有物体进入到臂架设备的预设区域内，容易发生危险，进而控制模块生成预警信息，并通过预警模块提醒臂架设备的驾驶员或操作员。
优选地，预设安全距离可根据臂架设备的作业半径来确定，也可根据以往作业经验来确定。
在上述任一技术方案中，优选地，监测模块包括摄像头，摄像头设置在臂架设备上，摄像头用于采集预设区域的影像信息；臂架设备安全预警装置还包括显示模块，显示模块用于接收来自摄像头的影像信息，并根据影像信息展示影像。
在该技术方案中，摄像头设置在臂架设备上，摄像头用于采集臂架设备周围的影像，并将影像发送至显示模块，显示模块再将影像展示给驾驶员和/或操作员，使得驾驶员和操作员均可直观地了解臂架设备周围的状况。
优选地，雷达为距离传感器。显示模块为设置在臂架设备上的显示器或终端。显示器可为独立的显示器，也可为车载设备的显示屏。同样地，显示模块也可为移动终端。
在上述任一技术方案中，优选地，雷达的数量为多个，摄像头为红外摄像头，所述红外摄像头的数量与雷达的数量相同，雷达与摄像头一一对应设置；或雷达与摄像头交替设置；基于预设区域内的物体与臂架设备之间的距离长于预设安全距离的情况下，显示模块分屏展示影像；基于预设区域内的物体与臂架设备之间的距离不长于预设安全距离的情况下，显示模块突出展示物体所处预设区域的影像。
在该技术方案中，雷达的数量为多个，分别设置在臂架设备上的不同位置，使得监测模块可全方位地监测预设区域的状况。摄像头的数量设置为与雷达的数量一致，并且摄像头与雷达一一对应设置，即在每个雷达的旁边设置一个摄像头，使得摄像头所采集的图像与雷达的监测区域对应，当驾驶员和操作员想要连接监控区域的状况时更加具有针对性。并且所有的预设区域均为发生危险状况时，每个摄像头所采集到的图像在显示模块上分屏显示，当某一雷达的监控区域发生危险时，在监测该区域的图像上发出报警提示，或将该区域图像全屏显示。红外摄像头能够在臂架设备夜间工作时拍摄更加清晰的图像，便于控制器根据图像信息生产更加准确的预警信息。
在上述任一技术方案中，优选地，控制模块还用于接收来至摄像头的影像信息，根据影像信息解析物体的类型信息，并根据类型信息控制臂架设备的臂架。
在该技术方案中，控制模块可根据摄像头采集到的图像分析物体的类型，物体的类型至少包括石块、机械设备、作业人员和非作业人员，当进入到预设区域的是非作业人员时，驾驶员或操作员需立即停止作业，并驱离非作业人员，避免发生意外损伤，当进入到预设区域的石块或机械设备时，则可继续作业，待此作业步骤完成后，再处理石块或机械设备，当进入到预设区域的是作业人员时，则继续作业。
优选地，控制模块获取到物体的类型后可通过语音播报来提示操作员或驾驶员，也可自动控制作业设备。
优选地，判断进入的到预设区域的人员是作业人员还是非作业人员，可通过判断人员是否穿着指定工装，是否佩戴安全帽，是否佩戴特定标识等方式来实现。
在上述任一技术方案中，优选地，预警模块包括：喇叭和预警灯，喇叭与监测模块对应设置，喇叭用于根据预警信息发出蜂鸣；预警灯与监测模块对应设置，预警灯用于根据预警信息发出警示灯光。
在该技术方案中，预警模块包括喇叭和预警灯，喇叭和预警灯同时发出预警，及时向驾驶员或操作员发出提示，避免安全事故的发生。
在上述任一技术方案中，优选地，所臂架设备安全预警装置还包括通信模块，通信模块与控制模块相连接，用于将图像信息发送至服务器。
在该技术方案中，通信模块与服务器相通信，将预设区域的图像信息传递至控制室，使得相关人员可远程监控臂架设备的作业状况。
本申请第二方面提供了一种臂架设备，包括如上述任一技术方案所述的臂架设备安全预警装置，因此该臂架设备具备上述任一技术方案所述的臂架设备安全预警装置的全部有益效果。
优选地，臂架设备为混泥土泵车。
本申请第三方面提供了一种臂架设备安全预警方法，包括：采集臂架设备周围预设区域内的图像信息；根据图像信息判断预设区域是否安全；基于预设区域不安全的情况下，生成预警信息；根据预警信息发出预警。
本申请所提供的臂架设备安全预警方法，监测模块监测预设区域的实际状况，当臂架设备周围存在障碍物或人时，控制模块会根据监测模块监 测到的图像信息来判断臂架设备存在与周围的障碍物或人碰撞的危险，即预设区域不安全，此时控制模块控制预警模块发出预警，以提示臂架设备的驾驶人员或操作人员预设区域不安全，减少了臂架设备在作业过程中存在安全隐患，避免臂架设备与障碍物发生撞击，或臂架设备撞人的现象发生，确保臂架设备正常地施工作业。
优选地，图像信息包括预设区域是否存在物体，臂架设备与物体之间的距离或物体的类型等可体现出预设区域状况的信息。
另外，本申请提供的上述技术方案中的臂架设备安全预警方法还可以具有如下附加技术特征：
在上述技术方案中，优选地，采集预设区域的图像信息包括：采集第一预设区域的图像信息。
在该技术方案中，臂架监测模块设置在臂架上，在臂架作业过程中，对臂架的作业空间进行监测，当臂架的作业空间存在障碍物时，及时提醒臂架设备的驾驶员和操作员，避免臂架与障碍物发生碰撞，防止臂架折断，确保臂架作业过程中的安全性。
在上述任一技术方案中，优选地，采集预设区域的图像信息还包括：在臂架伸展和/或收回的过程中，采集臂架运动前方的图像信息。
在该技术方案中，臂架监测模块还用于监测臂架运动前方的状况，避免在臂架伸展或收回的过程中，避免臂架与障碍物发生碰撞，进一步确保臂架作业过程中的安全性。
在上述任一技术方案中，优选地，采集预设区域的图像信息还包括：采集第二预设区域图像信息；采集第三预设区域的图像信息；采集第四预设区域的图像信息。
在该技术方案中，前监测模块设置于臂架设备的车头，后监测模块设置于臂架设备的车尾，支腿监测模块设置于臂架设备的支腿上，实现对预设区域的全方位监测，无论臂架设备在行驶、倒车的过程中，还是在臂架设备作业的过程中，只要预设区域有物体(障碍物或人等)进入，均会向驾驶员和操作员提供预警，避免臂架设备与物体发生碰撞。尤其在臂架设备作业过程中，前监测模块、后监测模块和支腿监测模块所监测的区域形 成预设区域，当与作业无关人员进入到预设区域后，会向驾驶员或操作员发出预警，驾驶员或操作员即可根据实际情况停止作业，以及驱离进入到预设区域的无关人员，避免在作业过程中损伤无关人员，确保了臂架设备作业过程的安全性。
在上述任一技术方案中，优选地，采集预设区域的图像信息还包括：在支腿伸展或收回的过程中，采集支腿运动前方的图像信息。
在该技术方案中，支腿监测模块还用于监测支腿运动前方的状况，避免在支腿伸展或收回的过程中，支腿与障碍物发生碰撞，进一步确保支腿作业过程中的安全性。
在上述任一技术方案中，优选地，采集预设区域的图像信息包括：采集预设区域内的物体与臂架设备之间的距离信息；根据图像信息判断预设区域是否安全包括：根据距离信息判断预设区域内的物体与臂架设备之间的距离是否长于预设安全距离；基于预设区域不安全的情况下，生成预警信息包括：基于预设区域内的物体与臂架设备之间的距离不长于预设安全距离的情况下，生成预警信息。
在该技术方案中，监测模块包括雷达，雷达可采集到臂架设备与物体之间的距离，当这个距离短于安全距离时，即表示有物体进入到臂架设备的预设区域内，容易发生危险，进而控制模块生成预警信息，并通过预警模块提醒臂架设备的驾驶员或操作员。
优选地，预设安全距离可根据臂架设备的作业半径来确定，也可根据以往作业经验来确定。
在上述任一技术方案中，优选地，采集预设区域的图像信息还包括：采集预设区域的影像信息；臂架设备安全预警方法还包括：根据影像信息展示影像。
在该技术方案中，摄像头设置在臂架设备上，摄像头用于采集臂架设备周围的影像，并将影像发送至显示模块，显示模块再将影像展示给驾驶员和/或操作员，使得驾驶员和操作员均可直观地了解臂架设备周围的状况。
优选地，雷达为距离传感器。显示模块为设置在臂架设备上的显示器或终端。显示器可为独立的显示器，也可为车载设备的显示屏。同样地， 显示模块也可为移动终端。
在上述任一技术方案中，优选地，臂架设备安全预警方法还包括：根据影像信息解析物体的类型信息，并根据类型信息控制臂架设备的臂架。
在该技术方案中，控制模块可根据摄像头采集到的图像分析物体的类型，物体的类型至少包括石块、机械设备、作业人员和非作业人员，当进入到预设区域的是非作业人员时，驾驶员或操作员需立即停止作业，并驱离非作业人员，避免发生意外损伤，当进入到预设区域的石块或机械设备时，则可继续作业，待此作业步骤完成后，再处理石块或机械设备，当进入到预设区域的是作业人员时，则继续作业。
优选地，控制模块获取到物体的类型后可通过语音播报来提示操作员或驾驶员，也可自动控制作业设备。
优选地，判断进入的到预设区域的人员是作业人员还是非作业人员，可通过判断人员是否穿着指定工装，是否佩戴安全帽，是否佩戴特定标识等方式来实现。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出了根据本申请的一个实施例的臂架设备的结构示意图；
图2示出了根据本申请的一个实施例的臂架设备的俯视图；
图3示出了根据本申请的一个实施例的臂架设备安全预警装置的结构框图；
图4示出了根据本申请的另一个实施例的臂架设备安全预警装置的结构框图；
图5示出了根据本申请的一个实施例的监测模块的结构框图；
图6示出了根据本申请的另一个实施例的监测模块的结构框图；
图7示出了根据本申请的一个实施例的预警模块的结构框图；
图8示出了根据本申请的一个实施例的臂架设备安全预警装置各模块之间的交互示意图；
图9示出了根据本申请的一个实施例的臂架设备安全预警方法的流程图；
图10示出了根据本申请的另一个实施例的臂架设备安全预警方法的流程图；
图11示出了根据本申请的再一个实施例的臂架设备安全预警方法的流程图；
图12示出了根据本申请的再一个实施例的臂架设备安全预警方法的流程图；
图13示出了根据本申请的再一个实施例的臂架设备安全预警方法的流程图；
图14示出了根据本申请的再一个实施例的臂架设备安全预警方法的流程图；
其中，图1和图2中的附图标记与部件名称之间的对应关系为：
1支腿，2车头，3车尾，4臂架，5预设区域，52第二预设区域，54第三预设区域，56第四预设区域，58第一预设区域。
具体实施方式
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开的具体实施例的限制。
下面参照图1至图14描述根据本申请一些实施例所述臂架设备安全预警装置、臂架设备及臂架设备安全预警方法。
在本申请第一方面实施例中，如图1至图4所示，本申请提供了一种臂架设备安全预警装置30，包括：监测模块302、控制模块304和预警模 块306；监测模块302用于采集臂架设备周围预设区域5内的图像信息；控制模块304与监测模块302通信，用于接收来自监测模块302的图像信息，并根据图像信息判断预设区域5是否安全；控制模块304还用于基于预设区域5不安全的情况下，生成预警信息；预警模块306与控制模块304通信，用于接收来自控制模块304的预警信息，并根据预警信息发出预警。
在该实施例中，监测模块302监测预设区域5的实际状况，当臂架设备周围存在障碍物或人时，控制模块304会根据监测模块302监测到的图像信息来判断臂架设备存在与周围的障碍物或人碰撞的危险，即预设区域5不安全，此时控制模块304控制预警模块306发出预警，以提示臂架设备的驾驶人员或操作人员预设区域5不安全，减少了臂架设备在作业过程中存在安全隐患，避免臂架设备与障碍物发生撞击，或臂架设备撞人的现象发生，确保臂架设备正常地施工作业。
优选地，图像信息包括预设区域5是否存在物体，臂架设备与物体之间的距离或物体的类型等可体现出预设区域5状况的信息。
优选地，预设区域5包括第一预设区域58、第二预设区域52、第三预设区域54和第四预设区域56；第一预设区域58为臂架周围的区域，该区域的边界距离臂架第一预设距离，第一预设距离根据监测模块302的有效监测距离设定；第二预设区域52为车头前方的扇形区域，该区域的边界距车头第二预设距离，第二预设距离同样根据监测模块302的有效监测距离设定；第三预设区域54为车尾后侧的扇形区域，该区域的边界距车尾第三预设距离，第三预设距离同样根据监测模块302的有效监测距离设定；第四预设区域56为支腿1两侧的区域，该区域的边界距支腿1第四预设距离，第四预设距离同样根据监测模块302的有效监测距离设定。
在本申请的一个实施例中，优选地，如图1至图5所示，监测模块302包括：臂架监测模块3022，臂架监测模块3022设置于臂架设备的臂架4上，用于采集第一预设区域58的图像信息。
在该实施例中，臂架监测模块3022设置在臂架4上，在臂架4作业过程中，对臂架4的作业空间进行监测，当臂架4的作业空间存在障碍物时，及时提醒臂架设备的驾驶员和操作员，避免臂架4与障碍物发生碰撞，防 止臂架4折断，确保臂架4作业过程中的安全性。
在本申请的一个实施例中，优选地，在臂架4伸展和/或收回的过程中，臂架监测模块3022还用于采集臂架4运动前方的图像信息。
在该实施例中，臂架监测模块3022还用于监测臂架4运动前方的状况，避免在臂架4伸展或收回的过程中，避免臂架4与障碍物发生碰撞，进一步确保臂架4作业过程中的安全性。
在本申请的一个实施例中，优选地，如图1至图5所示，监测模块302还包括：前监测模块3024、后监测模块3026和支腿监测模块3028；前监测模块3024设置于臂架设备的车头2，用于采集第二预设区域52的图像信息；后监测模块3026设置于臂架设备的车尾3，用于采集第三预设区域54图像信息；支腿监测模块3028设置于臂架设备的支腿1上，用于采集第四预设区域56的图像信息。
在该实施例中，前监测模块3024设置于臂架设备的车头2，后监测模块3026设置于臂架设备的车尾3，支腿监测模块3028设置于臂架设备的支腿1上，实现对预设区域5的全方位监测，无论臂架设备在行驶、倒车的过程中，还是在臂架设备作业的过程中，只要预设区域5有物体(障碍物或人等)进入，均会向驾驶员和操作员提供预警，避免臂架设备与物体发生碰撞。尤其在臂架设备作业过程中，前监测模块3024、后监测模块3026和支腿监测模块3028所监测的区域形成预设区域5，当与作业无关人员进入到预设区域5后，会向驾驶员或操作员发出预警，驾驶员或操作员即可根据实际情况停止作业，以及驱离进入到预设区域5的无关人员，避免在作业过程中损伤无关人员，确保了臂架设备作业过程的安全性。
优选地，如图1和图2所示，虚线内的区域为臂架设备的预设区域5，预设区域5包括第二预设区域52、第三预设区域54、第四预设区域56和第一预设区域58，前监测模块3024用于监测第二预设区域52，第二预设区域52位于臂架设备的前方，后监测模块3026用于监测第三预设区域54，第三预设区域54位于臂架设备的后方，支腿监测模块3028用于监测第四预设区域56，第四预设区域56位于臂架设备的侧方，臂架监测模块3022用于监测第一预设区域58，第一预设区域58为臂架的预设区域。
在本申请的一个实施例中，优选地，在支腿1伸展或收回的过程中，支腿监测模块3028还用于采集支腿1运动前方的图像信息。
在该实施例中，支腿监测模块3028还用于监测支腿1运动前方的状况，避免在支腿1伸展或收回的过程中，支腿1与障碍物发生碰撞，进一步确保支腿1作业过程中的安全性。
在本申请的一个实施例中，优选地，如图1至图6所示，监测模块302包括雷达3021，雷达3021设置在臂架设备上，用于采集预设区域5内的物体与臂架设备之间的距离信息；控制模块304还用于接收来至雷达3021的距离信息，并根据距离信息判断预设区域5内的物体与臂架设备之间的距离是否长于预设安全距离；基于预设区域5内的物体与臂架设备之间的距离不长于预设安全距离的情况下，控制模块304生成预警信息。
在该实施例中，监测模块302包括雷达3021，雷达3021可采集到臂架设备与物体之间的距离，当这个距离短于安全距离时，即表示有物体进入到臂架设备的预设区域5内，容易发生危险，进而控制模块304生成预警信息，并通过预警模块306提醒臂架设备的驾驶员或操作员。
在本申请的一个实施例中，优选地，如图1至图6所示，监测模块302包括摄像头，所述摄像头设置在所述臂架设备上，所述摄像头用于采集所述预设区域的影像信息，并将影像信息发送至控制模块，以使所述控制模块根据影像信息，获取所述预设区域内的物体与臂架设备之间的距离信息；控制模块304还用于根据距离信息判断预设区域5内的物体与臂架设备之间的距离是否长于预设安全距离；基于预设区域5内的物体与臂架设备之间的距离不长于预设安全距离的情况下，控制模块304生成预警信息。
优选地，预设安全距离可根据臂架设备的作业半径来确定，也可根据以往作业经验来确定。
在本申请的一个实施例中，优选地，如图1至图6所示，监测模块302包括摄像头3023，摄像头3023设置在臂架设备上，摄像头3023用于采集预设区域5的影像信息；臂架设备安全预警装置30还包括显示模块308，显示模块308用于接收来自摄像头3023的影像信息，并根据影像信息展示影像。
在该实施例中，摄像头3023设置在臂架设备上，摄像头3023用于采集臂架设备周围的影像，并将影像发送至显示模块308，显示模块308再将影像展示给驾驶员和/或操作员，使得驾驶员和操作员均可直观地了解臂架设备周围的状况。
优选地，雷达3021为距离传感器。显示模块308为设置在臂架设备上的显示器或终端。显示器可为独立的显示器，也可为车载设备的显示屏。同样地，显示模块308也可为移动终端。
在本申请的一个实施例中，优选地，雷达3021的数量为多个，摄像头3023为红外摄像头，所述红外摄像头的数量与雷达3021的数量相同，雷达3021与摄像头3023一一对应设置；或所述雷达与所述摄像头交替设置；基于预设区域5内的物体与臂架设备之间的距离长于预设安全距离的情况下，显示模块308分屏展示影像；基于预设区域5内的物体与臂架设备之间的距离不长于预设安全距离的情况下，显示模块308突出展示物体所处预设区域的影像。
在该实施例中，雷达3021的数量为多个，分别设置在臂架设备上的不同位置，使得监测模块302可全方位地监测预设区域5的状况。摄像头3023的数量设置为与雷达3021的数量一致，并且摄像头3023与雷达3021一一对应设置，即在每个雷达3021的旁边设置一个摄像头3023，使得摄像头3023所采集的图像与雷达3021的监测区域对应，当驾驶员和操作员想要连接监控区域的状况时更加具有针对性。并且所有的预设区域5均为发生危险状况时，每个摄像头3023所采集到的图像在显示模块308上分屏显示，当某一雷达3021的监控区域发生危险时，在监测该区域的图像上发出报警提示，或将该区域图像全屏显示。红外摄像头能够在臂架设备夜间工作时拍摄更加清晰的图像，便于控制器根据图像信息生产更加准确的预警信息。
在本申请的一个实施例中，优选地，控制模块还用于接收来至摄像头3023的影像信息，根据影像信息解析物体的类型信息，并根据类型信息控制臂架设备的臂架4。
在该实施例中，控制模块304可根据摄像头3023采集到的图像分析物体的类型，物体的类型至少包括石块、机械设备、作业人员和非作业人员， 当进入到预设区域5的是非作业人员时，驾驶员或操作员需立即停止作业，并驱离非作业人员，避免发生意外损伤，当进入到预设区域5的石块或机械设备时，则可继续作业，待此作业步骤完成后，再处理石块或机械设备，当进入到预设区域5的是作业人员时，则继续作业。
优选地，控制模块304获取到物体的类型后可通过语音播报来提示操作员或驾驶员，也可自动控制作业设备。
优选地，判断进入的到预设区域5的人员是作业人员还是非作业人员，可通过判断人员是否穿着指定工装，是否佩戴安全帽，是否佩戴特定标识等方式来实现。
在本申请的一个实施例中，优选地，如图1至图7所示，预警模块306包括：喇叭3062和预警灯3064，喇叭3062与监测模块302对应设置，喇叭3062用于根据预警信息发出蜂鸣；预警灯3064与监测模块302对应设置，预警灯3064用于根据预警信息发出警示灯光。
在该实施例中，预警模块306包括喇叭3062和预警灯3064，喇叭3062和预警灯3064同时发出预警，及时向驾驶员或操作员发出提示，避免安全事故的发生。
在本申请的一个实施例中，优选地，如图1至图4所示，所臂架设备安全预警装置30还包括通信模块309，通信模块309与控制模块304相连接，用于将图像信息发送至服务器。
在该实施例中，通信模块309与服务器相通信，将预设区域5的图像信息传递至控制室，使得相关人员可远程监控臂架设备的作业状况。
优选地，如图8所示，预警模块306包括臂架预警模块3065、前预警模块3066、后预警模块3067和支腿预警模块3068，显示模块308包括臂架显示模块3082、前显示模块3084、后显示模块3086和支腿显示模块3088。
前监测模块3024将监测到的第二预设区域52的图像信息发送至控制模块304，控制模块304判断第二预设区域52是否安全，当第二预设区域52不安全时，控制模块304生成预警信息，并发送至前预警模块3066和前显示模块3084，以使前预警模块3066进行预警，前显示模块3084显示第二预设区域52的图像。
后监测模块3026将监测到的第三预设区域54的图像信息发送至控制模块304，控制模块304判断第三预设区域54是否安全，当第三预设区域54不安全时，控制模块304生成预警信息，并发送至后预警模块3067和后显示模块3086，以使后预警模块3067进行预警，后显示模块3086显示第三预设区域54的图像。
支腿监测模块3028将监测到的第四预设区域56的图像信息发送至控制模块304，控制模块304判断第四预设区域56是否安全，当第四预设区域56不安全时，控制模块304生成预警信息，并发送至支腿预警模块3068和支腿显示模块3088，以使支腿预警模块3068进行预警，支腿显示模块3088显示第四预设区域56的图像。
臂架监测模块3022将监测到的第一预设区域58的图像信息发送至控制模块304，控制模块304判断第一预设区域58是否安全，当第一预设区域58不安全时，控制模块304生成预警信息，并发送至臂架预警模块3065和臂架显示模块3082，以使臂架预警模块3065进行预警，臂架显示模块3082显示第一预设区域58的图像。
在本申请第二方面实施例中，本申请提供了一种臂架设备，包括如上述任一实施例所述的臂架设备安全预警装置，因此该臂架设备具备上述任一实施例所述的臂架设备安全预警装置的全部有益效果。
优选地，臂架设备为混泥土泵车。
在本申请第三方面实施例中，如图9所示，本申请提供了一种臂架设备安全预警方法，包括：
步骤402，采集臂架设备周围预设区域内的图像信息；
步骤404，根据图像信息判断预设区域是否安全；
步骤406，基于预设区域不安全的情况下，生成预警信息；
步骤408，根据预警信息发出预警。
在该实施例中，监测模块监测预设区域的实际状况，当臂架设备周围存在障碍物或人时，控制模块会根据监测模块监测到的图像信息来判断臂架设备存在与周围的障碍物或人碰撞的危险，即预设区域不安全，此时控制模块控制预警模块发出预警，以提示臂架设备的驾驶人员或操作人员预 设区域不安全，减少了臂架设备在作业过程中存在安全隐患，避免臂架设备与障碍物发生撞击，或臂架设备撞人的现象发生，确保臂架设备正常地施工作业。
优选地，图像信息包括预设区域是否存在物体，臂架设备与物体之间的距离或物体的类型等可体现出预设区域状况的信息。
在本申请的一个实施例中，优选地，如图10所示，臂架设备安全预警方法包括：
步骤502，采集第一预设区域的图像信息；
步骤504，根据图像信息判断预设区域是否安全；
步骤506，基于预设区域不安全的情况下，生成预警信息；
步骤508，根据预警信息发出预警。
在该实施例中，臂架监测模块设置在臂架上，在臂架作业过程中，对臂架的作业空间进行监测，当臂架的作业空间存在障碍物时，及时提醒臂架设备的驾驶员和操作员，避免臂架与障碍物发生碰撞，防止臂架折断，确保臂架作业过程中的安全性。
在本申请的一个实施例中，优选地，如图11所示，臂架设备安全预警方法包括：
步骤602，在臂架伸展和/或收回的过程中，采集臂架运动前方的图像信息；
步骤604，根据图像信息判断预设区域是否安全；
步骤606，基于预设区域不安全的情况下，生成预警信息；
步骤608，根据预警信息发出预警。
在该实施例中，臂架监测模块还用于监测臂架运动前方的状况，避免在臂架伸展或收回的过程中，避免臂架与障碍物发生碰撞，进一步确保臂架作业过程中的安全性。
在本申请的一个实施例中，优选地，如图12所示，臂架设备安全预警方法包括：
步骤702，采集第一预设区域图像信息；
步骤704，采集第二预设区域的图像信息；
步骤706，采集第三预设区域的图像信息；
步骤708，采集第四预设区域的图像信息；
步骤710，根据图像信息判断预设区域是否安全；
步骤712，基于预设区域不安全的情况下，生成预警信息；
步骤714，根据预警信息发出预警。
在该实施例中，前监测模块设置于臂架设备的车头，后监测模块设置于臂架设备的车尾，支腿监测模块设置于臂架设备的支腿上，实现对预设区域的全方位监测，无论臂架设备在行驶、倒车的过程中，还是在臂架设备作业的过程中，只要预设区域有物体(障碍物或人等)进入，均会向驾驶员和操作员提供预警，避免臂架设备与物体发生碰撞。尤其在臂架设备作业过程中，前监测模块、后监测模块和支腿监测模块所监测的区域形成预设区域，当与作业无关人员进入到预设区域后，会向驾驶员或操作员发出预警，驾驶员或操作员即可根据实际情况停止作业，以及驱离进入到预设区域的无关人员，避免在作业过程中损伤无关人员，确保了臂架设备作业过程的安全性。
在本申请的一个实施例中，优选地，如图13所示，臂架设备安全预警方法包括：
步骤802，在支腿伸展或收回的过程中，采集支腿运动前方的图像信息；
步骤804，根据图像信息判断预设区域是否安全；
步骤806，基于预设区域不安全的情况下，生成预警信息；
步骤808，根据预警信息发出预警。
在该实施例中，支腿监测模块还用于监测支腿运动前方的状况，避免在支腿伸展或收回的过程中，支腿与障碍物发生碰撞，进一步确保支腿作业过程中的安全性。
在本申请的一个实施例中，优选地，如图14所示，臂架设备安全预警方法，包括：
步骤902，采集预设区域内的物体与臂架设备之间的距离信息；
步骤904，根据距离信息判断预设区域内的物体与臂架设备之间的距 离是否长于预设安全距离；
步骤906，基于预设区域内的物体与臂架设备之间的距离不长于预设安全距离的情况下，生成预警信息；
步骤908，根据预警信息发出预警。
在该实施例中，监测模块包括雷达，雷达可采集到臂架设备与物体之间的距离，当这个距离短于安全距离时，即表示有物体进入到臂架设备的预设区域内，容易发生危险，进而控制模块生成预警信息，并通过预警模块提醒臂架设备的驾驶员或操作员。
优选地，预设安全距离可根据臂架设备的作业半径来确定，也可根据以往作业经验来确定。
在本申请的一个实施例中，优选地，采集预设区域的图像信息还包括：采集预设区域的影像信息；臂架设备安全预警方法还包括：根据影像信息展示影像。
在该实施例中，摄像头设置在臂架设备上，摄像头用于采集臂架设备周围的影像，并将影像发送至显示模块，显示模块再将影像展示给驾驶员和/或操作员，使得驾驶员和操作员均可直观地了解臂架设备周围的状况。
优选地，雷达为距离传感器。显示模块为设置在臂架设备上的显示器或终端。显示器可为独立的显示器，也可为车载设备的显示屏。同样地，显示模块也可为移动终端。
在本申请的一个实施例中，优选地，臂架设备安全预警方法还包括：采集预设区域的影像信息；根据影像信息解析物体的类型信息；根据类型信息控制臂架设备的臂架。
在该实施例中，控制模块可根据摄像头采集到的图像分析物体的类型，物体的类型至少包括石块、机械设备、作业人员和非作业人员，当进入到预设区域的是非作业人员时，驾驶员或操作员需立即停止作业，并驱离非作业人员，避免发生意外损伤，当进入到预设区域的石块或机械设备时，则可继续作业，待此作业步骤完成后，再处理石块或机械设备，当进入到预设区域的是作业人员时，则继续作业。
优选地，控制模块获取到物体的类型后可通过语音播报来提示操作员 或驾驶员，也可自动控制作业设备。
优选地，判断进入的到预设区域的人员是作业人员还是非作业人员，可通过判断人员是否穿着指定工装，是否佩戴安全帽，是否佩戴特定标识等方式来实现。
在本申请的描述中，术语“多个”则指两个或两个以上，除非另有明确的限定，术语“上”、“下”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制；术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请的至少一个实施例或示例中。在本申请中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (14)

  1. 一种臂架设备安全预警装置，其中，包括：
    监测模块，用于采集臂架设备周围预设区域内的图像信息；
    控制模块，所述控制模块与所述监测模块通信，用于接收来自所述监测模块的图像信息，并根据所述图像信息判断所述预设区域是否安全；
    所述控制模块还用于基于所述预设区域不安全的情况下，生成预警信息；
    预警模块，所述预警模块与所述控制模块通信，用于接收来自所述控制模块的预警信息，并根据所述预警信息发出预警；
    其中，所述监测模块包括臂架监测模块，所述臂架监测模块设置于所述臂架设备的臂架上，用于采集臂架周围的第一预设区域的图像信息。
  2. 根据权利要求1所述的臂架设备安全预警装置，其中，
    在所述臂架伸展和/或收回的过程中，所述臂架监测模块还用于采集所述臂架运动前方的图像信息。
  3. 根据权利要求1所述的臂架设备安全预警装置，其中，所述监测模块还包括：
    前监测模块，所述前监测模块设置于所述臂架设备的车头，用于采集第二预设区域的图像信息；
    后监测模块，所述后监测模块设置于所述臂架设备的车尾，用于采集第三预设区域的图像信息；
    支腿监测模块，所述支腿监测模块设置于所述臂架设备的支腿上，用于采集第四预设区域的图像信息。
  4. 根据权利要求3所述的臂架设备安全预警装置，其中，
    在所述支腿伸展或收回的过程中，所述支腿监测模块还用于采集所述支腿运动前方的图像信息。
  5. 根据权利要求1所述的臂架设备安全预警装置，其中，
    所述监测模块包括摄像头，所述摄像头设置在所述臂架设备上，所述摄像头用于采集所述预设区域的影像信息，并将影像信息发送至控制模块， 以使所述控制模块根据影像信息，获取所述预设区域内的物体与臂架设备之间的距离信息；和/或
    所述监测模块包括雷达，所述雷达设置在所述臂架设备上，用于采集所述预设区域内的物体与臂架设备之间的距离信息，并将距离信息发送至控制模块；
    控制模块还用于根据所述距离信息判断所述预设区域内的物体与臂架设备之间的距离是否长于预设安全距离；
    基于所述预设区域内的物体与臂架设备之间的距离不长于预设安全距离的情况下，所述控制模块生成预警信息。
  6. 根据权利要求5所述的臂架设备安全预警装置，其中，
    所述臂架设备安全预警装置还包括显示模块，所述显示模块用于接收来自所述摄像头的影像信息，并根据所述影像信息展示影像。
  7. 根据权利要求6所述的臂架设备安全预警装置，其中，
    所述雷达的数量为多个，所述摄像头为红外摄像头，所述红外摄像头的数量与所述雷达的数量相同，所述雷达与所述摄像头一一对应设置；或所述雷达与所述摄像头交替设置；
    基于所述臂架设备预设区域内的物体与臂架设备之间的距离长于预设安全距离的情况下，所述显示模块分屏展示所述影像；
    基于所述臂架设备预设区域内的物体与臂架设备之间的距离不长于预设安全距离的情况下，所述显示模块突出展示所述物体所处预设区域的影像。
  8. 根据权利要求7所述的臂架设备安全预警装置，其中，
    所述控制模块还用于接收来至所述摄像头的影像信息，根据所述影像信息解析所述物体的类型信息，并根据所述类型信息控制所述臂架设备的臂架。
  9. 根据权利要求1至8中任一项所述的臂架设备安全预警装置，其中，所述预警模块包括：
    喇叭，所述喇叭与所述监测模块对应设置，所述喇叭用于根据所述预警信息发出蜂鸣；
    预警灯，所述预警灯与所述监测模块对应设置，所述预警灯用于根据所述预警信息发出警示灯光。
  10. 根据权利要求1至8中任一项所述的臂架设备安全预警装置，其中，还包括：
    通信模块，所述通信模块与所述控制模块相连接，用于将所述图像信息发送至服务器。
  11. 一种臂架设备，其中，包括如权利要求1至10中任一项所述的臂架设备安全预警装置。
  12. 一种臂架设备安全预警方法，其中，包括：
    采集臂架设备周围预设区域内的图像信息；
    根据所述图像信息判断所述预设区域内是否安全；
    基于所述预设区域内不安全的情况下，生成预警信息；
    根据所述预警信息发出预警；
    其中，所述采集臂架设备预设区域的图像信息包括：采集第一预设区域的图像信息。
  13. 根据权利要求12所述的臂架设备安全预警方法，其中，所述采集臂架设备周围预设区域内的图像信息还包括：
    在臂架伸展和/或收回的过程中，采集所述臂架运动前方的图像信息。
  14. 根据权利要求13所述的臂架设备安全预警方法，其中，所述采集臂架设备周围预设区域内的图像信息还包括：
    采集第二预设区域的图像信息；
    采集第三预设区域的图像信息；
    采集第四预设区域的图像信息。
PCT/CN2019/093880 2019-06-03 2019-06-28 臂架设备、臂架设备安全预警装置及方法 WO2020244010A1 (zh)

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