WO2026007490A1 - 臂载随动感知系统、臂架作业方法及作业机械 - Google Patents

臂载随动感知系统、臂架作业方法及作业机械

Info

Publication number
WO2026007490A1
WO2026007490A1 PCT/CN2025/087976 CN2025087976W WO2026007490A1 WO 2026007490 A1 WO2026007490 A1 WO 2026007490A1 CN 2025087976 W CN2025087976 W CN 2025087976W WO 2026007490 A1 WO2026007490 A1 WO 2026007490A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
detection unit
rotation
swing
scene detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2025/087976
Other languages
English (en)
French (fr)
Inventor
付玲
范卿
刘宇新
喻乐康
刘延斌
俞立虎
徐柏科
罗贤智
郑昌明
郭纪梅
员征文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Heavy Industry Science and Technology Co Ltd
Original Assignee
Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoomlion Heavy Industry Science and Technology Co Ltd filed Critical Zoomlion Heavy Industry Science and Technology Co Ltd
Publication of WO2026007490A1 publication Critical patent/WO2026007490A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Program controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages

Definitions

  • This application belongs to the field of operating machinery, specifically relating to a boom-mounted follow-up sensing system, a boom operation method, and operating machinery.
  • boom-type lifting machinery During the operation of boom-type lifting machinery, it is usually necessary to obtain information about the surrounding environment to ensure operational safety.
  • the boom length of a large crane can reach hundreds of meters, and the maximum amplitude and maximum working radius can exceed sixty meters—the operator in the cab can be more than sixty meters away from the lifting target. This limited visibility during lifting operations creates potential safety hazards.
  • the purpose of this application is to provide a boom-mounted follow-up sensing system, boom operation method, and operating machinery that can achieve wide-field monitoring of a large operating range.
  • the first aspect of this application provides an arm-mounted servo sensing system, which includes:
  • the scene detection unit is used to acquire scan data of the work scene
  • An arm-mounted gimbal mounted on an arm, includes a pitch mechanism, a rotation mechanism, and a swing mechanism.
  • the rotation mechanism is connected to the swing mechanism and can drive the swing mechanism to rotate around a rotation axis.
  • a scene detection unit is mounted on the swing mechanism, which can drive the scene detection unit to swing to adjust the swing angle between the optical axis of the scene detection unit and the rotation axis.
  • the pitch mechanism is connected between the arm and the rotation mechanism and can drive the rotation mechanism to perform up-and-down pitch movements around the pitch axis.
  • the processing unit communicates with both the arm-mounted gimbal and the scene detection unit, and is configured as follows:
  • the pitch mechanism is controlled according to the boom's working position to adjust the rotation axis to be perpendicular to the ground plane;
  • the total number of rotations of the scene detection unit around the rotation axis and the swing angle corresponding to each rotation are determined based on the size of the boom's working scene.
  • a global map of the work scene is generated based on the scanning data from the scene detection unit, the motion data from the rotating mechanism, and the motion data from the swinging mechanism, including:
  • the scanned data is processed and stitched together by combining the motion data of the rotating mechanism and the swing mechanism to generate a global map of the work scene.
  • the processing device is configured as follows:
  • the operating environment dimensions of the boom are determined based on its length.
  • the swing mechanism and the rotation mechanism are controlled to cause the scene detection unit to perform a rotational scan around the rotation axis with a swing angle corresponding to the rotation cycle until the last rotational scan is completed, including:
  • the control rotation mechanism drives the scene detection unit to rotate at preset rotation angle intervals and preset time period intervals until the scene detection unit completes one rotation in the current rotation cycle.
  • the arm-mounted gimbal also includes a roll mechanism and a pitch mechanism.
  • the roll mechanism can drive the rotation mechanism to rotate around the roll axis, which is perpendicular to the pitch axis.
  • the processing device is also configured to:
  • the roll mechanism is controlled to ensure that the axis of rotation remains perpendicular to the ground plane when the boom twists or tilts.
  • the pitch mechanism, roll mechanism, rotation mechanism, and oscillation mechanism are connected in sequence; or, the roll mechanism, pitch mechanism, rotation mechanism, and oscillation mechanism are connected in sequence.
  • the arm-mounted servo sensing system also includes a human-machine interaction device, which is used to receive and display images collected by the scene detection unit and to obtain the user's target selection operation on the image;
  • the processing device communicates with the human-computer interaction device and is also configured to:
  • the processing device is further configured to:
  • the operation path is planned and safety calculations are performed.
  • the processing device is further configured to:
  • the boom-mounted gimbal is controlled to make the optical axis of the scene detection unit perpendicular to the ground plane, and when the target enters the field of view collected by the scene detection unit, the target is identified and repositioned.
  • the arm-mounted servo sensing system further includes a first angle sensor and a second angle sensor.
  • the first angle sensor is disposed on the swing mechanism and is used to detect the swing angle of the swing mechanism
  • the second angle sensor is disposed on the rotation mechanism and is used to detect the rotation angle of the rotation mechanism
  • the scene detection unit includes an image acquisition component and/or radar.
  • a second aspect of this application also provides a working machine, which includes: a boom and the aforementioned boom-mounted follow-up sensing system, wherein the boom-mounted gimbal is mounted on the boom.
  • a third aspect of this application also provides a boom operation method, wherein the boom is equipped with a boom-mounted gimbal, the boom-mounted gimbal includes a pitch mechanism, a rotation mechanism, and a swing mechanism mounted on the rotation mechanism.
  • the rotation mechanism can drive the swing mechanism to rotate around a rotation axis.
  • the swing mechanism is equipped with a scene detection unit, and the swing mechanism can drive the scene detection unit to swing to adjust the swing angle between the optical axis of the scene detection unit and the rotation axis.
  • the pitch mechanism is connected between the boom and the rotation mechanism and can drive the rotation mechanism to perform up and down pitch movements around a pitch axis, the pitch axis being perpendicular to the boom's amplitude direction.
  • the boom operation method includes:
  • the pitch mechanism is controlled according to the boom's working position to adjust the rotation axis to be perpendicular to the ground plane;
  • the total number of rotations of the scene detection unit around the rotation axis and the swing angle corresponding to each rotation are determined based on the size of the boom's working scene.
  • a global map of the work scene is generated based on the scanning data from the scene detection unit, the motion data from the rotating mechanism, and the motion data from the swinging mechanism, including:
  • the scanned data is processed and stitched together by combining the motion data of the rotating mechanism and the swing mechanism to generate a global map of the work scene.
  • the rotating mechanism is mounted on the boom via a pitch mechanism.
  • the pitch mechanism can be controlled to drive the rotating mechanism's pitch movement, adjusting the rotation axis to be perpendicular to the ground plane.
  • This facilitates the scene detection unit's rotational scanning of the work area from all directions, while also enabling comprehensive and effective scanning of the environment below and around the scene detection unit. This helps reduce the control difficulty of the boom-mounted gimbal and simplifies subsequent scan data processing steps.
  • the scene detection unit is mounted on the rotating mechanism via a swing mechanism. This swing mechanism drives the scene detection unit to swing around its swing axis, adjusting the swing angle between the optical axis and the rotation axis.
  • the processing device can control the boom-mounted gimbal's movement, allowing the scene detection unit to perform rotational scanning at different tilt angles. This expands the scene detection unit's scanning coverage area, enabling large-area, wide-field-of-view monitoring and helping to eliminate potential safety hazards during operations.
  • Figure 1 shows a schematic diagram of the arm-mounted servo sensing device according to a specific embodiment of this application
  • Figure 2 shows a schematic diagram of the arm-mounted servo sensing device in Figure 1 from another perspective
  • Figure 3 shows a partial structural perspective view of the arm-mounted servo sensing device in Figure 1;
  • Figure 4 shows a schematic diagram of the operation of a crane according to a specific embodiment of this application
  • Figure 5 shows a schematic diagram of the scanning status of the boom-mounted servo sensing device of this application when the boom of the crane is not extended.
  • Figure 6 shows a schematic diagram of the scanning status of the boom-mounted servo sensing device of this application when the boom of the crane is extended.
  • Figure 7 shows a schematic diagram of the scanning state of the arm-mounted servo sensing device of this application when the optical axis of the scene detection unit is tilted to the rotation axis.
  • Figure 8 shows a control logic flowchart of an arm-mounted servo sensing device according to a specific embodiment of this application.
  • this application provides a boom-mounted gimbal, which can be mounted on the boom 21 of the lifting machinery and used to install a scene detection unit.
  • the scene detection unit is used to acquire scanned data of the operation scene. This facilitates online reconstruction of the lifting operation scene, large-space, long-distance target recognition and positioning, and dynamic detection of spatial obstacles, thereby eliminating the operator's limited field of vision, greatly reducing the difficulty of operating the lifting machinery, and making the lifting machinery more suitable for automated or unmanned operations in hazardous operation scenarios or repetitive tasks.
  • the gimbal arm of this application includes a pitch mechanism 14, a rotation mechanism 12, and a swing mechanism 11.
  • the rotation mechanism 12 is connected to the swing mechanism 11, and the scene detection unit can be mounted on the swing mechanism 11.
  • the rotation mechanism 12 can drive the swing mechanism 11 to rotate around the rotation axis to drive the scene detection unit to perform a 360° rotation scan.
  • the swing mechanism 11 can drive the scene detection unit to swing around the swing axis to adjust the swing angle between the optical axis of the scene detection unit and the rotation axis.
  • the swing axis can be parallel to the ground plane.
  • the operating machinery can be a boom-equipped operating device, such as a crane, pump truck, aerial spray fire truck, aerial work platform, or boom-type robot.
  • a boom-equipped operating device such as a crane, pump truck, aerial spray fire truck, aerial work platform, or boom-type robot.
  • large cranes can have a maximum operating radius and maximum working amplitude of over 60 meters, while their minimum operating radius and minimum working amplitude can be as low as a few meters.
  • the difference between the maximum and minimum operating amplitudes is significant, as is the difference between the maximum and minimum operating radii, which can reach tens of meters.
  • the boom-mounted gimbal of this application can achieve large-area field-of-view monitoring and 3D reconstruction for scene detection units with small field of view and relatively low equipment costs, while also effectively reducing the manufacturing cost of large cranes.
  • the boom-mounted gimbal is equipped with a swing mechanism 11 that can adjust the swing angle during scanning
  • the boom-mounted follow-up sensing device 1 which is used with scene detection units with small field of view, can also be applied to operating machinery of different specifications and models, especially large operating machinery, greatly improving its versatility.
  • the boom-mounted gimbal also includes a pitch mechanism 14.
  • the pitch mechanism 14 can drive the rotating mechanism 12 to perform up-and-down pitch movements around the pitch axis when the boom 21 luffs.
  • the rotation axis of the scene detection unit can be adjusted by the pitch mechanism 14 to ensure perpendicularity to the ground plane.
  • the pitch axis is perpendicular to the luffing direction of the boom 21, and the luffing direction of the boom 21 is the extension direction of the projection of the central axis of the boom 21 onto the ground plane.
  • the swing mechanism 11, the rotation mechanism 12, and the pitch mechanism 14 belong to two different control modules.
  • the swing mechanism 11 and the rotation mechanism 12 are rotation scanning operation control modules, while the pitch mechanism 14 is a pose adjustment control module.
  • the movement of the pitch mechanism 14 can be dynamically and in real time controlled when the working pose of the boom 21 changes, thereby changing the pose of the rotation mechanism 12 so that the rotation axis always remains perpendicular to the ground plane.
  • the scene detection unit is mounted on the swing mechanism 11 and has an orientation calibration relationship.
  • the swing mechanism 11 and the rotation mechanism 12 are designed to be independently controlled to scan the work scene step by step during rotation scanning operations. According to the calibration relationship of the scene detection unit, it helps to improve the efficiency of post-processing of scanning data. For example, when the scanning data is used for scene reconstruction, it can improve the efficiency of scene reconstruction and the real-time performance of the algorithm; or, when the scanning data is used for scene obstacle detection, it can effectively improve the obstacle detection efficiency and positioning accuracy.
  • scanning data can also be used for other purposes, such as pedestrian detection, etc., which will not be listed here.
  • the control coordinate system of the arm-mounted servo sensing system of this application can be provided with two coordinate systems.
  • the pitch axis of the pitch mechanism 14 is a dynamically changing axis, and the pitch axis of the pitch mechanism 14 is set in one of the independent control coordinate systems; while the swing axis of the swing mechanism 11 and the rotation axis of the rotation mechanism 12 that drives the scene detection unit to rotate are controllable and adjustable axes according to the working conditions and requirements, and the swing axis of the swing mechanism 11 and the rotation axis of the rotation mechanism 12 that drives the scene detection unit to rotate are set in another coordinate system.
  • the gimbal of this application has a pitch mechanism 14 between the rotation mechanism 12 and the arm 21. This allows the gimbal to be installed on the arm 21 in any orientation.
  • the rotation axis can be automatically controlled to be perpendicular to the ground plane. This enables a comprehensive and effective scan of the environment below and around the scene detection unit, and helps simplify the subsequent scan data processing steps of the processing device.
  • the scene detection unit includes detection components such as a LiDAR 151 and/or an image acquisition component 152.
  • detection components such as a LiDAR 151 and/or an image acquisition component 152.
  • Different models and specifications of the LiDAR 151 and image acquisition component 152 have different field of view angles.
  • the swing angle of the scene detection unit can be flexibly adjusted, greatly improving the versatility of the arm-mounted gimbal.
  • the scene detection unit performs a rotational scan of the work area, which facilitates the subsequent generation of a global map of the work scene and also facilitates monitoring, tracking, and obstacle recognition during operation.
  • the swing mechanism 11 may include a swing drive 111 and a swing bracket 112, and the rotation mechanism 12 may include a rotation drive 121 and a rotation bracket 122.
  • the swing drive 111 is mounted on the swing bracket 112, and its drive shaft is drivably connected to the scene detection unit to drive the scene detection unit to swing.
  • the rotation drive 121 is mounted on the rotation bracket 122, and its drive shaft is drivably connected to the swing bracket 112 to drive the swing mechanism 11 to rotate.
  • the swing drive 111 may include a servo motor, a stepper motor, or an electric cylinder, etc.
  • the swing bracket 112 may be U-shaped or irregularly shaped, etc.
  • the scene detection unit may be directly connected to the drive shaft of the swing drive 111, or indirectly connected to the drive shaft of the swing drive 111 through a connecting frame, an intermediate gear assembly, or a linkage assembly.
  • the rotary drive 121 may include a servo motor or a stepper motor
  • the rotary support 122 may be an L-shaped or irregularly shaped support
  • the swing support 112 may be directly connected to the drive shaft of the rotary drive 121, or indirectly connected to the drive shaft of the rotary drive 121 through a connecting frame, intermediate gear assembly, etc.
  • the pitch mechanism 14 may include a pitch drive 141 and a pitch support 142.
  • the pitch drive 141 may include a servo motor, a stepper motor, or an electric cylinder
  • the pitch support 142 may be a U-shaped support or an irregularly shaped support.
  • the rotation axis must be perpendicular to the ground plane to facilitate subsequent online reconstruction of the 3D scene map.
  • factors such as the swinging of the load on the boom 21 or the tilting of the vehicle body can cause the end of the boom 21 to twist.
  • the twisting of the boom 21 will cause the rotating mechanism 12 to tilt, and the perpendicular relationship between the rotation axis and the ground plane will also change.
  • the gimbal of this application further includes a roll mechanism 13 connected to the pitch mechanism 14.
  • the roll mechanism 13 and the pitch mechanism 14 are connected between the boom 21 and the rotation mechanism 12.
  • the roll mechanism 13 can drive the rotation mechanism 12 to rotate around the roll axis, which is parallel to the amplitude direction of the boom 21 and perpendicular to the pitch axis.
  • the rotation axis of the scene detection unit can be adjusted by the roll mechanism 13 to ensure that it is perpendicular to the ground plane.
  • the roll mechanism 13 may include a roll drive 131 and a roll support 132.
  • the roll drive 131 may include a servo motor, a stepper motor, or an electric cylinder, etc.
  • the roll support 132 may be a U-shaped support or an irregularly shaped support, etc.
  • the roll mechanism 13 and the pitch mechanism 14 can belong to the same control module, that is, the roll mechanism 13 and the pitch mechanism 14 belong to the same posture adjustment control module.
  • the movement of the roll mechanism 13 and the pitch mechanism 14 can be dynamically and in real time controlled when the working posture of the boom 21 changes, thereby changing the posture of the rotation mechanism 12 so that the rotation axis always remains perpendicular to the ground plane.
  • the roll axis of the roll mechanism 13 is also a dynamically changing axis, and the pitch axis of the pitch mechanism 14 and the roll axis of the roll mechanism 13 are set in the same control coordinate system.
  • the gimbal of this application has a roll mechanism 13 and a pitch mechanism 14 between the rotation mechanism 13 and the boom 21, it can perform a comprehensive and effective scan of the environment below and around the scene detection unit when the boom 21 changes amplitude and tilts. This also helps to simplify the subsequent scan data processing steps and reduce the control difficulty of the gimbal.
  • the swing angle adjustment range of the swing mechanism 11 is -32° to 32°.
  • the pitch angle adjustment range of the pitch mechanism 14 is -10° to 90°.
  • the roll angle adjustment range of the roll mechanism 13 is -15° to 15°.
  • the rotation angle control range of the rotation mechanism 12 is -20° to 360° for forward rotation or -20° to 360° for reverse rotation.
  • the swing mechanism 11, the rotation mechanism 12, the roll mechanism 13, and the pitch mechanism 14 are connected in sequence.
  • the swing drive 111 can be mounted on the swing bracket 112, and the drive shaft of the swing drive 111 can be driven to the scene detection unit.
  • the rotation drive 121 is mounted on the rotation bracket 122, and the drive shaft of the rotation drive 121 is driven to the swing bracket 112.
  • the roll drive 131 is mounted on the roll bracket 132, and the drive shaft of the roll drive 131 is driven to the rotation bracket 122.
  • the pitch drive 141 is mounted on the pitch bracket 142, and the drive shaft of the pitch drive 141 is driven to the roll bracket 132.
  • the rotation bracket 122 can be directly connected to the drive shaft of the roll drive 131, or indirectly connected to the drive shaft of the roll drive 131 through a connecting frame, intermediate gear assembly, etc.
  • the roll bracket 132 can be directly connected to the drive shaft of the pitch drive 141, or indirectly connected to the drive shaft of the pitch drive 141 through a connecting frame, intermediate gear assembly, etc.
  • the swing mechanism 11, the rotation mechanism 12, the pitch mechanism 14, and the roll mechanism 13 are connected in sequence (not shown in the figure).
  • the swing drive 111 can be mounted on the swing bracket 112 and its drive shaft can be driven to the scene detection unit; the rotation drive 121 is mounted on the rotation bracket 122 and its drive shaft is driven to the swing bracket 112; the pitch drive 141 is mounted on the pitch bracket 142 and its drive shaft is driven to the rotation bracket 122; and the roll drive 131 is mounted on the roll bracket 132 and its drive shaft is driven to the pitch bracket 142.
  • the rotation bracket 122 can be directly connected to the drive shaft of the pitch drive 141, or indirectly connected to the drive shaft of the pitch drive 141 through a connecting frame, intermediate gear assembly, etc.
  • the pitch support 142 can be directly connected to the drive shaft of the roll drive 131, or indirectly connected to the drive shaft of the roll drive 131 through a connecting frame, intermediate gear assembly, etc.
  • the arm-mounted gimbal may also include a gimbal mounting bracket (not shown in the figure), which can be connected to the arm 21.
  • the rotation mechanism 12 is mounted on the gimbal mounting bracket via a pitch mechanism 14 and a roll mechanism 13.
  • the pitch bracket 142 is connected to the gimbal mounting bracket;
  • the roll bracket 132 is connected to the gimbal mounting bracket.
  • the gimbal mounting bracket of the arm-mounted gimbal is L-shaped and has reinforcing ribs.
  • the pitch bracket 142 is formed by two vertical plates extending downward from the horizontal top plate of the gimbal mounting bracket and spaced apart.
  • the pitch drive 141 is mounted on the pitch bracket 142 and located on its outer side.
  • the roll bracket 132 is cylindrical and rotatably mounted between the two vertical plates of the pitch bracket 142.
  • the pitch drive 141 can drive the roll bracket 132 to pitch around the pitch axis.
  • the rotation bracket 122 is U-shaped and located inside the roll bracket 132.
  • the roll drive 131 is mounted on the roll bracket 132 and can drive the rotation bracket 122 to roll around the roll axis.
  • the pitch axis is perpendicular to the roll axis.
  • the swing bracket 112 is U-shaped and located inside the rotation bracket 122.
  • the rotation drive 121 is mounted on the rotation bracket 122 and can drive the swing bracket 112 to rotate around the rotation axis.
  • the scene detection unit is set inside the swing bracket 112, and the swing drive 111 is set outside the swing bracket 112 and can drive the scene detection unit to swing around the swing axis.
  • the gimbal mounting bracket of the arm-mounted gimbal is L-shaped and has reinforcing ribs.
  • One outer side plate of the gimbal mounting bracket is used to connect to the arm 21, and the other outer side plate is used to install the processing device 17.
  • the pitch bracket 142 is located between the two inner side plates.
  • the roll bracket 132, the swivel bracket 122, and the swing bracket 112 are all L-shaped.
  • the arm-mounted gimbal also has a scene detection unit mounting bracket, which is used to install the scene detection unit and drive it to the swing drive component 111.
  • the swing drive component 111 can drive the scene detection unit mounting bracket to swing around the swing axis.
  • a second aspect of this application also provides an arm-mounted servo sensing device 1, which includes the aforementioned arm-mounted gimbal and scene detection unit.
  • the scene detection unit is mounted on the arm-mounted gimbal and is used to acquire scanning data of the work scene. Since the arm-mounted servo sensing device 1 includes the aforementioned arm-mounted gimbal, it also possesses all the technical effects brought by the arm-mounted gimbal, and therefore will not be repeated.
  • the third aspect of this application also provides an arm-mounted servo sensing system, which includes the arm-mounted servo sensing device 1 described above. Since the arm-mounted servo sensing system includes the arm-mounted servo sensing device 1 described above, it also has all the technical effects brought by the arm-mounted servo sensing device 1, so it will not be described again.
  • the boom-mounted follow-up sensing device 1 may further include a first angle sensor, a second angle sensor, a third angle sensor, and a fourth angle sensor (not shown in the figure).
  • the first angle sensor is disposed on the swing mechanism 11 and is used to detect the swing angle of the swing mechanism 11;
  • the second angle sensor is disposed on the rotation mechanism 12 and is used to detect the rotation angle of the rotation mechanism 12;
  • the third angle sensor is disposed on the roll mechanism 13 and is used to detect a first tilt angle value in the luffing direction perpendicular to the boom 21;
  • the fourth angle sensor is disposed on the pitch mechanism 14 and is used to detect a second tilt angle value in the luffing direction of the boom 21.
  • the first, second, third, and fourth angle sensors can be independently set angle sensors or partially integrated into the IMU attitude detection device.
  • the IMU attitude detection device has both automatic and manual control modes. In the automatic control mode, the processing device receives the IMU attitude angles and controls them; in the manual control mode, the user collects the IMU attitude angles and calls the SDK to control the axial angle rotation of the arm-mounted servo sensing device 1.
  • the scene detection unit may include an image acquisition component 152, or the scene detection unit may include a radar, or the scene detection unit may include both an image acquisition component 152 and a radar.
  • the radar may be a lidar 151.
  • the scene detection unit of this application can use a multi-line lidar with fewer beams, which can still achieve a large scanning space and reduce manufacturing costs.
  • the image acquisition component 152 may be a camera or a video camera, such as a variable-focus monocular camera.
  • the optical axis of the scene detection unit may be the central axis of the field of view of the image acquisition component 152 or the radar, and the central axes of the field of view of the image acquisition component 152 and the radar are parallel.
  • the radar's detection range is a conical area with the hoisting rope/hook as the axis.
  • the radar scan By controlling the radar scan, a three-dimensional scene map within the radar's scanning range can be reconstructed online. Subsequently, the location of the work target can be coarsely determined by selecting the work target in the three-dimensional scene map, and this value is transmitted to the camera used for precise positioning (secondary positioning), controlling the camera or webcam to follow.
  • the radar can detect the spatial three-dimensional coordinates and azimuth angles of all objects (including target points and obstacles) within the conical area with the hoisting rope/hook as the axis in real time, and fuse images to distinguish between target objects and obstacles. It can also achieve automatic obstacle avoidance of the boom 21 based on the movement trend of the hook/load and combined with a dynamic path correction algorithm.
  • the arm-mounted servo sensing device 1 can control the arm-mounted gimbal to automatically follow the camera to the target position. It extracts a high-resolution image region block of the target through focal length stretching and performs feature extraction on the target image block. Based on the coarse positioning value of the target, it calculates the slewing/luffing motion of the boom 21, then starts the automatic hoisting, controlling the gimbal to make the camera lens vertically downward, tracking the hook and its vertical projection point. When the camera's field of view overlaps with the coarsely determined precise positioning area, or when the target enters the camera's field of view, the camera is activated to perform target feature detection and precise positioning.
  • the arm-mounted servo sensing system may further include a processing unit 17, which controls the movement of the arm-mounted gimbal to enable the scene detection unit to perform a rotational scan of the work area at a preset swing angle.
  • the processing unit 17 communicates with both the arm-mounted gimbal and the scene detection unit, and can perform data exchange communication via Ethernet.
  • the processing unit may be configured as follows:
  • the pitch mechanism 14 is controlled according to the working posture of the boom 21 so that the rotation axis is adjusted to be perpendicular to the ground plane.
  • the swing mechanism 11 and the rotation mechanism 12 are controlled to perform rotational scanning around the rotation axis at a preset swing angle.
  • the detection range of the camera and lidar 151 can be expanded by using the swing mechanism 11 and the rotation mechanism 12 to adjust the swing direction of the optical axis of the lidar 151 and the camera in real time.
  • the processing device can automatically acquire the working posture data of the boom 21 by communicating with the motion control module of the boom 21; or, it can be manually input into the processing device.
  • processing device 17 is further configured to:
  • a global map of the work scene is generated based on the scanning data of the scene detection unit, the motion data of the rotating mechanism 12, and the motion data of the swing mechanism 11.
  • control rotation mechanism 12 When the boom 21 is stationary, the control rotation mechanism 12 performs rotation and the control swing mechanism 11 gradually adjusts the scanning area of the camera and radar, so as to obtain the actual scene point cloud data and images of the entire working area, realize the online reconstruction of the working scene and generate a global map of the working scene.
  • processing device 17 is further configured to:
  • the total number of rotations of the scene detection unit around the rotation axis and the swing angle corresponding to each rotation are determined based on the size of the boom's working scene.
  • the processing device determines the maximum swing angle by combining the boom's working scene dimensions and the field of view of the scene detection unit. Then, it combines this maximum swing angle with the field of view of the scene detection unit to determine the rotational scanning parameters of the scene detection unit.
  • the rotational scanning parameters of the scene detection unit include the total number of rotations of the scene detection unit around the rotation axis and the swing angle corresponding to each rotation.
  • the total number of rotations of the scene detection unit around its rotation axis can be set to less than or equal to 5.
  • the scene detection unit's rotational scanning can obtain scanning data of a conical scanning area centered on the perpendicular intersection of the optical axis with the ground plane.
  • the scene detection unit's rotational scanning can obtain scanning data of a double-cone annular scanning area arranged around the rotation axis. The scanning data of the scanning areas with all rotations at different swing angles can be stitched together to obtain the scanning data of the entire working area.
  • the step of generating a global map of the work scene based on the scanning data of the scene detection unit, the motion data of the rotating mechanism 12, and the motion data of the swing mechanism 11 includes:
  • the scanned data is processed and stitched together by combining the motion data of the rotating mechanism 12 and the swing mechanism 11 to generate a global map of the work scene.
  • the scene detection unit scans data including point cloud data acquired by radar. By performing coordinate transformation and stitching on the point cloud data, a global map of the entire work area can be constructed. After the global map is built, the rotating mechanism 12 and the swing mechanism 11 are centered, ensuring the optical axis of the scene detection unit is perpendicular to the ground plane. The quality of the global map's construction determines whether it needs to be rebuilt. If not, the arm-mounted gimbal can be directly controlled to bring the next target into the scene detection unit's field of view and locate it for subsequent path planning and hoisting operations. If necessary, the arm-mounted servo sensing device 1 can restart the scanning operation.
  • the step of controlling the swing mechanism 11 and the rotation mechanism 12 to cause the scene detection unit to perform a rotational scan around the rotation axis at a preset swing angle may include:
  • the control rotation mechanism 12 drives the scene detection unit to rotate at preset rotation angle intervals and preset time period intervals until the scene detection unit completes one rotation in the current rotation cycle.
  • the processing device controls the rotating mechanism 12 to rotate at preset rotation angles every preset time period, and then acquires the scanning data of the scene detection unit, until the rotating mechanism 12 drives the scene detection unit to rotate 360° in the current rotation cycle to complete one rotation.
  • the preset rotation angle can be 15° to 30°, preferably 20°
  • the preset time period can be 0.5 seconds to 3 seconds, preferably 1 second to 2 seconds.
  • the rotating mechanism 12 can be controlled to pause for a preset time period after rotating at a preset rotation angle, and then continue rotating until the 360° rotation scan of that rotation cycle is completed.
  • the point cloud data can be made denser, which is more conducive to improving the construction quality of the global map of the working scene.
  • the axis parallel to the luffing direction of the boom 21 is designated as the Y-axis
  • the axis perpendicular to the luffing direction of the boom 21 and parallel to the ground plane is designated as the X-axis
  • the axis perpendicular to the ground plane is designated as the Z-axis.
  • boom 21 in the initial state of boom 21, boom 21 is fully retracted (not extended), the angle sensor of boom gimbal is parallel to the ground plane, the initial angles of the third angle sensor and the fourth angle sensor are both 0°, and the Y-axis is parallel to the amplitude direction.
  • the working machine When the working machine starts the gimbal self-adjustment control thread and enters the boom extension step, it reads the first tilt angle value and the second tilt angle value of the third angle sensor and the fourth angle sensor in the X and Y axes in real time, as well as the height of the boom tip above the ground. It calculates the control angle based on the initial attitude angle of the boom-mounted gimbal and controls the self-adjustment of the pitch angle, roll angle and camera focal length through the SDK of the boom-mounted gimbal, so that the center axis of the radar and camera field of view is always perpendicular to the ground plane.
  • the vertical downward control method for the laser radar and camera field of view center axis When the boom 21's length (in the case of boom extension/retraction) changes, the camera lens angle tilts accordingly. Simultaneously, the third and fourth angle sensors detect in real time the first tilt angle value ⁇ x in the X-axis and the second tilt angle value ⁇ y in the Y-axis.
  • ⁇ x is the first tilt angle value of the roll mechanism 13 in the X-axis when the angle between the boom and the ground plane is ⁇
  • ⁇ y is the second tilt angle value of the pitch mechanism 14 in the Y-axis when the angle between the boom and the ground plane is ⁇ .
  • the processing device obtains the angle values in real time from the vehicle controller via the CAN bus.
  • the central axis of the radar and camera field of view is perpendicular to the ground plane, and the radar point cloud data and camera image data of the scene at that moment are acquired, as shown in Figure 6.
  • the boom-mounted gimbal is controlled to rotate so that the swing angle ⁇ of the camera/radar in the i-th revolution is a preset swing angle ⁇ i (set according to the size of the scanned scene), and the gimbal is controlled to rotate horizontally 360° one revolution at equal angular intervals, with an interval period of T1, as shown in Figure 7.
  • the coordinates of the acquired point cloud data are transformed to obtain the hoisting scene map of the entire work area.
  • the working scene size of the boom can be determined based on the length of the boom 21.
  • the processing device can automatically obtain the length data of the boom 21 and convert it according to the built-in algorithm to obtain the corresponding working scene size of the boom; or, it can be determined by manual measurement and input into the processing device, which then converts it according to the built-in algorithm to obtain the corresponding working scene size of the boom.
  • processing device 17 is further configured to:
  • the swing mechanism 11, roll mechanism 13 and pitch mechanism 14 are controlled to make the optical axis of the scene detection unit perpendicular to the ground plane.
  • a fourth aspect of this application also provides a working machine, which includes a boom 21 and the aforementioned boom-mounted follow-up sensing system, wherein the boom-mounted follow-up sensing device 1 of the boom-mounted follow-up sensing system is mounted on the boom 21. Since the working machine includes the aforementioned boom-mounted follow-up sensing system, it also possesses all the technical effects brought about by the boom-mounted follow-up sensing system, and therefore will not be repeated.
  • the operating machinery can be cranes, such as truck cranes, crawler cranes, or luffing tower cranes, or other operating machinery such as pump trucks, aerial work platforms, fire trucks, and boom-type robots.
  • the power of the operating machinery can be provided by new energy batteries (such as lithium batteries or hydrogen fuel cells), internal combustion engines, or hybrid power systems, or it can be provided by mains electricity, etc., without specific limitations.
  • the operating machinery may be equipped with two arm-mounted servo sensing devices 1.
  • One arm-mounted servo sensing device 1 has a scene detection unit including a camera or webcam
  • the other arm-mounted servo sensing device 1 has a scene detection unit including radar.
  • the operating machinery may be equipped with only one arm-mounted servo sensing device 1, whose scene detection unit includes radar and an image acquisition component 152. That is, the radar and the image acquisition component 152 share a single arm-mounted gimbal, making the structure simpler and more compact, and reducing equipment costs.
  • the image acquisition component 152 can be a camera or webcam.
  • the arm-mounted follow-up sensing device 1 is mounted on the tip of the arm 21.
  • the boom-mounted servo sensing device Based on the structural features of the boom 21 top, the boom 21's movement patterns (luffing, slewing, hoisting), vehicle tilting, and boom 21 torsion, the boom-mounted servo sensing device experiences changes in three axes: rotation angle, pitch angle, and roll angle. Therefore, the boom-mounted gimbal of this application is a four-axis gimbal with a swing mechanism 11, a rotation mechanism 12, a roll mechanism 13, and a pitch mechanism 14. The lidar 151 and camera are integrated on this gimbal.
  • the operating machinery also includes a human-machine interface device 22.
  • the human-machine interface device 22 is used to receive and display images collected by the scene detection unit and to obtain user target selection operations based on the images.
  • the processing device communicates with the human-machine interface device 22 and is further configured to:
  • the human-machine interface device 22 may include a display screen that shows images captured by the scene detection unit. This display screen may be a touch screen, allowing users to select the location of the work target in the panoramic image by tapping on it. It is understood that target selection can also be achieved in other ways, such as through peripheral devices connected to the display screen.
  • the processing device 17 communicates with the human-machine interface device 22 and has image processing capabilities. The processing device 17 receives images captured by the scene detection unit and transmits them to the human-machine interface device 22 for display. It also receives user target selection operations based on the images and determines the location of the work target on the global map of the work scene based on these selections.
  • operators of the lifting machinery can intuitively view the actual lifting scene through the human-machine interface device 22, eliminating the need for a commanding officer and reducing labor costs. Furthermore, by automatically determining the location of the work target based on the user's target selection operation, automatic positioning of the lifting machinery can be achieved, thereby reducing the operator's workload and skill level, and improving work efficiency.
  • processing device 17 can also be configured as follows:
  • the work path is planned and safety calculations are performed.
  • the processing device can also be configured to:
  • the arm-mounted gimbal is controlled to make the optical axis of the scene detection unit perpendicular to the ground plane, and the target is identified and repositioned when it enters the field of view acquired by the scene detection unit.
  • Secondary positioning is precise positioning, which is conducive to realizing the automation and intelligent operation of machinery.
  • the current motion sensing operation is considered complete, and the next motion sensing operation can proceed based on the working conditions.
  • it can be determined whether a global map of the work scene needs to be reconstructed. If a global map reconstruction is required, the boom-mounted motion sensing device 1 can be controlled to restart the scanning operation after the boom extension is completed. If a global map reconstruction is not required, the boom-mounted gimbal can be directly controlled to bring the next target into the field of view of the scene detection unit and locate the target for subsequent path planning and lifting operations.
  • the fifth aspect of this application also provides a vehicle comprising a vehicle body, a boom 21, and the aforementioned boom-mounted servo sensing system.
  • the boom 21 is mounted on the vehicle body, and the boom-mounted gimbal is mounted on the boom 21. Since this vehicle includes the aforementioned boom-mounted servo sensing system, it also possesses all the technical effects brought about by this system, and therefore will not be repeated.
  • This vehicle can be a pure electric vehicle, a range-extended electric vehicle, a hybrid electric vehicle, a fuel cell electric vehicle, or a hydrogen engine vehicle, etc.
  • the sixth aspect of this application also provides a boom operation method, as shown in Figures 1 and 2.
  • a boom-mounted gimbal is mounted on the boom 21.
  • the gimbal includes a pitch mechanism 14, a rotation mechanism 12, and a swing mechanism 11 mounted on the rotation mechanism 12.
  • the rotation mechanism 12 can drive the swing mechanism 11 to rotate around a rotation axis.
  • a scene detection unit is mounted on the swing mechanism 11.
  • the swing mechanism 11 can drive the scene detection unit to swing to adjust the swing angle between the optical axis of the scene detection unit and the rotation axis.
  • the pitch mechanism 14 is connected between the boom 21 and the rotation mechanism 12 and can drive the rotation mechanism 12 to perform up-and-down pitching movements around a pitch axis.
  • the pitch axis is perpendicular to the amplitude transformation direction of the boom 21.
  • the boom operation method includes:
  • the pitch mechanism 14 is controlled according to the working posture of the boom 21 so that the rotation axis is adjusted to be perpendicular to the ground plane.
  • the boom operation method also includes:
  • a global map of the work scene is generated based on the scanning data of the scene detection unit, the motion data of the rotating mechanism 12, and the motion data of the swing mechanism 11.
  • the boom operation method also includes:
  • the total number of rotations of the scene detection unit around the rotation axis and the swing angle corresponding to each rotation are determined based on the working scene size of the boom 21.
  • the boom operation method also includes:
  • the operating environment dimensions of boom 21 are determined based on the length of boom 21.
  • the control rotation mechanism 12 drives the scene detection unit to rotate at preset rotation angle intervals and preset time period intervals until the scene detection unit completes one rotation in the current rotation cycle.
  • the scene detection unit is controlled to stop scanning.
  • the scanned data is processed and stitched together by combining the motion data of the rotating mechanism 12 and the swing mechanism 11 to generate a global map of the work scene.
  • the gimbal also includes a roll mechanism 13, which drives the rotation mechanism 12 to rotate around a roll axis perpendicular to the pitch axis.
  • the gimbal operation method further includes:
  • the rolling mechanism 13 is controlled to operate so that the axis of rotation is perpendicular to the ground plane when the boom 21 is twisted or tilted.
  • the boom operation method also includes:
  • the swing mechanism 11, roll mechanism 13 and pitch mechanism 14 are controlled according to the swing angle, the first tilt angle value and the second tilt angle value so that the optical axis of the scene detection unit is perpendicular to the ground plane.
  • the boom operation method also includes:
  • the boom operation method also includes:
  • the work path is planned and safety calculations are performed.
  • the boom operation method also includes:
  • the boom gimbal is controlled to make the optical axis of the scene detection unit perpendicular to the ground plane, and when the target enters the field of view collected by the scene detection unit, the target is identified and repositioned.
  • the scene detection unit includes an image acquisition component 152 and/or radar.
  • the boom-mounted servo sensing device 1 is powered on to acquire the initial state of the boom-mounted gimbal.
  • the initial state of the boom-mounted gimbal includes the rotation angle, swing angle, pitch angle, and roll angle.
  • Crane boom extension steps As shown in Figure 6, the swing mechanism 11, roll mechanism 13, and pitch mechanism 14 are controlled in real time to adjust the swing angle, pitch angle, and roll angle, so that the optical axis of the scene detection unit is perpendicular to the ground plane. After the boom is extended, the crane boom 21 is in the initial working state, at which time the optical axis of the scene detection unit is perpendicular to the ground plane.
  • Scene scanning steps Determine the current rotation cycle of the scene detection unit, control the swing mechanism 11 to adjust the swing angle corresponding to the current rotation cycle, control the rotation mechanism 12 to drive the scene detection unit to rotate at preset rotation angle intervals and preset time period intervals until the scene detection unit has rotated one revolution in the current rotation cycle, determine that the scene detection unit has completed the last rotation scan, and control the scene detection unit to stop scanning.
  • control the swing mechanism 11 and the rotation mechanism 12 After generating the global map of the work scene, control the swing mechanism 11 and the rotation mechanism 12 to adjust the swing angle and rotation angle so that the optical axes of the radar and camera are perpendicular to the ground plane. At this time, it can be determined whether it is necessary to rebuild the global map of the work scene. If so, re-enter the scene scanning step; if not, enter the initial positioning step of the work target.
  • Initial positioning steps for the work target Control the swing mechanism 11 and the rotation mechanism 12 to adjust the swing angle and rotation angle so that the work target (lifted object or placement point) enters the camera's field of view. Select the work target in the summed image and calculate and obtain the spatial position of the work target in the global map of the work scene.
  • the swing mechanism 11, roll mechanism 13, pitch mechanism 14, and rotation mechanism 12 are controlled to adjust the swing angle, roll angle, pitch angle, and rotation angle to correct the radar and camera field of view and make the optical axes of the radar and camera perpendicular to the ground plane. Furthermore, based on the current state of the crane boom 21 and the spatial position of the target position, the operation path is automatically planned and safety calculations are performed.
  • the target is automatically identified and repositioned (precisely located) based on the radar and camera.
  • the swing mechanism 11, roll mechanism 13, and pitch mechanism 14 need to be controlled in real time to adjust the swing angle, roll angle, and pitch angle so that the optical axis of the radar and camera is perpendicular to the ground plane.
  • the previous task is completed and the next task is started, it can be determined whether it is necessary to rebuild the global map of the task scene. If so, the scene scanning step is restarted; if not, the initial target localization step is started. If the previous task is completed and the next task is not needed, the task can be terminated at this time.
  • the boom-mounted servo sensing device 1, boom-mounted servo sensing system, and operating machinery of this application have a boom-mounted gimbal capable of four-axis motion control.
  • Cameras and radar sensors are mounted on this gimbal, enabling 360° horizontal rotation of the camera and radar, luffing direction control, and tilt control in the left and right directions perpendicular to the luffing direction.
  • the optical axes of the camera and radar remain vertically downward.
  • the boom-mounted gimbal, boom-mounted servo sensing device, operating machinery, and vehicle of this application can perform rotational scanning of the camera and radar at different swing angles, thereby enabling large-area monitoring and 3D reconstruction of a large operating range.
  • the camera and radar maintain a vertically downward orientation, thus enabling monitoring of the hook load and real-time detection of surrounding obstacles during hook load movement, and helping to ensure coverage of the scene detection area.
  • boom-mounted gimbal, boom-mounted follow-up sensing device, and boom-mounted follow-up sensing system of this application are applied to operating machinery such as cranes, they can realize boom-mounted follow-up three-dimensional reconstruction, obstacle detection, target following, etc., providing a technical foundation for cranes to realize automatic and intelligent hoisting, and ensuring the crane's "eyes" function.
  • first and second are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description of this application, “multiple” means at least two, such as two, three, etc., unless otherwise explicitly specified.
  • the terms “installation,” “connection,” “linking,” and “fixing,” etc. should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
  • references to terms such as "one embodiment,” “some embodiments,” “example,” “specific example,” or “some examples,” etc. refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application.
  • the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.
  • the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
  • those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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Abstract

一种臂载随动感知系统、作业机械、车辆及臂架作业方法，其中，臂载随动感知系统包括：场景检测单元；臂载云台，设于臂架(21)上并包括俯仰机构(14)、旋转机构(12)和摆动机构(11)，场景检测单元设于摆动机构(11)上；处理装置(17)，分别与臂载云台和场景检测单元通信，并被配置为：获取臂架(21)的作业位姿；根据臂架(21)的作业位姿控制俯仰机构(14)动作，以使得旋转轴线调节至垂直于地平面；控制摆动机构(11)和旋转机构(12)动作，以使得场景检测单元以预设摆动角绕旋转轴线进行旋转扫描。

Description

臂载随动感知系统、臂架作业方法及作业机械
本申请要求于2024年07月03日提交中国专利局、申请号为202410884245.9、发明名称为“臂载随动感知系统、臂架作业方法及作业机械”的中国专利申请的优先权，其全部内容通过引用结合在申请中。
技术领域
本申请属于作业机械领域，具体地涉及一种臂载随动感知系统、臂架作业方法及作业机械。
背景技术
在臂架类作业机械的作业过程中，通常需要对臂架周边的环境信息进行获取，保证作业安全。以作业机械为起重机为例，由于起重机吊装作业区域较大，以大型起重机为例，臂长最长可达上百米，最大幅度和最大作业半径可达六十米以上。机手在操作室，距离吊装目标最远可达六十多米，吊装时机手操作视野受限，进而带来作业安全隐患。
技术解决方案
本申请的目的是提供一种臂载随动感知系统、臂架作业方法及作业机械，能够实现大作业范围的大视野监控。
为了实现上述目的，本申请第一方面提供一种臂载随动感知系统，该臂载随动感知系统包括：
场景检测单元，用于获取作业场景的扫描数据；
臂载云台，设于臂架上并包括俯仰机构、旋转机构和摆动机构，旋转机构与摆动机构连接并能够驱动摆动机构绕旋转轴线旋转，场景检测单元设于摆动机构上，摆动机构能够驱动场景检测单元摆动以调节场景检测单元的光轴与旋转轴线之间的摆动角，俯仰机构连接在臂架与旋转机构之间并能够驱动旋转机构绕俯仰轴线进行上下俯仰运动；和
处理装置，分别与臂载云台和场景检测单元通信，并被配置为：
获取臂架的作业位姿；
根据臂架的作业位姿控制俯仰机构动作，以使得旋转轴线调节至垂直于地平面；
根据臂架的作业场景尺寸确定场景检测单元绕旋转轴线旋转的总旋转周数和与各个旋转周次对应的摆动角；
控制摆动机构和旋转机构动作，以使得场景检测单元以预设摆动角绕旋转轴线进行旋转扫描；
根据场景检测单元的扫描数据、旋转机构的动作数据以及摆动机构的动作数据生成作业场景全局地图，包括：
获取场景检测单元的扫描数据、旋转机构的动作数据以及摆动机构的动作数据；
结合旋转机构的动作数据和摆动机构的动作数据对扫描数据进行处理和拼接，以生成作业场景全局地图。
在一些具体实施方式中，处理装置被配置为：
根据臂架的长度确定臂架的作业场景尺寸。
在一些具体实施方式中，控制摆动机构和旋转机构动作，使得场景检测单元以与旋转周次对应的摆动角绕旋转轴线进行旋转扫描，直至完成最后一周的旋转扫描，包括：
确定场景检测单元的当前旋转周次，控制摆动机构动作以调节与当前旋转周次对应的摆动角；
控制旋转机构以预设旋转角度间隔和预设时间周期间隔驱动场景检测单元旋转，直至场景检测单元在当前旋转周次旋转一周；
确定场景检测单元已完成最后一周的旋转扫描，控制场景检测单元停止扫描。
在一些具体实施方式中，臂载云台还包括横滚机构和俯仰机构，横滚机构能够驱动旋转机构绕横滚轴线转动，横滚轴线垂直于俯仰轴线，在场景检测单元旋转扫描之前，处理装置还被配置为：
控制横滚机构动作以使得旋转轴线在臂架扭转或倾斜时能够垂直于地平面。在一些具体实施方式中，俯仰机构、横滚机构、旋转机构以及摆动机构依次连接；或者，横滚机构、俯仰机构、旋转机构以及摆动机构依次连接。
在一些具体实施方式中，臂载随动感知系统还包括人机交互装置，人机交互装置用于接收和显示场景检测单元采集的图像，并获取用户针对图像的目标选择操作；
处理装置与人机交互装置通信并还被配置为：
控制旋转机构和摆动机构动作以使得作业目标进入场景检测单元采集的视场中；
接收目标选择操作并根据目标选择操作确定作业目标在作业场景全局地图中的位置。
在一些具体实施方式中，处理装置还被配置为：
根据臂架的当前状态和作业目标在作业场景全局地图中的空间位置，进行作业路径规划和安全计算。
在一些具体实施方式中，处理装置还被配置为：
在臂架按照作业路径规划动作时，控制臂载云台动作以使得场景检测单元的光轴垂直于地平面，并在作业目标进入场景检测单元采集的视场中时，对作业目标进行识别和二次定位。
在一些具体实施方式中，臂载随动感知系统还包括第一角度传感器和第二角度传感器，第一角度传感器设置在摆动机构上并用于检测摆动机构的摆动角，第二角度传感器设置在旋转机构上并用于检测旋转机构的旋转角；和/或，场景检测单元包括图像获取部件和/或雷达。
本申请第二方面还提供了一种作业机械，该作业机械包括：臂架和上述的臂载随动感知系统，臂载云台设置在臂架上。
本申请第三方面还提供了一种臂架作业方法，臂架上设有臂载云台，臂载云台包括俯仰机构、旋转机构和设于旋转机构上的摆动机构，旋转机构能够驱动摆动机构绕旋转轴线旋转，摆动机构上设有场景检测单元，摆动机构能够驱动场景检测单元摆动以调节场景检测单元的光轴与旋转轴线之间的摆动角，俯仰机构连接在臂架与旋转机构之间并能够驱动旋转机构绕俯仰轴线进行上下俯仰运动，俯仰轴线垂直于臂架的变幅方向，臂架作业方法包括：
获取臂架的作业位姿；
根据臂架的作业位姿控制俯仰机构动作，以使得旋转轴线调节至垂直于地平面；
根据臂架的作业场景尺寸确定场景检测单元绕旋转轴线旋转的总旋转周数和与各个旋转周次对应的摆动角；
控制摆动机构和旋转机构动作，使得场景检测单元以预设摆动角绕旋转轴线进行旋转扫描；
根据场景检测单元的扫描数据、旋转机构的动作数据以及摆动机构的动作数据生成作业场景全局地图，包括：
获取场景检测单元的扫描数据、旋转机构的动作数据以及摆动机构的动作数据；
结合旋转机构的动作数据和摆动机构的动作数据对扫描数据进行处理和拼接，以生成作业场景全局地图。
有益效果
通过上述技术方案，旋转机构通过俯仰机构设置在臂架上，在臂架展臂或变幅时，臂架的作业位姿发生改变，通过获取臂架的作业位姿，可控制俯仰机构根据臂架的作业位姿驱动旋转机构俯仰动作，以能够将旋转轴线调整至垂直于地平面，从而便于场景检测单元对作业区域的各个方位进行旋转扫描，同时能够对场景检测单元下方及周边环境进行全面有效的扫描，有助于降低臂载云台的控制难度和简化后续的扫描数据处理步骤。场景检测单元通过摆动机构设置在旋转机构上，摆动机构能够驱动场景检测单元绕摆动轴线摆动以调节场景检测单元的光轴与旋转轴线之间的摆动角，如此，处理装置可控制臂载云台动作以使得场景检测单元能够在不同倾角下进行旋转扫描，扩大了场景检测单元的扫描覆盖区域，从而可实现大作业范围的大视野监控，有利于消除作业过程中存在的安全隐患。
附图说明
附图是用来提供对本申请实施方式的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本申请实施方式，但并不构成对本申请实施方式的限制。对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。在附图中：
图1示出了本申请的一种具体实施方式的臂载随动感知装置的结构示意图；
图2示出了图1中的臂载随动感知装置在另一个视角下的结构示意图；
图3示出了图1中的臂载随动感知装置的局部结构透视图；
图4示出了本申请的一种具体实施方式的起重机的作业示意图；
图5示出了本申请的臂载随动感知装置在起重机的臂架未展臂时的扫描状态示意图；
图6示出了本申请的臂载随动感知装置在起重机的臂架展臂时的扫描状态示意图；
图7示出了在场景检测单元的光轴倾斜于旋转轴线时，本申请的臂载随动感知装置的扫描状态示意图；
图8示出了本申请的一种具体实施方式的臂载随动感知装置的控制逻辑流程图。
附图标记说明：1、臂载随动感知装置；11、摆动机构；111、摆动驱动件；112、摆动支架；12、旋转机构；121、旋转驱动件；122、旋转支架；13、横滚机构；131、横滚驱动件；132、横滚支架；14、俯仰机构；141、俯仰驱动件；142、俯仰支架；151、激光雷达；152、图像获取部件；17、处理装置；2、起重机；21、臂架；22、人机交互装置。
具体实施方式
以下结合附图对本申请的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本申请，并不用于限制本申请。
为提升大型作业机械的作业安全性和智能化，如图1和图2所示，本申请第一方面提供了一种臂载云台，该臂载云台能够安装在作业机械的臂架21上并用于安装场景检测单元，场景检测单元用于获取作业场景的扫描数据。这样，有利于实现吊装作业场景在线重建，大空间、远距离的目标识别和定位以及空间障碍物动态检测，从而消除了操作机手的操作视野限制，大大降低了作业机械的操控难度，同时也使得作业机械更适于危险作业场景或重复作业需求的自动作业或无人化作业。
本申请的臂载云台包括俯仰机构14、旋转机构12和摆动机构11，旋转机构12与摆动机构11连接，场景检测单元能够安装摆动机构11上。旋转机构12能够驱动摆动机构11绕旋转轴线旋转以带动场景检测单元进行360°旋转扫描，摆动机构11能够驱动场景检测单元绕摆动轴线摆动以调节场景检测单元的光轴与旋转轴线之间的摆动角，摆动轴线可与地平面平行。
本申请实施例中，作业机械可以是带臂架的作业设备，例如起重机、泵车、举高喷射消防车、高空作业机械或者臂架式机器人等。以作业机械为起重机为例，由于大型起重机作业的最大幅度和最大作业半径可达六十米以上，最小幅度和最小作业半径可低至几米，最大幅度和最小幅度之间的差值相差较大，最大作业半径和最小作业半径之间的差值也相差较大，可达几十米。如此，本申请的臂载云台对于视场角较小和设备成本相对较低的场景检测单元也能够实现大作业范围的大视野监控与三维重建，同时也能有效降低了大型起重机的制造成本。此外，由于臂载云台增设了能够调节扫描时的摆动角的摆动机构11，使得配套使用小视场角的场景检测单元的臂载随动感知装置1也可适用于不同规格型号的作业机械，尤其是大型作业机械，通用性大大提高。
此外，当臂架21起臂或变幅时，臂架21的作业位姿会发生改变，旋转机构12的位姿也会发生变化，导致旋转轴线与地平面的垂直关系也发生改变。为此，如图1和图2所示，臂载云台还包括俯仰机构14，俯仰机构14能够在臂架21变幅时驱动旋转机构12绕俯仰轴线进行上下俯仰运动。如此，在臂架21起臂(变幅)时，场景检测单元的旋转轴线能够通过俯仰机构14调节俯仰角来保证与地平面垂直，从而便于场景检测单元对作业区域的各个方位进行旋转扫描，同时能够对场景检测单元下方及周边环境进行全面有效的扫描，有助于降低臂载云台的控制难度和简化后续的扫描数据处理步骤。
其中，俯仰轴线垂直于臂架21的变幅方向，臂架21的变幅方向为臂架21的中心轴线在地平面上的投影的延伸方向。
为更好地体现本申请实施例所能带来的技术效果，以下结合一些应用例对臂载云台的功能实现方式进行说明。在本申请的臂载云台中，摆动机构11、旋转机构12和俯仰机构14可分属于两个不同的控制模块，摆动机构11和旋转机构12为旋转扫描作业控制模块，而俯仰机构14为位姿调整控制模块。通过设置俯仰机构14，可满足在臂架21的作业位姿发生变化时，动态实时控制俯仰机构14的动作，从而改变旋转机构12的位姿，使得旋转轴线始终保持垂直于地平面。而对于摆动机构11和旋转机构12的旋转扫描作业模块，场景检测单元搭载于摆动机构11上，具备方位标定关系，摆动机构11和旋转机构12是为旋转扫描作业时可进行独立控制按步长进行作业场景的扫描，根据场景检测单元的标定关系，有助于提升扫描数据的后处理处理效率，例如，扫描数据应用于场景重建时，可提升场景重建的效率和算法的实时性；或者，扫描数据应用于场景障碍物检测时，能够有效提升障碍物的检测效率和定位精度。当然，容易理解的是，以上是对扫描数据的一些可应用方式的一些举例说明，实际应用中扫描数据还可以用作其他用途，例如行人检测等等，此处不做一一举例。
进一步地，以扫描数据应用于场景重建为例，为提升场景重建的效率和算法的实时性，本申请的臂载随动感知系统的控制坐标系可以设有两个。具体地，俯仰机构14的俯仰轴线为动态变化轴，俯仰机构14的俯仰轴线设置于其中一个独立的控制坐标系中；而摆动机构11的摆动轴线和旋转机构12驱动场景检测单元旋转的旋转轴线是根据工况作业要求可控可调节轴，摆动机构11的摆动轴线和旋转机构12驱动场景检测单元旋转的旋转轴线单独设置于另一个坐标系中。
并且，区别于现有普通的三轴云台，由于本申请的臂载云台在旋转机构12与臂架21之间设置了俯仰机构14，可使得臂载云台可在臂架21上不限方位进行安装，在场景检测单元旋转扫描时，旋转轴线均可自动控制垂直于地平面，从而能够对场景检测单元下方及周边环境进行全面有效的扫描，并有助于简化处理装置后续的扫描数据处理步骤。显然，对于现有普通的三轴云台，由于相机设置在俯仰结构或横滚结构上，俯仰结构或横滚结构设置在旋转结构上，旋转结构设置在安装平台上，这种普通的三轴云台无法保证相机对下方及周边环境进行全面有效的扫描，使用现有普通的三轴云台安装在臂架上，一旦臂架发生倾斜，按照完全解耦的方式，相机的旋转轴线也发生倾斜，导致部分方位无法得到有效的扫描，且扫描区域的形状也会发生改变，从而导致后续对扫描数据的处理也必然会非常复杂。并且，如果想要通过现有普通的三轴云台要得到本案中的全方位全面扫描区域，必然要至少两个自由度耦合运动，云台控制难度也会明显增大。
另外，如图3所示，场景检测单元包括激光雷达151和/或图像获取部件152等检测件，不同型号规格的激光雷达151和图像获取部件152的视场角不同，通过设置摆动机构11可灵活调节场景检测单元的摆动角，使得臂载云台的通用性也大大提高。其中，场景检测单元对作业区域进行旋转扫描，可便于后续生成作业场景全局地图，也可便于在作业时进行监控、跟踪、障碍物识别。
可选地，旋转机构12、摆动机构11和俯仰机构14的结构可多种多样。摆动机构11可包括摆动驱动件111和摆动支架112，旋转机构12可包括旋转驱动件121和旋转支架122。摆动驱动件111设置在摆动支架112上，摆动驱动件111的驱动轴能够与场景检测单元驱动连接以能够驱动场景检测单元摆动。旋转驱动件121设置在旋转支架122上，旋转驱动件121的驱动轴与摆动支架112驱动连接以能够驱动摆动机构11旋转。其中，摆动驱动件111可包括伺服电机、步进电机或电缸等，摆动支架112的形状可为U形支架或不规则状支架等，场景检测单元可直接与摆动驱动件111的驱动轴连接，也可通过连接架体、中间齿轮组件或连杆组件间接与摆动驱动件111的驱动轴连接。同样的，旋转驱动件121可包括伺服电机或步进电机等，旋转支架122可为L形或不规则状支架等，摆动支架112可直接与旋转驱动件121的驱动轴连接，也可通过连接架体、中间齿轮组件等间接与旋转驱动件121的驱动轴连接。俯仰机构14可包括俯仰驱动件141和俯仰支架142，俯仰驱动件141可包括伺服电机、步进电机或电缸等，俯仰支架142的形状可为U形支架或不规则状支架等。
由于本申请的场景检测单元需要进行旋转扫描，为便于后续的在线重建三维场景地图，需保证旋转轴线与地平面垂直。然而，在实际作业时，臂架21上的吊载发生摆动或车身倾斜等因素会导致臂架21末端会扭转。臂架21的扭转会使得旋转机构12倾斜，旋转轴线与地平面的垂直关系也发生改变。
为此，在一些具体实施方式中，如图1和图2所示，本申请的臂载云台还包括与俯仰机构14连接的横滚机构13，横滚机构13和俯仰机构14连接在臂架21与旋转机构12之间。横滚机构13在臂架21扭转时能够驱动旋转机构12绕横滚轴线转动，横滚轴线平行于臂架21的变幅方向，且垂直于俯仰轴线。如此，在臂架21发生扭转时，场景检测单元的旋转轴线能够通过横滚机构13调节横滚角来保证与地平面垂直。其中，横滚机构13可包括横滚驱动件131和横滚支架132，横滚驱动件131可包括伺服电机、步进电机或电缸等，横滚支架132的形状可为U形支架或不规则状支架等。
进一步地，横滚机构13与俯仰机构14可同属于同一个控制模块中，即横滚机构13和俯仰机构14同属于位姿调整控制模块。通过设置横滚机构13和俯仰机构14，可满足在臂架21的作业位姿发生变化时，动态实时控制横滚机构13和俯仰机构14的动作，从而改变旋转机构12的位姿，使得旋转轴线始终保持垂直于地平面。
更进一步地，以扫描数据应用于场景重建为例，为提升场景重建的效率和算法的实时性，在本申请的臂载随动感知系统设有两个控制坐标系时，横滚机构13的横滚轴线也为动态变化轴，俯仰机构14的俯仰轴线和横滚机构13的横滚轴线设置于同一个控制坐标系中。
由于本申请的臂载云台在旋转机构13与臂架21之间设置了横滚机构13和俯仰机构14，在臂架21变幅和发生倾斜时，也能够对场景检测单元下方及周边环境进行全面有效的扫描，同时有助于简化后续的扫描数据处理步骤和降低臂载云台的控制难度。
可选地，摆动机构11的摆动角的调节范围为-32°～32°。俯仰机构14的俯仰角的调节范围为-10°～90°。横滚机构13的横滚角的调节范围为-15°～15°。旋转机构12的旋转角的角度的控制范围为正转-20°～360°或反转-20°～360°。
在一些具体实施方式中，如图1和图2所示，摆动机构11、旋转机构12、横滚机构13以及俯仰机构14依次连接。具体地，摆动驱动件111可设置在摆动支架112上且摆动驱动件111的驱动轴能够与场景检测单元驱动连接，旋转驱动件121设置在旋转支架122上且旋转驱动件121的驱动轴与摆动支架112驱动连接，横滚驱动件131设置在横滚支架132上且横滚驱动件131的驱动轴与旋转支架122驱动连接，俯仰驱动件141设置在俯仰支架142上且俯仰驱动件141的驱动轴与横滚支架132驱动连接。其中，旋转支架122可直接与横滚驱动件131的驱动轴连接，也可通过连接架体、中间齿轮组件等间接与横滚驱动件131的驱动轴连接。横滚支架132可直接与俯仰驱动件141的驱动轴连接，也可通过连接架体、中间齿轮组件等间接与俯仰驱动件141的驱动轴连接。
或者，在另一些具体实施方式中，摆动机构11、旋转机构12、俯仰机构14以及横滚机构13依次连接(图中未示出)。具体地，摆动驱动件111可设置在摆动支架112上且摆动驱动件111的驱动轴能够与场景检测单元驱动连接，旋转驱动件121设置在旋转支架122上且旋转驱动件121的驱动轴与摆动支架112驱动连接，俯仰驱动件141设置在俯仰支架142上且俯仰驱动件141的驱动轴与旋转支架122驱动连接，横滚驱动件131设置在横滚支架132上且横滚驱动件131的驱动轴与俯仰支架142驱动连接。其中，旋转支架122可直接与俯仰驱动件141的驱动轴连接，也可通过连接架体、中间齿轮组件等间接与俯仰驱动件141的驱动轴连接。俯仰支架142可直接与横滚驱动件131的驱动轴连接，也可通过连接架体、中间齿轮组件等间接与横滚驱动件131的驱动轴连接。
可选地，臂载云台还可包括云台固定支架(图中未示出)，云台固定支架能够与臂架21连接，旋转机构12通过俯仰机构14和横滚机构13设置云台固定支架上。当摆动机构11、旋转机构12、横滚机构13以及俯仰机构14依次连接时，俯仰支架142与云台固定支架连接；当摆动机构11、旋转机构12、俯仰机构14以及横滚机构13依次连接时，横滚支架132与云台固定支架连接。
可选地，臂载云台的云台固定支架呈L形并设有加强筋，俯仰支架142形成为从云台固定支架的水平顶板向下伸出并间隔设置的两块竖向板，俯仰驱动件141设置在俯仰支架142上并位于俯仰支架142的外侧。横滚支架132呈圆筒状并转动设置在俯仰支架142的两块竖向板之间，俯仰驱动件141可驱动横滚支架132绕俯仰轴线进行俯仰动作。旋转支架122呈U形并位于横滚支架132内，横滚驱动件131设置在横滚支架132上并可驱动旋转支架122绕横滚轴线进行横滚摆动，俯仰轴线垂直于横滚轴线。摆动支架112呈U形并位于旋转支架122内，旋转驱动件121设置在旋转支架122上并可驱动摆动支架112绕旋转轴线旋转。场景检测单元设置在摆动支架112内，摆动驱动件111设置在摆动支架112外侧，并可驱动场景检测单元绕摆动轴线摆动。
或者，臂载云台的云台固定支架呈L形并设有加强筋，云台固定支架的一个外侧板面用于与臂架21连接，另一个外侧板面用于安装处理装置17，俯仰支架142设置在两个内侧板面之间。横滚支架132、旋转支架122以及摆动支架112均呈L形。臂载云台还设有场景检测单元安装架，场景检测单元安装架用于安装场景检测单元并与摆动驱动件111驱动连接，摆动驱动件111可驱动场景检测单元安装架绕摆动轴线摆动。
本申请第二方面还提供一种臂载随动感知装置1，该臂载随动感知装置1包括上述的臂载云台和场景检测单元，场景检测单元设置在臂载云台上并用于获取作业场景的扫描数据。由于该臂载随动感知装置1包括上述的臂载云台，因此也具备由该臂载云台带来的所有技术效果，因此不再重复赘述。
本申请第三方面还提供一种臂载随动感知系统，该臂载随动感知系统包括上述的臂载随动感知装置1，由于该臂载随动感知系统包括上述的臂载随动感知装置1，因此也具备由该臂载随动感知装置1带来的所有技术效果，因此不再重复赘述。
可选地，臂载随动感知装置1还可包括第一角度传感器、第二角度传感器、第三角度传感器以及第四角度传感器(图中未示出)。第一角度传感器设置在摆动机构11上并用于检测摆动机构11的摆动角，第二角度传感器设置在旋转机构12上并用于检测旋转机构12的旋转角，第三角度传感器设置在横滚机构13上并用于检测在垂直于臂架21的变幅方向上的第一倾斜角度值，第四角度传感器设置在俯仰机构14上并用于检测在臂架21的变幅方向上的第二倾斜角度值。
其中，第一角度传感器、第二角度传感器、第三角度传感器以及第四角度传感器可为独立设置的角度传感器，也可部分集成在IMU姿态检测设备中。IMU姿态检测设备可具备自动、手动两种控制模式。自动控制模式主要由处理装置自行接收IMU姿态角进行控制；手动控制模式主要是由用户自行采集IMU姿态角，调用SDK自行控制臂载随动感知装置1的轴向的角度旋转。
可选地，场景检测单元可包括图像获取部件152，或者场景检测单元可包括雷达，还或者，场景检测单元可同时包括图像获取部件152和雷达。雷达可为激光雷达151，本申请的场景检测单元可采用线束较少的多线激光雷达，同样可得到大范围的扫描空间，可降低制造成本。图像获取部件152可为相机或摄像头，相机例如为可变焦单目相机。场景检测单元的光轴可为图像获取部件152或雷达的视场角中轴线，图像获取部件152和雷达的视场角中轴线平行。
具体地，当臂载随动感知装置1安装在臂架21的臂尖时，雷达的检测范围为以吊绳/吊钩为轴的圆锥形区域。控制雷达扫描，可在线重建雷达扫射范围内的三维场景地图。后续可在三维场景地图中以点选作业目标形式，进行作业目标位置的粗定位，并将该值传递给用于精准定位(二次定位)的相机，并控制相机或摄像头跟随。雷达可实时检测以吊绳/吊钩为轴的锥形区域内所有物体(含目标点及障碍物)的空间三维坐标及方位角，并融合图像区分目标物和障碍物，还可根据吊钩/吊载的运动趋势，结合动态路径修正算法实现臂架21的自动避障。
另外，根据三维场景地图的粗定位值，臂载随动感知装置1可控制臂载云台使相机自动跟随至作业目标位置，通过焦距拉伸提取作业目标高清图像区域块，并进行作业目标图像块特征提取。根据作业目标粗定位值解算成臂架21回转/变幅动作，而后启动自动吊，控制云台使相机镜头垂直朝下，跟踪吊钩及吊钩垂直投影点。相机视场与精准定位粗判定区域交叠时或作业目标进入相机视场，启动相机进行目标特征检测及精准定位。
在一些具体实施方式中，臂载随动感知系统还可包括处理装置17，处理装置17用于控制臂载云台动作以使得场景检测单元能够以预设摆动角对作业区域进行旋转扫描。该处理装置17分别与臂载云台和场景检测单元通讯，可以网口形式进行数据交互通讯。具体地，处理装置可被配置为：
获取臂架21的作业位姿；
根据臂架21的作业位姿控制俯仰机构14动作，以使得旋转轴线调节至垂直于地平面；
控制摆动机构11和旋转机构12动作，以使得场景检测单元以预设摆动角绕旋转轴线进行旋转扫描。
因相机和激光雷达151的视场角较小，利用摆动机构11和旋转机构12实时调整激光雷达151和相机的光轴摆动方向可扩大相机和激光雷达151的可检测范围。其中，处理装置可通过与臂架21的运动控制模块通信来自动获取臂架21的作业位姿的数据；或者，也可通过人工输入处理装置中。
可选地，处理装置17还被配置为：
根据场景检测单元的扫描数据、旋转机构12的动作数据以及摆动机构11的动作数据生成作业场景全局地图。
当臂架21静止时，控制旋转机构12执行旋转动作和控制摆动机构11逐步调整相机和雷达的扫描区域，可得到整个作业区域实际场景点云数据及图像，实现作业场景在线重建和生成作业场景全局地图。
可选地，处理装置17还被配置为：
根据臂架的作业场景尺寸确定场景检测单元绕旋转轴线旋转的总旋转周数和与各个旋转周次对应的摆动角。
其中，在根据臂架的作业场景尺寸确定场景检测单元绕旋转轴线旋转的总旋转周数和与各个旋转周次对应的摆动角时，处理装置通过结合臂架的作业场景尺寸和场景检测单元的视场角大小来确定出最大的摆动角，而后再结合该最大的摆动角和场景检测单元的视场角大小来确定出场景检测单元的旋转扫描参数。场景检测单元的旋转扫描参数包括场景检测单元绕旋转轴线旋转的总旋转周数和与各个旋转周次对应的摆动角。
此外，为了兼顾作业效率和设备成本，场景检测单元绕旋转轴线旋转的总旋转周数可设置为小于等于5。如图6所示，在场景检测单元的光轴朝下垂直于地平面时，场景检测单元旋转扫描可得到以光轴在地平面的垂直交点为圆心的圆锥形扫描区域的扫描数据；如图7所示，在调节摆动角使得场景检测单元的光轴倾斜于地平面时，场景检测单元旋转扫描可得到环绕旋转轴线布置的双锥环形扫描区域的扫描数据；不同摆动角的所有旋转周数的扫描区域的扫描数据拼接起来可得到整个作业区域的扫描数据。
另外，对于根据场景检测单元的扫描数据、旋转机构12的动作数据以及摆动机构11的动作数据生成作业场景全局地图的步骤，该步骤包括：
获取场景检测单元的扫描数据、旋转机构12的动作数据以及摆动机构11的动作数据；
结合旋转机构12的动作数据和摆动机构11的动作数据对扫描数据进行处理和拼接，以生成作业场景全局地图。
其中，场景检测单元的扫描数据包括雷达获取的点云数据，将点云数据进行坐标转换和拼接，可构建整个作业区域的作业场景全局地图。在本次构建作业场景全局地图完成后，控制旋转机构12和摆动机构11回正，使得场景检测单元的光轴垂直于地平面，并可根据作业场景全局地图的构建质量判断是否需要重新构建作业场景全局地图。若不需要，可直接控制臂载云台动作使得下一个作业目标进入场景检测单元的视场，并定位作业目标以进行后续的路径规划和吊装作业；若需要，可控制臂载随动感知装置1重新开始扫描作业。
此外，对于控制摆动机构11和旋转机构12动作，以使得场景检测单元以预设摆动角绕旋转轴线进行旋转扫描的步骤，该步骤可包括：
确定场景检测单元的当前旋转周次，控制摆动机构11动作以调节与当前旋转周次对应的摆动角；
控制旋转机构12以预设旋转角度间隔和预设时间周期间隔驱动场景检测单元旋转，直至场景检测单元在当前旋转周次旋转一周；
确定场景检测单元已完成最后一周的旋转扫描，控制场景检测单元停止扫描。
其中，在控制旋转机构12以预设旋转角度间隔和预设时间周期间隔驱动场景检测单元旋转，直至场景检测单元在该旋转周次旋转一周的子步骤中，处理装置控制旋转机构12每间隔预设时间周期旋转预设旋转角度，而后获取场景检测单元的扫描数据，直至旋转机构12驱动场景检测单元在当前旋转周次旋转360°以扫描完一圈。例如，预设旋转角度可为15°至30°，可优选为20°；预设时间周期可为0.5秒至3秒，可优选1秒至2秒。具体地，在任意一个旋转周次中，可控制旋转机构12每旋转预设旋转角度后，停顿预设时间周期，而后再继续旋转，直至完成该旋转周次的360°旋转扫描。如此，可使得点云数据更加密集，从而更有利于提升作业场景全局地图的构建质量。
具体地，如图4所示，以平行于臂架21的变幅方向的轴为Y轴，垂直于臂架21的变幅方向并与地平面平行的轴为X轴，垂直于地平面的轴为Z轴。当臂架21伸缩或变幅和臂架21扭转时，激光雷达和相机在X轴方向和Y轴方向倾斜角度发生变化。通过实时获取第三角度传感器和第四角度传感器在X、Y轴向倾斜角度值，然后控制臂载云台动作，实现激光雷达和相机的光轴角度的调整。
如图5所示，在臂架21的初始状态，臂架21全缩(未展开)，臂载云台的角度传感器与地平面保持平行，第三角度传感器和第四角度传感器的初始状态角均为0°，Y轴与变幅方向保持平行。
当作业机械开启云台自调整控制线程进入展臂步骤时，实时读取第三角度传感器和第四角度传感器在X、Y轴向的第一倾斜角度值和第二倾斜角度值及臂尖对地高度，并根据臂载云台初始姿态角进行控制角度计算，并通过臂载云台的SDK控制俯仰角、横滚角及相机焦距的自调整，使雷达和相机的视场中轴线始终垂直于地平面。
激光雷达与相机视场中轴线垂直朝下控制方法：当臂架21幅长(变幅或缩/展臂的情况)发生变化，相机镜头角度随着倾斜，同时，第三角度传感器和第四角度传感器实时检测到X轴向的第一倾斜角度值∝x和Y轴向的第二倾斜角度值∝y，∝x为臂架与地平面之间的夹角为α时的横滚机构13在X轴向的第一倾斜角度值，∝y为臂架与地平面之间的夹角为α时的俯仰机构14在Y轴向的第二倾斜角度值。处理装置通过CAN总线从车载控制器来实时获取角度值。臂架21在初始状态(未抬升)时，∝x＝0°、∝y≠0°。当臂架21展臂(伸臂及变幅)且仅∝y发生变化时，控制臂载云台的旋转角P控制量、俯仰角T控制量分别为：P＝0°、T＝∝y。如臂架21在X轴方向发生扭转，则∝x≠0°，控制臂载云台的横滚角R控制量为：R＝∝x，即可完成雷达与相机视场中轴线垂直朝下控制，相机和雷达的像平面坐标系与臂架设置的坐标系OXYZ的轴方向保持一致。当臂架21展臂完毕后，退出臂载云台自调整控制线程，并切换云台控制模式，使臂载云台进行自动旋转，控制雷达进行场景扫描，获取作业场景的三维点云数据。
其中，在控制雷达进行场景扫描，获取作业场景的三维点云数据时，当臂架21静止时，控制雷达和相机视场中轴线垂直于地平面，获取该时刻场景雷达点云数据和相机图像数据，如图6所示；控制臂载云台动作，使得相机/雷达旋转第i周的摆动角θ为预设摆动角θi(按扫描场景大小设置)，并按等角度间隔逐步控制云台进行水平360°旋转一周，间隔时间周期为T1，如图7所示。而后，再对获取的点云数据坐标转换，可得到整个作业区域的吊装场景地图。
可选地，臂架的作业场景尺寸可根据臂架21的长度来确定，处理装置可通过自动获取臂架21的长度数据并根据内置算法换算来对应获得臂架的作业场景尺寸；或者，也可根据人工测量判定，并通过人工输入处理装置中，处理装置再根据内置算法换算来对应获得臂架的作业场景尺寸。
可选地，处理装置17还被配置为：
在臂架21展臂或变幅时，控制摆动机构11、横滚机构13以及俯仰机构14动作以使得场景检测单元的光轴垂直于地平面。
本申请第四方面还提供一种作业机械，该作业机械包括臂架21和上述的臂载随动感知系统，臂载随动感知系统的臂载随动感知装置1设置在臂架21上。由于该作业机械包括上述的臂载随动感知系统，因此也具备由该臂载随动感知系统带来的所有技术效果，因此不再重复赘述。
其中，作业机械可以是起重机，例如汽车起重机、履带式起重机或者动臂式塔式起重机等，也可以是泵车、高空作业车辆、消防车、臂架式作业机器人等其他作业机械。作业机械的动力可以是由新能源电池(例如锂电池或者氢燃料电池)、燃油发动机或者混合动力装置提供，或者，还可以是由市电提供等等，此处不做具体限定。
可选地，作业机械可设置两个臂载随动感知装置1，其中一个臂载随动感知装置1的场景检测单元包括相机或摄像头，另一个臂载随动感知装置1的场景检测单元包括雷达。或者，作业机械可仅设置一个臂载随动感知装置1，该臂载随动感知装置1的场景检测单元包括雷达和图像获取部件152，即雷达和图像获取部件152共用一个臂载云台，使得结构更加简单紧凑，设备成本更低。其中，图像获取部件152可为相机或摄像头。
可选地，如图4所示，臂载随动感知装置1设置在臂架21的臂尖上。
根据臂架21顶端结构特征、臂架21运动形式(变幅、回转、卷扬)、车身倾斜、臂架21扭转等情况，臂载随动感知装置存在旋转角、俯仰角、横滚角三个轴向的变化。为此，本申请的臂载云台为具有摆动机构11、旋转机构12、横滚机构13以及俯仰机构14的四轴云台，激光雷达151和相机集成设置在该臂载云台上。在臂架21展臂或变幅时，处理装置可通过采集各个角度传感器的角度值，通过控制摆动机构11、横滚机构13以及俯仰机构14动作来控制雷达和相机姿态的自调整，使场景检测单元的光轴垂直于地平面。当臂架21运动时，确保场景检测单元的光轴始终垂直于地平面，可实时监测吊载及吊钩周围的障碍并进行避障，以及利用相机进行作业机械就位目标的精准识别和位置检测，从而可根据作业机械的臂架21当前姿态以及目标位置的偏差，为智能吊装的精准就位提供支撑。
可选地，如图4所示，作业机械还包括人机交互装置22，人机交互装置22用于接收和显示场景检测单元采集的图像，并获取用户针对图像的目标选择操作。处理装置与人机交互装置22通信并还被配置为：
控制旋转机构12和摆动机构11动作以使得作业目标进入场景检测单元采集的视场中；
接收目标选择操作并根据目标选择操作确定作业目标在作业场景全局地图中的位置。
其中，人机交互装置22可以包括显示屏，该显示屏可以显示场景检测单元采集的图像，该显示屏可以为触摸显示屏，从而用户可以通过点选全景图像中作业目标所在的位置进行目标选择操作。可以理解的是，目标选择操作也可以通过其他方式实现，例如也可以通过与显示屏连接的外围设备选择图像中作业目标所在的位置。处理装置17与人机交互装置22通信，并具备图像处理功能，该处理装置17可以从场景检测单元接收采集的图像并传输至人机交互装置22进行显示，并接收用户针对图像的目标选择操作，以根据该目标选择操作确定作业目标在作业场景全局地图中的位置。如此，作业机械的操作人员可以通过人机交互装置22直观地查看实际吊装场景，从而无需指挥人员协同指挥，降低了人工成本。并且通过根据用户对图像的目标选择操作自动确定作业目标的位置，可以实现作业机械的自动作业定位，从而降低操作人员的操作强度与熟练度，提高工作效率。
进一步地，处理装置17还可被配置为：
根据臂架21的当前状态和作业目标在作业场景全局地图中的空间位置，进行作业路径规划和安全计算。
更进一步地，在开启智能吊装功能后，臂架21按照作业路径规划动作，当臂架21运动快靠近作业目标时，处理装置还可被配置为：
控制臂载云台动作以使得场景检测单元的光轴垂直于地平面，并在作业目标进入场景检测单元采集的视场中时，对作业目标进行识别和二次定位。
其中，二次定位为精准定位，有利于实现作业机械的自动化和智能化作业。
此外，当吊钩接近作业目标时，此时吊钩与作业目标的距离在设定阈值范围内，可视为本次随动感知作业完成，而后可根据工况进入下一次的随动感知作业。在下一次的随动感知作业开始时，可先判断是否需要重新构建作业场景全局地图。若需要重新构建作业场景全局地图，可在展臂完成后，控制臂载随动感知装置1重新开始扫描作业；若不需要重新构建作业场景全局地图，可直接控制臂载云台动作使得下一个作业目标进入场景检测单元的视场，并定位作业目标以进行后续的路径规划和吊装作业。
需要说明的是，臂架21、雷达、相机、摆动机构11、旋转机构12、横滚机构13、俯仰机构14等部件机构的结构原理，以及点云数据的坐标转换和拼接的方法原理为本领域技术人员熟知，且不属于本申请的核心改进部分，因而在此不再赘述。
本申请第五方面还提供一种车辆，该车辆包括车体、臂架21和上述的臂载随动感知系统，臂架21设置在车体上，臂载云台设置在臂架21上。由于该车辆包括上述的臂载随动感知系统，因此也具备由该臂载随动感知系统带来的所有技术效果，因此不再重复赘述。该车辆可为纯电动车辆、增程式电动车辆、混合动力车辆、燃料电池电动车辆和氢发动机车辆等。
本申请第六方面还提供一种臂架作业方法，如图1和图2所示，臂架21上设有臂载云台，臂载云台包括俯仰机构14、旋转机构12和设于旋转机构12上的摆动机构11，旋转机构12能够驱动摆动机构11绕旋转轴线旋转，摆动机构11上设有场景检测单元，摆动机构11能够驱动场景检测单元摆动以调节场景检测单元的光轴与旋转轴线之间的摆动角，俯仰机构14连接在臂架21与旋转机构12之间并能够驱动旋转机构12绕俯仰轴线进行上下俯仰运动，俯仰轴线垂直于臂架21的变幅方向，臂架作业方法包括：
获取臂架21的作业位姿；
根据臂架21的作业位姿控制俯仰机构14动作，以使得旋转轴线调节至垂直于地平面；
控制摆动机构11和旋转机构12动作，使得场景检测单元以预设摆动角绕旋转轴线进行旋转扫描。
可选地，臂架作业方法还包括：
根据场景检测单元的扫描数据、旋转机构12的动作数据以及摆动机构11的动作数据生成作业场景全局地图。
可选地，臂架作业方法还包括：
根据所述臂架21的作业场景尺寸确定所述场景检测单元绕所述旋转轴线旋转的总旋转周数和与各个旋转周次对应的摆动角。
可选地，臂架作业方法还包括：
根据臂架21的长度确定臂架21的作业场景尺寸。
可选地，控制摆动机构11和旋转机构12动作，以使得场景检测单元以预设摆动角绕旋转轴线进行旋转扫描，包括：
确定场景检测单元的当前旋转周次，控制摆动机构11动作以调节与当前旋转周次对应的摆动角；
控制旋转机构12以预设旋转角度间隔和预设时间周期间隔驱动场景检测单元旋转，直至场景检测单元在当前旋转周次旋转一周；
确定场景检测单元的已完成最后一周的旋转扫描，控制场景检测单元停止扫描。
可选地，根据场景检测单元的扫描数据、旋转机构12的动作数据以及摆动机构11的动作数据生成作业场景全局地图，包括：
获取场景检测单元的扫描数据、旋转机构12的动作数据以及摆动机构11的动作数据；
结合旋转机构12的动作数据和摆动机构11的动作数据对扫描数据进行处理和拼接，以生成作业场景全局地图。
可选地，臂载云台还包括横滚机构13，横滚机构13能够驱动旋转机构12绕横滚轴线转动，横滚轴线垂直于俯仰轴线，在场景检测单元旋转扫描之前，臂架作业方法还包括：
控制横滚机构13动作以使得旋转轴线在臂架21扭转或倾斜时能够垂直于地平面。
可选地，臂架作业方法还包括：
检测摆动角、横滚机构13在垂直于臂架21的变幅方向上的第一倾斜角度值以及俯仰机构14在臂架21的变幅方向上的第二倾斜角度值；
根据摆动角、第一倾斜角度值以及第二倾斜角度值控制摆动机构11、横滚机构13以及俯仰机构14动作，以使得场景检测单元的光轴垂直于地平面。
可选地，臂架作业方法还包括：
控制旋转机构12和摆动机构11动作以使得作业目标进入场景检测单元采集的视场中；
显示场景检测单元采集的图像并获取用户针对图像的目标选择操作；
接收目标选择操作并根据目标选择操作确定作业目标在作业场景全局地图中的位置。
可选地，臂架作业方法还包括：
根据臂架21的当前状态和所述作业目标在作业场景全局地图中的空间位置，进行作业路径规划和安全计算。
可选地，臂架作业方法还包括：
在臂架21按照作业路径规划动作时，控制臂载云台动作以使得场景检测单元的光轴垂直于地平面，并在作业目标进入场景检测单元采集的视场中时，对作业目标进行识别和二次定位。
可选地，场景检测单元包括图像获取部件152和/或雷达。
如图8所示，以下将以起重机为例对本申请的臂载随动感知装置1的控制流程进行简要阐述：
1、如图5所示，起重机的臂架21在展臂之前，起重机的臂架21处于平行与地平面。对臂载随动感知装置1上电，获取臂载云台的初始状态。其中，臂载云台的初始状态包括旋转角、摆动角、俯仰角和横滚角。
2、起重机的展臂步骤：如图6所示，实时控制摆动机构11、横滚机构13以及俯仰机构14以调整摆动角、俯仰角以及横滚角，使得场景检测单元的光轴垂直于地平面。在展臂完成后，起重机的臂架21处于作业初始状态，此时，场景检测单元的光轴垂直于地平面。
3、场景扫描步骤：确定场景检测单元的当前旋转周次，控制摆动机构11动作以调节与当前旋转周次对应的摆动角，控制旋转机构12以预设旋转角度间隔和预设时间周期间隔驱动场景检测单元旋转，直至场景检测单元在当前旋转周次旋转一周，确定场景检测单元已完成最后一周的旋转扫描，控制场景检测单元停止扫描。
4、根据扫描获取的雷达点云和相机图像，进行作业场景的三维重建，生成作业场景全局地图。
5、生成作业场景全局地图后，控制摆动机构11和旋转机构12动作来调整摆动角和旋转角，以使得雷达和相机的光轴垂直于地平面。此时，可判断是否需要重新构建作业场景全局地图，若需要，重新进入场景扫描步骤；若不需要，则进入作业目标初次定位步骤。
6、作业目标初次定位步骤：控制摆动机构11和旋转机构12动作来调整摆动角和旋转角，以使得作业目标(起吊物或就位点)进入相机视场，在相加图像中点选作业目标，并计算获取作业目标在作业场景全局地图中的空间位置。
7、完成作业目标的定位后，控制摆动机构11、横滚机构13、俯仰机构14和旋转机构12动作来调整摆动角、横滚角、俯仰角和旋转角，以回正雷达和相机视场并使得雷达和相机的光轴垂直于地平面。并且，根据起重机的臂架21当前状态和作业目标空间位置，自动进行作业路径规划和安全计算。
8、开启智能吊装功能，控制臂架21按规划的作业路径动作。此过程中，需实时控制摆动机构11、横滚机构13和俯仰机构14动作来调整摆动角、横滚角和俯仰角，以使得雷达和相机的光轴垂直于地平面。
9、当臂架21运动快靠近作业目标，作业目标进入雷达和相机视场内后，基于雷达和相机对作业目标进行自动识别及二次定位(精准定位)。在此过程中，也需实时控制摆动机构11、横滚机构13和俯仰机构14动作来调整摆动角、横滚角和俯仰角，以使得雷达和相机的光轴垂直于地平面。
10、当吊钩接近作业目标且吊钩与作业目标之间的距离在设定阈值范围内时，视为此作业完成。
11、在上一个作业完成后并进入下一个作业流程时，可判断是否需要重新构建作业场景全局地图，若需要，重新进入场景扫描步骤；若不需要，则进入作业目标初次定位步骤。若在上一个作业完成后，不需要再进入下一个作业流程时，此时可结束作业。
综上所述，本申请的臂载随动感知装置1、臂载随动感知系统以及作业机械具有可四轴运动控制的臂载云台，将相机和雷达等传感器安装于该臂载云台上，可实现相机雷达水平方向360的旋转、变幅方向和与变幅方向垂直的左右方向的倾角控制，并在臂架21变幅、回转动态过程中可保持相机和雷达的光轴垂直朝下。此外，本申请的臂载云台、臂载随动感知装置、作业机械和车辆可实现相机雷达不同摆动角下的旋转扫描，从而可实现大作业范围的大视野监控与三维重建；也可当臂架21运动过程中，不管臂架21是否有横滚变形，均保持相机雷达垂直朝下的姿态，从而实现吊钩吊载的监控以及吊钩吊载运动过程中周边障碍的实时检测，且有助于保证场景检测区域的覆盖度。另外，本申请的臂载云台、臂载随动感知装置、臂载随动感知系统应用于例如起重机的作业机械时，可实现臂载随动式三维重建、障碍检测、目标跟随等，为起重机实现自动吊装、智能吊装提供技术基础，使起重机的“眼睛”功能得到保障。
在本申请的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接或彼此可通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。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。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (15)

  1. 一种臂载随动感知系统，其中，包括：
    场景检测单元，用于获取作业场景的扫描数据；
    臂载云台，设于臂架(21)上并包括俯仰机构(14)、旋转机构(12)和摆动机构(11)，所述旋转机构(12)与所述摆动机构(11)连接并能够驱动所述摆动机构(11)绕旋转轴线旋转，所述场景检测单元设于所述摆动机构(11)上，所述摆动机构(11)能够驱动所述场景检测单元摆动以调节所述场景检测单元的光轴与所述旋转轴线之间的摆动角，所述俯仰机构(14)连接在所述臂架(21)与所述旋转机构(12)之间并能够驱动所述旋转机构(12)绕俯仰轴线进行上下俯仰运动，所述俯仰轴线垂直于所述臂架(21)的变幅方向；和
    处理装置(17)，分别与所述臂载云台和所述场景检测单元通信，并被配置为：
    获取所述臂架(21)的作业位姿；
    根据所述臂架(21)的作业位姿控制所述俯仰机构(14)动作，以使得所述旋转轴线调节至垂直于地平面；
    控制所述摆动机构(11)和所述旋转机构(12)动作，以使得所述场景检测单元以预设摆动角绕所述旋转轴线进行旋转扫描。
  2. 根据权利要求1所述的臂载随动感知系统，其中，所述处理装置(17)还被配置为：
    根据所述场景检测单元的扫描数据、所述旋转机构(12)的动作数据以及所述摆动机构(11)的动作数据生成作业场景全局地图。
  3. 根据权利要求2所述的臂载随动感知系统，其中，所述处理装置(17)还被配置为：
    根据所述臂架(21)的作业场景尺寸确定所述场景检测单元绕所述旋转轴线旋转的总旋转周数和与各个旋转周次对应的摆动角。
  4. 根据权利要求2所述的臂载随动感知系统，其中，所述处理装置(17)被配置为：
    根据所述臂架(21)的长度确定所述臂架(21)的作业场景尺寸。
  5. 根据权利要求2所述的臂载随动感知系统，其中，所述根据所述场景检测单元的扫描数据、所述旋转机构(12)的动作数据以及所述摆动机构(11)的动作数据生成作业场景全局地图，包括：
    获取所述场景检测单元的扫描数据、所述旋转机构(12)的动作数据以及所述摆动机构(11)的动作数据；
    结合所述旋转机构(12)的动作数据和所述摆动机构(11)的动作数据对所述扫描数据进行处理和拼接，以生成作业场景全局地图。
  6. 根据权利要求1所述的臂载随动感知系统，其中，所述控制所述摆动机构(11)和所述旋转机构(12)动作，以使得所述场景检测单元以预设摆动角绕所述旋转轴线进行旋转扫描，包括：
    确定所述场景检测单元的当前旋转周次，控制所述摆动机构(11)动作以调节与当前旋转周次对应的所述摆动角；
    控制所述旋转机构(12)以预设旋转角度间隔和预设时间周期间隔驱动所述场景检测单元旋转，直至所述场景检测单元在当前旋转周次旋转一周；
    确定所述场景检测单元已完成最后一周的旋转扫描，控制所述场景检测单元停止扫描。
  7. 根据权利要求1所述的臂载随动感知系统，其中，所述臂载云台还包括横滚机构(13)，所述横滚机构(13)能够驱动所述旋转机构(12)绕横滚轴线转动，所述横滚轴线垂直于所述俯仰轴线，在所述场景检测单元旋转扫描之前，所述处理装置(17)还被配置为：
    控制所述横滚机构(13)动作以使得所述旋转轴线在所述臂架(21)扭转或倾斜时能够垂直于地平面。
  8. 根据权利要求7所述的臂载随动感知系统，其中，所述俯仰机构(14)、所述横滚机构(13)、所述旋转机构(12)以及所述摆动机构(11)依次连接；或者，所述横滚机构(13)、所述俯仰机构(14)、所述旋转机构(12)以及所述摆动机构(11)依次连接。
  9. 根据权利要求2所述的臂载随动感知系统，其中，所述臂载随动感知系统还包括人机交互装置(22)，所述人机交互装置(22)用于接收和显示所述场景检测单元采集的图像，并获取用户针对所述图像的目标选择操作；
    所述处理装置(17)与所述人机交互装置(22)通信并还被配置为：
    控制所述旋转机构(12)和所述摆动机构(11)动作以使得作业目标进入所述场景检测单元采集的视场中；
    接收所述目标选择操作并根据所述目标选择操作确定所述作业目标在所述作业场景全局地图中的位置。
  10. 根据权利要求9所述的臂载随动感知系统，其中，所述处理装置(17)还被配置为：根据所述臂架(21)的当前状态和所述作业目标在所述作业场景全局地图中的空间位置，进行作业路径规划和安全计算。
  11. 根据权利要求10所述的臂载随动感知系统，其中，所述处理装置(17)还被配置为：
    在所述臂架(21)按照所述作业路径规划动作时，控制所述臂载云台动作以使得所述场景检测单元的光轴垂直于地平面，并在所述作业目标进入所述场景检测单元采集的视场中时，对所述作业目标进行识别和二次定位。
  12. 根据权利要求1所述的臂载随动感知系统，其中，所述臂载随动感知系统还包括第一角度传感器和第二角度传感器，所述第一角度传感器设置在所述摆动机构(11)上并用于检测所述摆动机构(11)的摆动角，所述第二角度传感器设置在所述旋转机构(12)上并用于检测所述旋转机构(12)的旋转角；和/或，所述场景检测单元包括图像获取部件(152)和/或雷达。
  13. 一种作业机械，其中，包括：臂架(21)和根据权利要求1至12中任意一项所述的臂载随动感知系统，所述臂载云台设置在所述臂架(21)上。
  14. 一种车辆，其中，包括：车体、臂架(21)和根据权利要求1至12中任意一项所述的臂载随动感知系统，所述臂架(21)设置在所述车体上，所述臂载云台设置在所述臂架(21)上。
  15. 一种臂架作业方法，其中，臂架(21)上设有臂载云台，所述臂载云台包括俯仰机构(14)、旋转机构(12)和设于所述旋转机构(12)上的摆动机构(11)，所述旋转机构(12)能够驱动所述摆动机构(11)绕旋转轴线旋转，所述摆动机构(11)上设有场景检测单元，所述摆动机构(11)能够驱动所述场景检测单元摆动以调节所述场景检测单元的光轴与所述旋转轴线之间的摆动角，所述俯仰机构(14)连接在所述臂架(21)与所述旋转机构(12)之间并能够驱动所述旋转机构(12)绕俯仰轴线进行上下俯仰运动，所述俯仰轴线垂直于所述臂架(21)的变幅方向，所述臂架作业方法包括：
    获取所述臂架(21)的作业位姿；
    根据所述臂架(21)的作业位姿控制所述俯仰机构(14)动作，以使得所述旋转轴线调节至垂直于地平面；
    控制所述摆动机构(11)和所述旋转机构(12)动作，使得所述场景检测单元以预设摆动角绕所述旋转轴线进行旋转扫描。
PCT/CN2025/087976 2024-07-03 2025-04-09 臂载随动感知系统、臂架作业方法及作业机械 Pending WO2026007490A1 (zh)

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