CN116009531A - Engineering vehicle landing leg safety unfolding guiding method and device and engineering vehicle - Google Patents
Engineering vehicle landing leg safety unfolding guiding method and device and engineering vehicle Download PDFInfo
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- CN116009531A CN116009531A CN202211516231.9A CN202211516231A CN116009531A CN 116009531 A CN116009531 A CN 116009531A CN 202211516231 A CN202211516231 A CN 202211516231A CN 116009531 A CN116009531 A CN 116009531A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application provides a vehicle landing leg safe unfolding guiding method and device and an engineering vehicle, and relates to the field of engineering vehicle control, wherein the method comprises the following steps: determining an effective working range of the engineering vehicle according to the working parameters of the engineering vehicle and the construction range of the construction area; generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range; under the condition that the engineering vehicle is in an effective operation range, judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the condition of an obstacle in the expandable region of the supporting legs of the engineering vehicle and the condition of road surface flatness in the expandable region; and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg. The technical scheme of the application is used for guiding the engineering vehicle to travel to the effective operation range and meeting the region of the support leg unfolding requirements, and generating the support leg unfolding strategy for safely unfolding the support legs.
Description
Technical Field
The application relates to the field of engineering vehicle control, in particular to a method and a device for safely unfolding and guiding supporting legs of an engineering vehicle and the engineering vehicle.
Background
The engineering vehicle often accompanies heavy center transfer in construction operation, so that the support legs are adopted to ensure stable and sufficient support span so as to avoid risks of side turning and the like of equipment, and particularly the engineering vehicle with the arm support is more required to support the support legs so as to ensure the safety in the construction process.
In the related art, how to select a parking position and how to extend the vehicle support leg is mainly judged by a driver according to experience, if the judgment is wrong, the extended support leg needs to be retracted again to search for the next parking position for further try, so that the operation is complex, and the efficiency is low.
Therefore, there is an urgent need for a guiding method that can guide an engineering vehicle to complete parking of the vehicle and deployment of the legs, while improving the deployment efficiency of the legs of the vehicle, and also reducing the operational complexity of field constructors.
Disclosure of Invention
The purpose of the application is to provide a method and a device for guiding the safe unfolding of supporting legs of an engineering vehicle and the engineering vehicle, which are used for guiding the engineering vehicle to travel to an effective working range and meeting the region of the supporting leg unfolding requirements and generating a supporting leg unfolding strategy for the safe unfolding of the supporting legs.
The application provides a safe unfolding guiding method for engineering vehicle support legs, which comprises the following steps:
determining an effective working range of the engineering vehicle according to the working parameters of the engineering vehicle and the construction range of a construction area; generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range; judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the obstacle condition in the expandable region of the supporting legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range; and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
Optionally, the determining the effective working range of the engineering vehicle according to the working parameters of the engineering vehicle and the construction range of the construction area includes: according to the operation parameters, determining the capacity coverage range of the engineering vehicle; determining a target area as the effective operation range according to the capability coverage range and the construction range; when the engineering vehicle is located in the target area, the capacity coverage area and the construction area are overlapped.
Optionally, when the engineering vehicle is in the effective working range, determining whether the current position of the engineering vehicle meets the requirement of unfolding the support leg according to the obstacle condition in the stretchable area of the support leg of the engineering vehicle and the road surface flatness condition in the stretchable area includes: acquiring a panoramic top view acquired by a camera of the engineering vehicle and the extensible area, wherein the extensible area is determined based on parameters of the supporting leg and a safe unfolding angle range of the supporting leg, and the safe unfolding angle range is a set of unfolding angles of the supporting leg under the condition that operation safety of the engineering vehicle is ensured; judging whether the obstacle condition and the road surface flatness condition in the stretchable area influence the expansion of the supporting legs or not through the image recognition result of the panoramic top view; and when the obstacle condition affecting the expansion of the supporting legs and the road surface flatness condition do not exist in the expandable area, determining that the current position of the engineering vehicle meets the expansion requirement of the supporting legs.
Optionally, the determining whether the obstacle condition and the road surface flatness condition in the stretchable area affect the leg deployment according to the image recognition result of the panoramic top view includes: determining the obstacle condition and the road surface flat condition in the extensible area through the image recognition result of the panoramic top view, wherein the obstacle condition comprises an obstacle position and an obstacle height, and the road surface flat condition comprises a road surface concave-convex position; based on the extensible area, the safe unfolding angle range, parameters of a target landing leg and the obstacle position, predicting an unfolding path of the target landing leg to generate a prediction path, judging whether the target landing leg collides with an obstacle when being unfolded according to the prediction path according to the height of the obstacle, and judging whether the projection of a vertical landing leg of the target landing leg on a road surface overlaps with the concave-convex position of the road surface after the horizontal landing leg of the target landing leg is unfolded according to the prediction path; when the target landing leg is unfolded according to the predicted path, the obstacle condition and the road surface flatness condition do not influence the unfolding of the landing leg under the condition that the collision with the obstacle does not occur and the projection of the vertical landing leg of the target landing leg on the road surface does not overlap with the concave-convex position of the road surface, and the predicted path is determined as a target unfolding path of the target landing leg; wherein the target leg is any one of a plurality of legs of the engineering vehicle.
Optionally, generating the leg deployment strategy in the case that the current position of the engineering vehicle meets the deployment requirement of the leg includes: and generating the landing leg unfolding strategy based on the targets of a plurality of target landing legs of the engineering vehicle under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing legs.
Optionally, in the case that the current position of the engineering vehicle does not meet the deployment requirement of the support leg, the method further includes: acquiring a three-dimensional image of a road surface around the engineering vehicle, and determining the obstacle condition and the road surface flatness condition of the road surface around the engineering vehicle according to the three-dimensional image; and generating second guiding information according to the obstacle condition and the road surface flatness condition, and guiding the engineering vehicle to run based on the second guiding information.
Optionally, after generating the leg deployment policy, in a case that the current position of the engineering vehicle meets the deployment requirement of the leg, the method further includes: and displaying the running track of the support leg unfolding on the panoramic top view according to the support leg unfolding strategy.
Optionally, after generating the leg deployment policy, in a case that the current position of the engineering vehicle meets the deployment requirement of the leg, the method further includes: receiving a target input; and in response to the target input, under the condition that the engineering vehicle stops running, expanding each supporting leg of the engineering vehicle according to the supporting leg expanding strategy.
The application also provides a engineering vehicle landing leg safety expansion guiding device, including:
the determining module is used for determining the effective operation range of the engineering vehicle according to the operation parameters of the engineering vehicle and the construction range of the construction area; the guiding module is used for generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle to enter the effective working range; the judging module is used for judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the obstacle condition in the expandable region of the supporting legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range; the generation module is used for generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
Optionally, the determining module is specifically configured to determine a capacity coverage range of the engineering vehicle according to an operation parameter of the engineering vehicle; the determining module is specifically configured to determine, according to the capability coverage area of the engineering vehicle and the construction range, a target area as the effective working range; when the engineering vehicle is located in the target area, the capacity coverage area of the engineering vehicle is overlapped with the construction range.
Optionally, the apparatus further comprises: an acquisition module; the acquisition module is further configured to acquire a panoramic top view acquired by a camera of the engineering vehicle, and the extendable area, where the extendable area of the leg is determined based on parameters of the leg and a safe extension angle range of the leg, and the safe extension angle range is a set of extension angles of the leg under a condition that operation safety of the engineering vehicle is ensured; the judging module is specifically configured to judge whether the obstacle condition and the road surface flatness condition in the stretchable area affect the deployment of the support legs according to the image recognition result of the panoramic top view; the determining module is further configured to determine that a current position of the engineering vehicle meets a deployment requirement of the support leg when the obstacle condition affecting deployment of the support leg and the road surface flatness condition do not exist in the expandable region.
Optionally, the determining module is further configured to determine, according to an image recognition result of the panoramic plan view, the obstacle condition and the road surface flat condition in the extendable area, where the obstacle condition includes an obstacle position and an obstacle height, and the road surface flat condition includes a road surface concave-convex position; the generation module is further configured to predict a deployment path of the target leg based on the extendable area, the safe deployment angle range, parameters of the target leg, and the obstacle position, and generate a predicted path, and the judgment module is specifically configured to judge, according to the obstacle height, whether the target leg collides with an obstacle when being deployed according to the predicted path, and judge whether a projection of a vertical leg of the target leg on a road surface overlaps with the concave-convex position of the road surface after the horizontal leg of the target leg is deployed according to the predicted path; the determining module is further configured to determine the predicted path as a target deployment path of the target leg when the target leg is deployed according to the predicted path and the obstacle condition and the road surface flatness condition do not affect the deployment of the leg when the target leg is not collided with the obstacle and the projection of the vertical leg of the target leg on the road surface does not overlap with the concave-convex position of the road surface; wherein the target leg is any one of a plurality of the legs of the engineering vehicle.
Optionally, the generating module is specifically configured to generate the leg deployment policy based on the target deployment paths of the plurality of target legs of the engineering vehicle when the current position of the engineering vehicle meets the deployment requirement of the legs.
Optionally, the acquiring module is further configured to acquire a three-dimensional image of a road surface around the engineering vehicle; the determining module is further used for determining the obstacle condition and the road surface flatness condition of the road surface around the engineering vehicle according to the three-dimensional image; the generation module is further used for generating second guide information according to the obstacle condition and the road surface flatness condition; and the guiding module is also used for guiding the engineering vehicle to run based on the second guiding information.
Optionally, the apparatus further comprises: a display module; and the display module is used for displaying the running track of the support leg expansion on the panoramic top view according to the support leg expansion strategy.
Optionally, the apparatus further comprises: a user input module and an execution module; the user input module is used for receiving target input; and the execution module is used for responding to the target input and expanding each supporting leg of the engineering vehicle according to the supporting leg expanding strategy under the condition that the engineering vehicle stops running.
The present application also provides a computer program product comprising computer programs/instructions which, when executed by a processor, implement the steps of the engineering vehicle leg safety deployment guidance method as described in any one of the above.
The application also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the engineering vehicle landing leg safety unfolding guiding method according to any one of the above steps when executing the program.
The application also provides an engineering vehicle, which comprises the engineering vehicle landing leg safety unfolding guide device.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the engineering vehicle leg safety deployment guidance method as described in any one of the above.
According to the engineering vehicle landing leg safe unfolding guiding method and device and the engineering vehicle, the effective operation range of the engineering vehicle is determined according to the operation parameters of the engineering vehicle and the construction range of the construction area; generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range; under the condition that the engineering vehicle is in an effective operation range, judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the condition of an obstacle in the expandable region of the supporting legs of the engineering vehicle and the condition of road surface flatness in the expandable region; and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg. The technical scheme of the application is used for guiding the engineering vehicle to travel to the effective operation range and meeting the region of the support leg unfolding requirements, and generating the support leg unfolding strategy for safely unfolding the support legs.
Drawings
In order to more clearly illustrate the technical solutions of the present application or the prior art, the following description will briefly introduce the drawings used in the embodiments or the description of the prior art, and it is obvious that, in the following description, the drawings are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of one of the engineering vehicle leg telescoping modes provided herein;
FIG. 2 is a schematic flow chart of a method for guiding the safe deployment of the support legs of the engineering vehicle;
FIG. 3 is a second schematic illustration of the leg extension and retraction of the work vehicle provided in the present application;
FIG. 4 is a schematic structural view of the engineering vehicle leg safety deployment guide apparatus provided in the present application;
fig. 5 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
As shown in fig. 1, the construction vehicle is generally provided with at least two legs, each of which includes a vertical leg and a horizontal leg, which can be respectively contracted and expanded by an oil cylinder. The above-mentioned engineering vehicle may include: working vehicles such as heavy trucks, trailers, excavators, anchor diggers, bulldozers, road rollers, concrete pump trucks and the like, or mechanical working equipment such as tower cranes, construction lifts, material lifts and the like.
Aiming at the technical problems of low vehicle supporting leg unfolding efficiency and complicated operation of drivers in the related technology, the embodiment of the application provides a safe supporting leg unfolding guiding method for engineering vehicles, which can guide the engineering vehicles to travel to an effective operation range and generate a safe supporting leg unfolding strategy according to the obstacle condition and the road surface flatness condition of a supporting leg stretchable area. Meanwhile, after receiving the target input instruction, the engineering vehicle can automatically complete the unfolding operation of the support legs according to the generated support leg unfolding strategy, so that the operation complexity of site constructors is greatly reduced.
The method for safely unfolding and guiding the engineering vehicle landing leg provided by the embodiment of the application is described in detail through specific embodiments and application scenes thereof by combining the attached drawings.
As shown in fig. 2, the method for guiding the safe deployment of the support leg of the engineering vehicle according to the embodiment of the present application may include the following steps 201 to 204:
The working parameters of the working vehicle may be calculated from the working radius of the working device mounted on the working vehicle, and the working radius may be calculated from the device parameters of the working device mounted on the working vehicle. For example, in the case where the working device on the working vehicle is a boom, the working parameters of the working vehicle may be calculated according to the maximum working radius of the boom.
For example, the construction range of the construction area may be set and updated by an operator in the background through latitude and longitude, and transmitted to the engineering vehicle through a wireless network.
For example, the capacity coverage of the engineering vehicle may be determined according to the operation parameters of the engineering vehicle and the parking position of the engineering vehicle, and the effective operation range of the engineering vehicle may be determined according to the capacity coverage and the construction range of the construction area to be constructed. Since the construction area is changed continuously with the progress of the construction, the effective working range of the construction vehicle is also changed. In order for the construction vehicle to continue construction, the parking position needs to be constantly adjusted.
Specifically, the step 201 may include the following steps 201a1 and 201a2:
step 201a1, determining the capacity coverage of the engineering vehicle according to the operation parameters.
Step 201a2, determining a target area as the effective working range according to the capability coverage range and the construction range.
When the engineering vehicle is located in the target area, the capacity coverage area and the construction area are overlapped. The capacity coverage of the engineering vehicle is calculated according to the parking position of the engineering vehicle and the working radius of the engineering vehicle.
For example, the construction vehicle is only able to perform the construction if the construction vehicle is within the target area. That is, only when the coverage of the capacity calculated from the working parameters of the working vehicle overlaps the construction range of the construction area, the current position of the working vehicle can be determined to be within the effective working range, and at this time, the working vehicle can perform the construction work normally.
And 202, generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range.
For example, the location of the work vehicle may be determined by a positioning device mounted on the work vehicle. The first guidance information may be moving image information of the traveling direction displayed on the display screen, or may be voice information of the traveling direction.
And 203, judging whether the current position of the engineering vehicle meets the expansion requirement of the support legs according to the obstacle condition in the expandable region of the support legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range.
For example, the leg of the work vehicle may be angularly adjusted in a horizontal direction within a range of angles, from which the extendable area of the leg may be determined, as well as the maximum extension distance of the leg in the horizontal direction.
For example, as shown in fig. 3, the engineering vehicle includes four legs, each of which can be individually extended and retracted and adjusted in angle, and any one of the legs belongs to the extendable area of the leg within its angle adjustment range after being fully extended.
Illustratively, it is mainly obstructions within the extendable area of the leg that can affect deployment of the leg, e.g., stones, stakes, etc.; the main effect on the support stability of the support leg is that the support leg is vertical to the flat condition of the ground below the support leg after being completely unfolded, such as whether pits or bulges exist on the ground. Therefore, whether any supporting leg can be unfolded or not and whether the requirement of safe operation can be met or not after the supporting leg is unfolded is judged, and the judgment is mainly carried out according to the condition of the obstacle in the extensible area and the condition of flatness in the extensible area.
Specifically, the step 203 may include the following steps 203a, 203b, and 203c:
step 203a, obtaining a panoramic top view collected by a camera of the engineering vehicle and the extensible area.
For example, the panoramic overhead view described above may be generated from images captured by a plurality of cameras disposed around the body of the work vehicle.
The extendable area of the leg is determined based on parameters of the leg and a safe deployment angle range of the leg. The leg parameters include a maximum extension distance of the leg in a horizontal direction. The safe unfolding angle range is a set of unfolding angles of the supporting leg under the condition of ensuring the operation safety of the engineering vehicle, such as 85-90 degrees. And according to the safe unfolding angle range, obtaining the maximum safe unfolding angle of the supporting leg. Illustratively, the extendable area of the leg is a sector area that is determined based on a maximum extension distance (e.g., 3 meters) of the leg in the horizontal direction and a maximum safe deployment angle (e.g., 90 °) of the leg, e.g., the extendable area of the leg is defined by a sector area that is centered on a junction of the leg and the body of the work vehicle, a maximum extension distance (e.g., 3 meters) of the leg in the horizontal direction is defined as a radius, and a maximum safe deployment angle (e.g., 90 °) is defined as a central angle.
In one possible implementation manner, 6 cameras may be disposed around the body of the engineering vehicle, and are located in: front, rear, left front leg, right front leg, left rear leg and right rear leg of the vehicle body. After the projection conversion treatment is carried out on the images acquired by the 6 cameras, a panoramic plan view around the engineering vehicle body can be generated.
And 203b, judging whether the obstacle condition and the road surface flatness condition in the stretchable area influence the support leg stretching or not through the image recognition result of the panoramic top view.
Specifically, it is necessary to determine whether there are obstacles in the stretchable region that affect the deployment of the leg and road surface irregularities that affect the balance of the vehicle after the deployment of the leg.
By way of example, it is possible to identify by image recognition techniques whether there are obstacles and road irregularities in the extendable area of each leg in the panoramic plan view that affect the deployment of the legs.
And 203c, when the obstacle condition affecting the expansion of the supporting legs and the road surface flatness condition do not exist in the expandable area, determining that the current position of the engineering vehicle meets the expansion requirement of the supporting legs.
Specifically, under the condition that no obstacle influencing the expansion of the supporting legs exists in the expandable area and no road surface concave-convex which influences the balance of the vehicle after the supporting legs are expanded exists, the current position of the engineering vehicle is determined to meet the expansion requirement of the supporting legs.
The driver can be timely reminded after the current position of the engineering vehicle meets the unfolding requirement of the supporting legs, and the driver can park the vehicle at the current position after receiving the reminding of the vehicle.
It can be understood that the engineering vehicle can judge whether the current position meets the unfolding requirement of the landing leg in real time in the running process of the vehicle, and if yes, the driver can be reminded in a mode of voice, lighting an indicator lamp, a display screen and the like. After the driver receives the prompt, the driver can know that the current position can be parked.
Specifically, the step 203b may include the following steps 203b1 to 203b3:
step 203b1, determining the obstacle condition and the road surface flat condition through the image recognition result of the panoramic top view, wherein the obstacle condition comprises an obstacle position and an obstacle height, and the road surface flat condition comprises a road surface concave-convex position.
Illustratively, it is first necessary to determine whether there are obstacles and road surface irregularities (i.e., pits and bumps on the road surface) in the extendable area of each leg based on the image recognition result, and if so, it is necessary to further determine the obstacle position and the obstacle height, and the road surface irregularities. The position may be relative to the extendable region.
Step 203b2, based on the extendable area, the safe extension angle range, the parameter of the target leg and the obstacle position, predicts the extension path of the target leg, generates a predicted path, and determines, according to the obstacle height, whether the target leg collides with an obstacle when being extended according to the predicted path, and determines, after the horizontal leg of the target leg is extended according to the predicted path, whether the projection of the vertical leg of the target leg on the road surface overlaps with the concave-convex position of the road surface.
Illustratively, the target leg is any one of a plurality of the legs of the work vehicle; the obstacle in the extendable area of any leg and the road surface unevenness need to be individually determined.
Taking the situation that an obstacle and road surface concave-convex exist in the extensible area of the target supporting leg as an example, when the existence of the obstacle and the road surface concave-convex in the extensible area of the target supporting leg is determined, the road surface concave-convex can be judged first, and then the obstacle can be judged; the obstacle may be determined first, and then the unevenness of the road surface may be determined.
Based on the extendable region, the safe deployment angle range, parameters of a target leg, and the obstacle location, predicting a deployment path of the target leg, generating a predicted path comprising: based on the extendable region, the safe deployment angle range, the obstacle position, and parameters of the target leg (including the fixed length and the extendable length of the horizontal leg), a deployment path with fewer obstacles in the extendable region and a final deployment angle conforming to the safe deployment angle range is selected as the predicted path.
For example, in the determination for the target leg, a plurality of developed paths (i.e., the above-described predicted paths) may be predicted, and each path may be determined separately. If the unfolding path meeting the operation safety of the vehicle does not exist, judging that the current position does not meet the unfolding requirement of the support leg.
The parameters of the target leg also include the height of the horizontal leg and the height of the vertical leg of the target leg. Judging whether the target supporting leg collides with an obstacle or not when the target supporting leg is unfolded according to the predicted path according to the height of the obstacle, wherein the step of comparing the height of the obstacle with the height of the horizontal supporting leg and the height of the vertical supporting leg of the target supporting leg on the predicted path respectively comprises the step of preventing the target supporting leg from colliding with the obstacle on the predicted path if the heights of the obstacle are smaller than the heights of the horizontal supporting leg and the vertical supporting leg of the target supporting leg on the predicted path.
After the horizontal support legs of the target support legs are unfolded according to the predicted path, whether the projection of the vertical support legs of the target support legs on the road surface is overlapped with the concave-convex position of the road surface or not is judged, if the projection of the vertical support legs of the target support legs on the road surface is overlapped with the concave-convex position of the road surface, the situation that the vertical support legs of the target support legs are placed on the concave-convex position of the road surface after being unfolded is described, balance of engineering vehicles is affected, and potential safety hazards are caused.
Step 203b3, when the target leg is deployed according to the predicted path, the target leg does not collide with the obstacle, and when the projection of the vertical leg of the target leg on the road surface does not overlap with the concave-convex position of the road surface, the obstacle condition and the road surface flatness condition do not affect the leg deployment, and determining the predicted path as the target deployment path of the target leg.
If the target supporting leg does not collide with the obstacle when being unfolded according to the predicted path and the projection of the vertical supporting leg of the target supporting leg on the road surface is not overlapped with the concave-convex position of the road surface, the target supporting leg can be unfolded according to the predicted path, the predicted path meets the unfolding requirement of the target supporting leg, and the predicted path is determined to be the final unfolding path, namely the target unfolding path. And 204, generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
In an exemplary embodiment, when the current position of the engineering vehicle meets the requirement for unfolding the support leg, the driver is reminded to select a proper parking position according to the reminding of the engineering vehicle.
In the embodiment of the application, the engineering vehicle can alarm and remind when the expansion requirement is not met and does not remind when the expansion condition is met; the system can also remind when the unfolding requirement is met, and not remind when the unfolding condition is not met.
Specifically, based on the deployment path of the leg determined in the steps 203b1 to 203b3, the step 204 may include the following step 204a:
And 204a, generating the landing leg unfolding strategy based on the target unfolding paths of a plurality of target landing legs of the engineering vehicle under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing legs.
After the supporting legs of the engineering vehicle are unfolded according to the supporting leg unfolding strategy, the supporting effect of the supporting legs on the engineering vehicle meets the safety construction requirement of the engineering vehicle.
For example, in the case where any of the target legs has a target deployment path that satisfies the deployment requirement, a leg deployment strategy of the engineering vehicle may be generated based on the target deployment paths of the plurality of target legs.
Optionally, in the embodiment of the present application, in order to further ensure the operation safety of the engineering vehicle, after the vehicle is stopped, a driver may manually determine whether the unfolding path of each leg and the angle after the unfolding are reasonable.
Illustratively, after the step 204, the method for guiding the safe deployment of the engineering vehicle leg according to the embodiment of the present application may further include the following step 205:
and 205, displaying the running track of the support leg unfolding on the panoramic top view according to the support leg unfolding strategy.
For example, a deployment animation based on the leg deployment strategy may be displayed on a screen of the engineering vehicle, so that a driver can determine whether a deployment path and a deployment angle of each leg are reasonable according to the deployment animation.
The expansion animation comprises an expansion angle of each supporting leg of the engineering vehicle after being expanded according to an expansion path indicated by the supporting leg expansion strategy.
By way of example, the driver can further judge whether the unfolding path and the unfolding angle of the vehicle are reasonable according to the unfolding animation displayed on the screen, so that safety accidents caused by machine calculation errors are avoided.
Optionally, in the embodiment of the present application, in a case that the current position of the engineering vehicle meets the deployment requirement of the support legs, a driver may control the engineering vehicle to automatically deploy all the support legs according to the generated safe deployment strategy through simple operation.
Illustratively, after the step 204, the method for guiding the safe deployment of the engineering vehicle leg according to the embodiment of the present application may further include the following steps 206 and 207:
step 206, receiving a target input.
The target input may be input by a driver, or may be input by other construction guides, for example.
And step 207, in response to the target input, expanding each supporting leg of the engineering vehicle according to the supporting leg expanding strategy under the condition that the engineering vehicle stops running.
The target input may be a voice input or a specific button press input, for example.
Optionally, in the embodiment of the present application, in order to facilitate a driver to drive a vehicle to an area meeting a requirement for leg deployment, the method for guiding the leg deployment of the engineering vehicle according to the present application further includes a guiding driving function.
Illustratively, before the step 204, the method for guiding the safe deployment of the engineering vehicle leg according to the embodiment of the present application may further include the following steps 208 and 209:
and step 208, acquiring a three-dimensional image of the road surface around the engineering vehicle, and determining the obstacle condition and the road surface flatness condition of the road surface around the engineering vehicle according to the three-dimensional image.
For example, the engineering vehicle may generate a three-dimensional image of an area around the vehicle from an image acquired by a camera provided around the vehicle or a scanning result of a radar, and determine an obstacle condition (such as an obstacle position and an obstacle height) around the engineering vehicle and a road surface flatness condition (such as a road surface concave-convex position and the number) from the three-dimensional image.
Step 209, generating second guiding information according to the obstacle condition and the road surface flatness condition, and guiding the engineering vehicle to run based on the second guiding information. For example, the working vehicle may select a route travel with a small number of irregularities and obstacles and a low obstacle according to the number and positions of the irregularities on the road surface around the working vehicle and the positions and heights of the obstacles, and generate second guide information according to the vehicle travel route so as to guide the working vehicle to an area satisfying the leg deployment requirement.
For example, when it is determined that the current position of the engineering vehicle does not meet the requirement for the deployment of the support legs, an alarm may be sent out, and the driver may be timely reminded, and after receiving the reminder of the vehicle, the driver may continue to drive the vehicle until a position meeting the requirement for the deployment of the support legs is found.
According to the engineering vehicle landing leg safe unfolding guiding method, the effective operation range of the engineering vehicle is determined according to the operation parameters of the engineering vehicle and the construction range of the construction area; generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range; under the condition that the engineering vehicle is in an effective operation range, judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the condition of an obstacle in the expandable region of the supporting legs of the engineering vehicle and the condition of road surface flatness in the expandable region; and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg. And under the condition that the current position of the engineering vehicle does not meet the expansion requirement of the supporting legs, generating second guiding information according to the obstacle condition and the road surface flatness condition, and guiding the engineering vehicle to travel to an area meeting the expansion requirement of the supporting legs. The technical scheme of the application is used for guiding the engineering vehicle to travel to the effective operation range and meeting the region of the support leg unfolding requirements, and generating the support leg unfolding strategy for safely unfolding the support legs.
It should be noted that, in the engineering vehicle leg safety deployment guiding method provided in the embodiment of the present application, the execution body may be an engineering vehicle leg safety deployment guiding device, or a control module in the engineering vehicle leg safety deployment guiding device for executing the engineering vehicle leg safety deployment guiding method. In the embodiment of the application, the engineering vehicle support leg safety unfolding guiding device is taken as an example to execute the engineering vehicle support leg safety unfolding guiding method.
In the embodiment of the application, the method is shown in the drawings. The engineering vehicle landing leg safety unfolding guiding method is exemplified by combining one drawing in the embodiment of the application. In specific implementation, the method for safely unfolding and guiding the engineering vehicle support leg shown in the drawings of the methods can be further implemented by combining any drawing which is shown in the embodiment and can be combined, and the description is omitted here.
The engineering vehicle landing leg safety unfolding guiding device provided by the application is described below, and the engineering vehicle landing leg safety unfolding guiding method described below and the engineering vehicle landing leg safety unfolding guiding method described above can be referred to correspondingly.
Fig. 4 is a schematic structural diagram of an engineering vehicle leg safety deployment guiding device according to an embodiment of the present application, as shown in fig. 4, specifically including:
a determining module 401, configured to determine an effective working range of the engineering vehicle according to the working parameter of the engineering vehicle and the construction range of the construction area; a guiding module 402, configured to generate first guiding information according to the effective working range and the position of the engineering vehicle, so as to guide the engineering vehicle into the effective working range; a judging module 403, configured to judge, when the engineering vehicle is within the effective working range, whether a current position of the engineering vehicle meets an expansion requirement of a support leg according to an obstacle condition in an expandable region of the support leg of the engineering vehicle and a road surface flatness condition in the expandable region; and the generating module 404 is configured to generate a leg deployment strategy when the current position of the engineering vehicle meets the deployment requirement of the leg.
Optionally, the apparatus further comprises: and the reminding module 405 is used for reminding the driver.
Optionally, the determining module 401 is specifically configured to determine a capacity coverage area of the engineering vehicle according to an operation parameter of the engineering vehicle; the determining module 401 is specifically configured to determine, according to the capability coverage area of the engineering vehicle and the construction range, a target area as the effective working range; when the engineering vehicle is located in the target area, the capacity coverage area of the engineering vehicle is overlapped with the construction range.
Optionally, the apparatus further comprises: an acquisition module; the acquisition module is further used for acquiring a panoramic top view acquired by a camera of the engineering vehicle and an extensible area of a supporting leg of the engineering vehicle, wherein the extensible area of the supporting leg is determined based on parameters of the supporting leg and a safe unfolding angle range of the supporting leg, and the safe unfolding angle range is a set of unfolding angles of the supporting leg under the condition that operation safety of the engineering vehicle is ensured; the judging module 403 is specifically configured to judge, according to an image recognition result of the panoramic plan view, whether the obstacle condition and the road surface flatness condition in the stretchable area affect the deployment of the support legs; the determining module 401 is further configured to determine that the current position of the engineering vehicle meets the requirement for deployment of the support leg when the obstacle condition that affects deployment of the support leg and the road surface flatness condition do not exist in the expandable region.
Optionally, the determining module 401 is further configured to determine, according to an image recognition result of the panoramic plan view, the obstacle condition and the road surface flat condition in the extendable area, where the obstacle condition includes an obstacle position and an obstacle height, and the road surface flat condition includes a road surface concave-convex position; the generating module 404 is further configured to predict a deployment path of the target leg based on the extendable region, the safe deployment angle range, a parameter of the target leg, and the position of the obstacle, and generate a predicted path; the judging module 403 is specifically configured to judge, according to the height of the obstacle, whether the target leg collides with the obstacle when being deployed according to the predicted path, and whether the projection of the vertical leg of the target leg on the road surface overlaps with the concave-convex position of the road surface after the horizontal leg of the target leg is deployed according to the predicted path; the determining module 401 is further configured to determine, when the target leg is deployed according to the predicted path, the predicted path as a target deployment path of the target leg, where the obstacle condition and the road surface flatness condition do not affect the deployment of the leg when the target leg does not collide with the obstacle and when the projection of the vertical leg of the target leg on the road surface does not overlap with the concave-convex position of the road surface; wherein the target leg is any one of a plurality of legs of the engineering vehicle.
Optionally, the generating module 404 is specifically configured to generate the leg deployment policy based on the target deployment paths of the plurality of target legs of the engineering vehicle when the current position of the engineering vehicle meets the deployment requirement of the legs.
The acquisition module is also used for acquiring a three-dimensional image of the road surface around the engineering vehicle; the determining module 501 is further configured to determine the obstacle condition and the road surface flatness condition of the road surface around the engineering vehicle according to the three-dimensional image; the generating module 404 is further configured to generate second guiding information according to the obstacle condition and the road surface flatness condition; the guiding module 402 is further configured to guide the engineering vehicle to travel based on the second guiding information.
Optionally, the apparatus further comprises: a display module; and the display module is used for displaying the running track of the support leg expansion on the panoramic top view according to the support leg expansion strategy.
Optionally, the apparatus further comprises: a user input module and an execution module; the user input module is used for receiving target input; and the execution module is used for responding to the target input and expanding each supporting leg of the engineering vehicle according to the supporting leg expanding strategy under the condition that the engineering vehicle stops running.
According to the engineering vehicle landing leg safety unfolding guide device, the effective operation range of the engineering vehicle is determined according to the operation parameters of the engineering vehicle and the construction range of the construction area; generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range; under the condition that the engineering vehicle is in an effective operation range, judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the condition of an obstacle in the expandable region of the supporting legs of the engineering vehicle and the condition of road surface flatness in the expandable region; and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg. The technical scheme of the application is used for guiding the engineering vehicle to travel to the effective operation range and meeting the region of the support leg unfolding requirements, and generating the support leg unfolding strategy for safely unfolding the support legs.
Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform an engineering vehicle leg safe deployment guidance method comprising: determining an effective working range of the engineering vehicle according to the working parameters of the engineering vehicle and the construction range of a construction area; generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range; judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the obstacle condition in the expandable region of the supporting legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range; and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present application also provides a computer program product, including a computer program stored on a computer readable storage medium, the computer program including program instructions, which when executed by a computer, enable the computer to perform the engineering vehicle leg safety deployment guidance methods provided by the above methods, the method comprising: determining an effective working range of the engineering vehicle according to the working parameters of the engineering vehicle and the construction range of a construction area; generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range; judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the obstacle condition in the expandable region of the supporting legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range; and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
In yet another aspect, the present application further provides a computer readable storage medium having stored thereon a computer program which when executed by a processor is implemented to perform the above-provided engineering vehicle leg safety deployment guidance methods, the method comprising: determining an effective working range of the engineering vehicle according to the working parameters of the engineering vehicle and the construction range of a construction area; generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range; judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the obstacle condition in the expandable region of the supporting legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range; and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
In yet another aspect, the present application also provides an engineering vehicle including a computer program/instruction which, when executed by a processor, performs steps according to any one of the engineering vehicle leg safety deployment guidance methods described above, the method including: determining an effective working range of the engineering vehicle according to the working parameters of the engineering vehicle and the construction range of a construction area; generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range; judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the obstacle condition in the expandable region of the supporting legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range; and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
In still another aspect, the present application further provides an engineering vehicle, including any one of the engineering vehicle leg safety deployment guiding devices described above, including: the determining module is used for determining the effective operation range of the engineering vehicle according to the operation parameters of the engineering vehicle and the construction range of the construction area; the guiding module is used for generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle to enter the effective working range; the judging module is used for judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the obstacle condition in the expandable region of the supporting legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range; the generation module is used for generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. The engineering vehicle landing leg safety unfolding guiding method is characterized by comprising the following steps of:
determining an effective working range of the engineering vehicle according to the working parameters of the engineering vehicle and the construction range of a construction area;
generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle into the effective working range;
judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the obstacle condition in the expandable region of the supporting legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range;
and generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
2. The method of claim 1, wherein the determining the effective working range of the engineering vehicle according to the working parameters of the engineering vehicle and the construction range of the construction area comprises:
according to the operation parameters, determining the capacity coverage range of the engineering vehicle;
determining a target area as the effective operation range according to the capability coverage range and the construction range;
When the engineering vehicle is located in the target area, the capacity coverage area and the construction area are overlapped.
3. The method according to claim 1, wherein the determining whether the current position of the engineering vehicle satisfies the deployment requirement of the leg according to the obstacle condition in the extendable area of the leg of the engineering vehicle and the road surface flatness condition in the extendable area when the engineering vehicle is within the effective working range includes:
acquiring a panoramic top view acquired by a camera of the engineering vehicle and the extensible area, wherein the extensible area is determined based on parameters of the supporting leg and a safe unfolding angle range of the supporting leg, and the safe unfolding angle range is a set of unfolding angles of the supporting leg under the condition that operation safety of the engineering vehicle is ensured;
judging whether the obstacle condition and the road surface flatness condition in the stretchable area influence the expansion of the supporting legs or not through the image recognition result of the panoramic top view;
and when the obstacle condition affecting the expansion of the supporting legs and the road surface flatness condition do not exist in the expandable area, determining that the current position of the engineering vehicle meets the expansion requirement of the supporting legs.
4. A method according to claim 3, wherein said determining whether said obstacle condition and said road surface flatness condition within said extendable area affect leg deployment by image recognition of said panoramic plan view comprises:
determining the obstacle condition and the road surface flat condition in the extensible area through the image recognition result of the panoramic top view, wherein the obstacle condition comprises an obstacle position and an obstacle height, and the road surface flat condition comprises a road surface concave-convex position;
predicting the unfolding path of the target supporting leg based on the parameters of the stretchable region and the obstacle position to generate a prediction path, judging whether the target supporting leg collides with an obstacle when being unfolded according to the prediction path according to the height of the obstacle, and judging whether the projection of the vertical supporting leg of the target supporting leg on the road surface overlaps with the concave-convex position of the road surface after the horizontal supporting leg of the target supporting leg is unfolded according to the prediction path;
when the target landing leg is unfolded according to the predicted path, the obstacle condition and the road surface flatness condition do not influence the unfolding of the landing leg under the condition that the collision with the obstacle does not occur and the projection of the vertical landing leg of the target landing leg on the road surface does not overlap with the concave-convex position of the road surface, and the predicted path is determined as a target unfolding path of the target landing leg;
Wherein the target leg is any one of a plurality of the legs of the engineering vehicle.
5. The method of claim 4, wherein generating a leg deployment strategy if the current location of the work vehicle meets a deployment requirement of a leg comprises:
and generating the landing leg unfolding strategy based on the target unfolding paths of the plurality of target landing legs of the engineering vehicle under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing legs.
6. The method of claim 1, wherein in the event that the current location of the work vehicle does not meet the deployment requirements of the leg, the method further comprises:
acquiring a three-dimensional image of a road surface around the engineering vehicle, and determining the obstacle condition and the road surface flatness condition of the road surface around the engineering vehicle according to the three-dimensional image;
and generating second guiding information according to the obstacle condition and the road surface flatness condition, and guiding the engineering vehicle to run based on the second guiding information.
7. A method according to claim 3, wherein, in case the current position of the work vehicle meets the deployment requirements of the leg, after generating a leg deployment strategy, the method further comprises:
And displaying the running track of the support leg unfolding on the panoramic top view according to the support leg unfolding strategy.
8. The method of claim 1, wherein, in the event that the current location of the work vehicle meets a deployment requirement for a leg, after generating a leg deployment strategy, the method further comprises:
receiving a target input;
and in response to the target input, under the condition that the engineering vehicle stops running, expanding each supporting leg of the engineering vehicle according to the supporting leg expanding strategy.
9. An engineering vehicle leg safety deployment guide apparatus, the apparatus comprising:
the determining module is used for determining the effective operation range of the engineering vehicle according to the operation parameters of the engineering vehicle and the construction range of the construction area;
the guiding module is used for generating first guiding information according to the effective working range and the position of the engineering vehicle so as to guide the engineering vehicle to enter the effective working range;
the judging module is used for judging whether the current position of the engineering vehicle meets the expansion requirement of the supporting legs according to the obstacle condition in the expandable region of the supporting legs of the engineering vehicle and the road surface flatness condition in the expandable region under the condition that the engineering vehicle is in the effective working range;
The generation module is used for generating a landing leg unfolding strategy under the condition that the current position of the engineering vehicle meets the unfolding requirement of the landing leg.
10. A construction vehicle comprising the construction vehicle leg safety deployment guide apparatus of claim 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211516231.9A CN116009531A (en) | 2022-11-29 | 2022-11-29 | Engineering vehicle landing leg safety unfolding guiding method and device and engineering vehicle |
| PCT/CN2023/113970 WO2024113979A1 (en) | 2022-11-29 | 2023-08-21 | Method and device for guiding safe deployment of engineering vehicle outriggers, and engineering vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211516231.9A CN116009531A (en) | 2022-11-29 | 2022-11-29 | Engineering vehicle landing leg safety unfolding guiding method and device and engineering vehicle |
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| CN116009531A true CN116009531A (en) | 2023-04-25 |
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| CN202211516231.9A Pending CN116009531A (en) | 2022-11-29 | 2022-11-29 | Engineering vehicle landing leg safety unfolding guiding method and device and engineering vehicle |
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| CN (1) | CN116009531A (en) |
| WO (1) | WO2024113979A1 (en) |
Cited By (2)
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|---|---|---|---|---|
| CN117518874A (en) * | 2023-11-29 | 2024-02-06 | 山西天地煤机装备有限公司 | Digital twin construction system of lifting mechanism of tunneling and anchoring integrated machine and path planning method thereof |
| WO2024113979A1 (en) * | 2022-11-29 | 2024-06-06 | 湖南三一智能控制设备有限公司 | Method and device for guiding safe deployment of engineering vehicle outriggers, and engineering vehicle |
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| JPH11319136A (en) * | 1998-05-20 | 1999-11-24 | Nec Corp | Ladder truck guidance supporting device |
| ES2635739T3 (en) * | 2012-10-17 | 2017-10-04 | Iveco Magirus Ag | Utility vehicle with monitoring system to monitor the position of the stabilizers |
| DE102014009165B4 (en) * | 2014-06-25 | 2020-07-16 | Schwing Gmbh | Large mobile manipulator |
| KR102184187B1 (en) * | 2019-02-25 | 2020-11-27 | 서울특별시 | Special vehicle capable of displaying outrigger installation position |
| CN113807163B (en) * | 2021-07-28 | 2023-12-19 | 中科云谷科技有限公司 | Pump truck support leg placement method, pump truck support leg placement device and storage medium |
| CN115167387A (en) * | 2022-06-06 | 2022-10-11 | 三一汽车制造有限公司 | Boom control method, device and working machine |
| CN116009531A (en) * | 2022-11-29 | 2023-04-25 | 湖南三一智能控制设备有限公司 | Engineering vehicle landing leg safety unfolding guiding method and device and engineering vehicle |
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2022
- 2022-11-29 CN CN202211516231.9A patent/CN116009531A/en active Pending
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2023
- 2023-08-21 WO PCT/CN2023/113970 patent/WO2024113979A1/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024113979A1 (en) * | 2022-11-29 | 2024-06-06 | 湖南三一智能控制设备有限公司 | Method and device for guiding safe deployment of engineering vehicle outriggers, and engineering vehicle |
| CN117518874A (en) * | 2023-11-29 | 2024-02-06 | 山西天地煤机装备有限公司 | Digital twin construction system of lifting mechanism of tunneling and anchoring integrated machine and path planning method thereof |
Also Published As
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| WO2024113979A1 (en) | 2024-06-06 |
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