The invention relates to the technical field of arm type engineering machinery, in particular to an anti-collision method and an anti-collision device for high-altitude operation equipment. A first millimeter-wave radar and a second millimeter-wave radar are arranged at the starting point of an arm support and are diagonally arranged relative to the cross section of the arm support; the detection view fields of the first millimeter-wave radar and the second millimeter-wave radar are mutually orthogonal and cover the boom, the anti-collision method comprises the steps that position coordinate data of an obstacle detected by the first millimeter-wave radar and the second millimeter-wave radar are acquired, and the position coordinate data comprise multiple pieces of coordinate data detected at multiple sampling moments; fitting the plurality of coordinate data to obtain a fitting equation of the obstacle under the arm support coordinate system; determining the movement direction of the arm support; determining coordinates of the obstacle on a coordinate axis corresponding to the movement direction according to the fitting equation; and executing an anti-collision strategy according to the coordinate of the coordinate axis. According to the anti-collision method, the risk that the millimeter-wave radar misses detection of obstacles is reduced, and the collision probability of the cantilever crane is reduced.

    本发明涉及臂式工程机械技术领域,具体地涉及一种用于高空作业设备的防碰撞方法和防碰撞装置,第一毫米波雷达和第二毫米波雷达设置在臂架的起点处且关于臂架的横截面成对角设置,第一毫米波雷达和第二毫米波雷达的探测视野相互正交并覆盖臂架,防碰撞方法包括:获取第一毫米波雷达和第二毫米波雷达检测到的障碍物的位置坐标数据,位置坐标数据包括多个采样时刻检测到的多个坐标数据;对多个坐标数据进行拟合,以得到臂架坐标系下的障碍物的拟合方程;确定臂架的运动方向;根据拟合方程确定障碍物在与运动方向对应的坐标轴的坐标;根据坐标轴的坐标执行防碰撞策略。上述的防碰撞方法降低毫米波雷达漏检障碍物的风险,降低了臂架的碰撞概率。


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    Title :

    Anti-collision method and anti-collision device for high-altitude operation equipment


    Additional title:

    用于高空作业设备的防碰撞方法和防碰撞装置


    Contributors:
    LI JIALE (author) / CHEN KAI (author) / WANG DAOFENG (author) / LIU YANG (author)

    Publication date :

    2025-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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