Excavator monitoring device and method
阅读说明：本技术 挖掘机监控装置及方法 (Excavator monitoring device and method ) 是由 柴海鹏 涂晓丹 于 2019-09-27 设计创作，主要内容包括：本申请提供一种挖掘机监控装置及方法,涉及机械技术领域。本申请实施例中,控制器可以获取多个超声波雷达传感器采集的障碍物的距离信息,并根据距离信息判断预设距离内是否存在障碍物；若预设距离内存在障碍物且当前挖掘机处于停止状态,则控制多个摄像头启动,并向监控终端发送多个摄像头采集的图像信息,使得监控终端的用户可以通过查看图像信息,了解当前挖掘机周围的环境,获知挖掘机周围是否有不明异物靠近,实现对挖掘机的安全进行监管,从而可以降低挖掘机被盗或被人为损坏等的风险。(The application provides an excavator monitoring device and method, and relates to the technical field of machinery. In the embodiment of the application, the controller can acquire distance information of the obstacles acquired by the plurality of ultrasonic radar sensors and judge whether the obstacles exist in the preset distance according to the distance information; if the obstacle exists in the preset distance and the current excavator is in a stop state, the plurality of cameras are controlled to be started, and the image information acquired by the plurality of cameras is sent to the monitoring terminal, so that a user of the monitoring terminal can know whether unknown foreign matters are close to the excavator or not by checking the image information and knowing the environment around the current excavator, the safety of the excavator is supervised, and the risks that the excavator is stolen or is artificially damaged and the like can be reduced.)
1. An excavator monitoring device, comprising: a controller 110, a plurality of ultrasonic radar sensors 120 disposed on the excavator, and a plurality of cameras 130 disposed on the excavator; a plurality of the ultrasonic radar sensors 120 are distributed in different directions of the excavator, and a plurality of the cameras 130 are distributed in different directions of the excavator;
the controller 110 is electrically connected to the plurality of ultrasonic radar sensors 120 and the plurality of cameras 130, respectively;
the controller 110 is configured to obtain distance information of the obstacles acquired by the plurality of ultrasonic radar sensors 120, and determine whether an obstacle exists within a preset distance according to the distance information; if an obstacle exists in the preset distance and the excavator is currently in a stop state, controlling the plurality of cameras 130 to start, and sending image information acquired by the plurality of cameras to a monitoring terminal.
2. The excavator monitoring device of claim 1 wherein the controller is configured to generate a prompt if an obstacle is present within a predetermined distance and the excavator is currently in operation.
3. The excavator monitoring device of claim 1 wherein the image information comprises a plurality of sets of images in one-to-one correspondence with the plurality of cameras;
and the controller is used for splicing the plurality of groups of images to obtain a panoramic video and sending the panoramic video to the monitoring terminal.
4. The excavator monitoring device of claim 1 or 2 further comprising: a display device 140, the display device 140 being electrically connected to the controller 110;
if the excavator is currently in the operating state, the controller 110 is further configured to control the display device 140 to display the image information.
5. The excavator monitoring device of claim 2 further comprising: a prompting device 150, wherein the prompting device 150 is electrically connected with the controller 110;
the controller 110 is configured to send the prompting message to the prompting device 150 after generating the prompting message.
6. The excavator monitoring device of claim 2 wherein the controller 110 is further configured to interface with a control system of the excavator;
if an obstacle exists in the preset distance and the excavator is currently in a running state, the controller 110 is further configured to send a notification instruction to a control system of the excavator, where the notification instruction is used to instruct the excavator to slow down or stop.
7. The excavator monitoring device of claim 1 further comprising: an energy storage device 160; the energy storage device 160 is electrically connected to the controller 110, the ultrasonic radar sensor 120, and the camera 130, respectively, and the energy storage device 160 is electrically connected to a generator of an excavator.
8. The excavator monitoring device of claim 1 wherein the controller 110 is further configured to send the image information to a cloud server.
9. An excavator monitoring method is characterized by being applied to an excavator monitoring device, and the excavator monitoring device comprises: the system comprises a controller, a plurality of ultrasonic radar sensors arranged on the excavator and a plurality of cameras arranged on the excavator; the plurality of ultrasonic radar sensors are distributed in different directions of the excavator, and the plurality of cameras are distributed in different directions of the excavator; the controller is respectively electrically connected with the plurality of ultrasonic radar sensors and the plurality of cameras; the method comprises the following steps:
s601, the controller acquires distance information of the obstacles acquired by the plurality of ultrasonic radar sensors and judges whether the obstacles exist in a preset distance according to the distance information;
s602, if an obstacle exists in the preset distance and the excavator is in a stop state at present, the controller controls the plurality of cameras to start and sends image information acquired by the plurality of cameras to a monitoring terminal.
10. The method of claim 9, further comprising:
and if the obstacle exists in the preset distance and the excavator is in the running state at present, the controller generates prompt information.
11. The method of claim 9, wherein the image information comprises a plurality of sets of images in one-to-one correspondence with a plurality of the cameras;
the controller sends a plurality of image information collected by the camera to the monitoring terminal, and the method comprises the following steps:
s701, the controller splices the multiple groups of images to obtain a panoramic video;
s702, the controller sends the panoramic video to a monitoring terminal.
12. The method of claim 9 or 10, wherein the excavator monitoring device further comprises: the display device is electrically connected with the controller; the method further comprises the following steps:
and if the excavator is in the running state at present, the controller controls the display device to display the image information.
13. The method of claim 10, wherein the excavator monitoring device further comprises: the prompting device is electrically connected with the controller; the method further comprises the following steps:
and the controller sends the prompt information to the prompt device.
14. The method of claim 10, wherein the controller is further configured to interface with a control system of an excavator; the method further comprises the following steps:
if an obstacle exists in the preset distance and the excavator is in a running state currently, the controller sends a notification instruction to a control system of the excavator, wherein the notification instruction is used for indicating the excavator to decelerate or stop.
15. The method of claim 9, further comprising:
the controller sends the image information to a cloud server.
Technical Field
The application relates to the technical field of machinery, in particular to an excavator monitoring device and method.
Background
With the improvement of economic strength and the rapid increase of basic construction requirements in China, engineering machinery is rapidly developed and widely applied to a plurality of industries such as construction, traffic, mining industry, hydraulic engineering and the like. For example, an excavator, as an important construction and mining device, plays an important role in the fields of engineering construction and ore mining.
The excavator, as a heavy mechanical device, has a large volume and a heavy weight, and is not convenient to move at any time, so that the excavator is usually temporarily parked at a construction site when a constructor has a rest or construction is temporarily stopped at the construction site, so as to be conveniently put into use when construction is performed next time.
However, when the excavator is parked at a construction site, the excavator is often unsupervised, so that risks of theft, human damage and the like exist.
Disclosure of Invention
The application provides an excavator monitoring device and method, which can monitor an excavator parked at a construction site and reduce risks of theft, artificial damage and the like.
In a first aspect, an embodiment of the present application provides an excavator monitoring device, including: the system comprises a controller, a plurality of ultrasonic radar sensors arranged on the excavator and a plurality of cameras arranged on the excavator; the plurality of ultrasonic radar sensors are distributed in different directions of the excavator, and the plurality of cameras are distributed in different directions of the excavator; the controller is respectively electrically connected with the ultrasonic radar sensors and the cameras; the controller is used for acquiring distance information of the obstacles acquired by the ultrasonic radar sensors and judging whether the obstacles exist in a preset distance according to the distance information; and if the obstacle exists in the preset distance and the current excavator is in a stop state, controlling the plurality of cameras to start and sending image information acquired by the plurality of cameras to the monitoring terminal.
Optionally, the controller is configured to generate a prompt message if an obstacle exists within the preset distance and the current excavator is in a running state.
Optionally, the image information includes a plurality of groups of images corresponding to the plurality of cameras one to one; the controller is used for splicing the multiple groups of images to obtain a panoramic video and sending the panoramic video to the monitoring terminal.
Optionally, the excavator monitoring device further comprises: the display device is electrically connected with the controller; and if the current excavator is in the running state, the controller is also used for controlling the display device to display the image information.
Optionally, the excavator monitoring device further comprises: the prompting device is electrically connected with the controller; the controller is used for sending the prompting information to the prompting device after the prompting information is generated.
Optionally, the controller is further used for connecting with a control system of the excavator; if the obstacle exists in the preset distance and the excavator is in the running state currently, the controller is further used for sending a notification instruction to a control system of the excavator, and the notification instruction is used for indicating the excavator to decelerate or stop.
Optionally, the excavator monitoring device further comprises: an energy storage device; the energy storage device is electrically connected with the controller, the ultrasonic radar sensor and the camera respectively, and the energy storage device is electrically connected with a generator of the excavator.
Optionally, the controller is further configured to send the image information to a cloud server.
In a second aspect, an embodiment of the present application provides an excavator monitoring method, which is applied to an excavator monitoring device, where the excavator monitoring device includes: the system comprises a controller, a plurality of ultrasonic radar sensors arranged on the excavator and a plurality of cameras arranged on the excavator; the plurality of ultrasonic radar sensors are distributed in different directions of the excavator, and the plurality of cameras are distributed in different directions of the excavator; the controller is respectively electrically connected with the ultrasonic radar sensors and the cameras; the method comprises the following steps:
the controller acquires distance information of the obstacles acquired by the ultrasonic radar sensors and judges whether the obstacles exist in a preset distance or not according to the distance information;
if an obstacle exists in the preset distance and the excavator is in a stop state currently, the controller controls the plurality of cameras to start and sends image information acquired by the plurality of cameras to the monitoring terminal.
Optionally, the method further comprises:
and if the obstacle exists in the preset distance and the current excavator is in the running state, the controller generates prompt information.
Optionally, the image information includes a plurality of groups of images corresponding to the plurality of cameras one to one; the controller sends the image information that a plurality of cameras gathered to monitor terminal, includes:
the controller splices the multiple groups of images to obtain a panoramic video;
and the controller sends the panoramic video to the monitoring terminal.
Optionally, the excavator monitoring device further comprises: the display device is electrically connected with the controller; the method further comprises the following steps:
and if the current excavator is in the running state, the controller controls the display device to display the image information.
Optionally, the excavator monitoring device further comprises: the prompting device is electrically connected with the controller; the method further comprises the following steps:
the controller sends prompt information to the prompt device.
Optionally, the controller is further used for connecting with a control system of the excavator; the method further comprises the following steps:
if an obstacle exists in the preset distance and the excavator is in a running state currently, the controller sends a notification instruction to a control system of the excavator, and the notification instruction is used for indicating the excavator to decelerate or stop.
Optionally, the method further comprises:
the controller transmits the image information to the cloud server.
In the embodiment of the application, the controller can acquire distance information of the obstacles acquired by the plurality of ultrasonic radar sensors and judge whether the obstacles exist in the preset distance according to the distance information; if the obstacle exists in the preset distance and the current excavator is in a stop state, the plurality of cameras are controlled to be started, and the image information acquired by the plurality of cameras is sent to the monitoring terminal, so that a user of the monitoring terminal can know whether unknown foreign matters are close to the excavator or not by checking the image information and knowing the environment around the current excavator, the safety of the excavator is supervised, and the risks that the excavator is stolen or is artificially damaged and the like can be reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 shows a schematic diagram of a configuration of an excavator monitoring system;
FIG. 2 is a schematic structural diagram of an excavator monitoring device provided by an embodiment of the application;
FIG. 3 is a schematic diagram illustrating another configuration of an excavator monitoring device provided by an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating another structure of the excavator monitoring device provided by the embodiment of the application;
FIG. 5 is a schematic diagram illustrating another structure of the excavator monitoring device provided by the embodiment of the application;
FIG. 6 is a flow chart illustrating an excavator monitoring method according to an embodiment of the present disclosure;
FIG. 7 is a schematic flow chart illustrating an excavator monitoring method according to an embodiment of the present disclosure;
fig. 8 shows another flowchart of the excavator monitoring method according to the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. In the description of the present application, it is also noted that the terms "first," "second," "third," and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.
The embodiment of the application provides an excavator monitoring device which can be arranged on the excavator side and forms an excavator monitoring system together with a monitoring terminal on a user side (such as an excavator driver, a construction site manager and the like) so as to realize safety monitoring on an excavator.
Fig. 1 shows a schematic configuration of an excavator monitoring system.
As shown in fig. 1, the excavator monitoring system may include: the
For example, Subscriber Identity Module (SIM) cards may be respectively disposed in the
Fig. 2 shows a schematic structural diagram of an excavator monitoring device provided in an embodiment of the present application.
As shown in fig. 2, the excavator monitoring apparatus may include: a
For example, the number of the ultrasonic radar sensors can be 4, and the 4 ultrasonic radar sensors can be respectively arranged in the directions corresponding to the four surfaces of the excavator, so that the distance information between the excavator and the obstacles in different directions of the excavator can be acquired; alternatively, the number of the ultrasonic radar sensors may be set to be 6, 8, 9, 12, or more, and the distance information between the obstacle and the excavator may be acquired from the direction of the obstacle at a more detailed angle.
Alternatively, the plurality of ultrasonic radar sensors may be arranged at equal intervals in different directions of the excavator, or may be arranged at unequal intervals in different directions of the excavator. For example, if necessary, a large number of ultrasonic radar sensors may be provided at the rear and side portions of the excavator, and a small number of ultrasonic radar sensors may be provided in front of the excavator, but the present invention is not limited thereto.
Similarly, a plurality of cameras also can distribute in the different directions of excavator according to the setting mode of aforementioned ultrasonic radar sensor, realize gathering the image information on the excavator different directions, and concrete setting mode is similar, no longer gives unnecessary details here. In addition, the number of cameras may also be 4, 6, 8, 9, 12 or more.
Optionally, the camera may be disposed at a higher position on the excavator, so that the camera may have a wider viewing angle, and the image information acquired by the camera to the periphery of the excavator is more comprehensive. The ultrasonic radar sensor can be arranged at the position, protruding out of the upper structure, of the excavator, so that the distance information between the excavator and the obstacle acquired by the ultrasonic radar sensor is more accurate.
The controller can be internally prestored with a preset distance, and when the controller acquires the distance information of the obstacles acquired by the ultrasonic radar sensor, the distance information can be compared with the preset distance to judge whether the obstacles exist in the preset distance. For example, the preset distance may be 2 meters (m), and if the distance information between the obstacle and the excavator is 3m, it may be determined that no obstacle exists within the preset distance; if the distance information between the obstacle and the excavator is 1.8m or other values smaller than 2m, it may be determined that the obstacle exists within the preset distance.
The preset distance may be set to different values such as 0.5m, 1m, 2m, 3m, and the like, and may be set according to the size of the excavator or the environment (e.g., different construction sites) where the excavator is located.
If the controller judges that the obstacle exists in the preset distance and the current excavator is in a stop state, the controller can control the plurality of cameras to start, the plurality of cameras can collect image information around the current excavator when starting and send the image information to the controller, and the controller can send the image information collected by the plurality of cameras to the monitoring terminal. A user can check the current environment around the excavator through the monitoring terminal to know whether unknown foreign matters are close to the excavator or not.
For example, when the excavator is parked at a construction site and a driver is not in front of the excavator, if someone approaches the excavator and is within a preset distance range, the controller can control the camera to be opened, and image information acquired by the camera is sent to a monitoring terminal carried by the driver. The monitoring terminal can remind a driver to check image information, and the driver can supervise the safety of the excavator through the image information, so that the excavator is prevented from being stolen or damaged manually, and the like. Optionally, after the monitoring terminal receives the image information sent by the controller, the monitoring terminal may remind the driver to check the image information through a ring, vibration, or other manners.
As described above, in the embodiment of the present application, the controller may obtain distance information of the obstacles acquired by the plurality of ultrasonic radar sensors, and determine whether the obstacle exists within the preset distance according to the distance information; if the obstacle exists in the preset distance and the current excavator is in a stop state, the plurality of cameras are controlled to be started, and the image information acquired by the plurality of cameras is sent to the monitoring terminal, so that a user of the monitoring terminal can know whether unknown foreign matters are close to the excavator or not by checking the image information and knowing the environment around the current excavator, the safety of the excavator is supervised, and the risks that the excavator is stolen or is artificially damaged and the like can be reduced.
Fig. 3 shows another schematic structural diagram of the excavator monitoring device provided in the embodiment of the present application.
Optionally, as shown in fig. 3, the excavator monitoring device may further include: the
For example, the display device may be a central control display screen or a separately arranged display device arranged in a cab of the excavator, when the excavator is in an operating state, the controller may send image information acquired by the plurality of cameras to the display device for display, and a driver drives the excavator to work, such as: when the excavator is turned, or the excavator is backed, the environment, objects and the like around the excavator can be controlled more comprehensively by checking the image information displayed on the display device, so that a wider driving visual field can be provided for a driver.
Optionally, the image information may include a plurality of groups of images corresponding to the plurality of cameras one to one. For example, if 1 camera is arranged in each of the front, rear, left, and right directions of the excavator, the image information includes four sets of images captured by the cameras in the front, rear, left, and right directions. The controller can splice a plurality of groups of images to obtain a panoramic video, and sends the panoramic video to the monitoring terminal, that is, the image information sent by the controller to the monitoring terminal can be the spliced panoramic video, and the panoramic video can present a clearer and more comprehensive environment around the excavator for a user at the monitoring terminal. Similarly, if the excavator is currently in the running state, the image information sent by the controller to the display device for displaying can also be a spliced panoramic video, so that a better view field is presented to the driver.
Specifically, the controller may first establish a plurality of groups of stitching templates corresponding to the images according to a preset rule, where the preset rule may refer to: and placing the image collected by the camera at a corresponding position according to the direction of the position of the camera relative to the excavator. For example, with the excavator as the center, 4 cameras are respectively arranged in four directions of 0 degree, 90 degrees, 180 degrees and 270 degrees, and the acquired images are respectively P0、P90、P180、P270When building the splicing template, P can be centered on the origin0Is placed in the direction of 0 degree and P90Is placed in the 90-degree direction and is P180Is placed in the direction of 180 degrees and P270Placed in the 270 degree direction. The controller may then operate according to a preset algorithm, such as: and performing Scale-invariant feature transform (SIFT) algorithm to match feature points of the images to be spliced in the spliced template to obtain the same feature points between the images to be spliced. Wherein, P0And P90Images to be spliced with each other, P90And P180Images to be spliced with each other, P180And P270Images to be spliced with each other, P270And P0The images to be spliced mutually. After the same feature points between the images to be stitched are obtained, the controller may convert the images to be stitched into the same coordinate system, such as: the coordinate transformation can be performed by using a perspective transformation method, and the images to be spliced are spliced according to the same characteristic points, such as: the overlapping parts between the images to be spliced can be spliced, so that the panoramic image is obtained.
Optionally, in some embodiments of the present application, if the controller determines that an obstacle exists within the preset distance and the current excavator is in the operating state, the controller may further generate a prompt message.
For example, when a driver is driving an excavator to work, the excavator may possibly collide with an obstacle if the excavator is too close to the obstacle during movement of the excavator, that is, if the distance from the obstacle is less than a preset distance, and the controller may generate a prompt message, where the prompt message may be used to prompt the driver that the current excavator is too close to the obstacle, or to prompt the driver that the current excavator is too close to the obstacle.
Fig. 4 shows another schematic structural diagram of the excavator monitoring device provided in the embodiment of the present application.
As shown in fig. 4, the excavator monitoring apparatus may further include: the prompting device 150, the prompting device 150 is electrically connected with the
In one embodiment, the prompt message may be a text message or a simulated animation prompt message, for example, the text message may be "approaching an obstacle" or "the obstacle is too close", and the simulated animation prompt message may be a three-dimensional simulated animation that establishes the excavator, and prompts the excavator that the excavator is approaching the obstacle in an animation display manner. When the prompt information is text information or simulated animation prompt information, the controller can directly send the prompt information to the display device (that is, the prompt device can be the display device) for displaying, or can separately set a prompt device such as an electronic screen or animation demonstration equipment and the like for displaying the prompt information.
In another embodiment, the prompt message may be a voice prompt or a light prompt, and correspondingly, the prompt device may be a voice alarm or a light alarm. For example, when the prompting device is a sound early warning device, the controller may generate the prompting information and send the prompting information to the sound early warning device if the distance from the obstacle is less than the preset distance during the movement of the excavator, and the sound early warning device may send a buzzer, a voice prompt, or the like after receiving the prompting information to prompt the driver that the current excavator is too close to the obstacle. When the prompting device is a light early warning device, the light early warning device can emit flashing light, red light and other light signals after receiving the prompting information to prompt a driver that the current excavator is too close to the obstacle.
In another embodiment, the prompting device may be provided as a combination of a plurality of types, such as the sound alarm, the light alarm, and the display screen, and the prompting information may include: the sound prompt, the light prompt, the text message and the simulated animation prompt message are one or more of combined, and the application is not limited to this.
Optionally, in some embodiments of the present application, the controller may be further connected to a control system of the excavator. Among them, the control system of the excavator is an electronic control unit that controls movement, turning, stopping, and the like of the excavator, and can control the excavator to move, turn, stop, and the like at different speeds according to the operation of the driver. If the controller judges that the obstacle exists in the preset distance and the current excavator is in the running state, the controller can also send a notification instruction to a control system of the excavator, and the notification instruction can be used for indicating the deceleration or stop of the excavator.
In one embodiment, a preset distance may be preset in the controller, when the excavator is in an operating state, if the controller determines that the distance from the excavator to the obstacle is smaller than the preset distance, the controller may send a notification instruction to a control system of the excavator, where the notification instruction may instruct the excavator to reduce the moving speed to the preset speed, and when the control system of the excavator executes the notification instruction, the moving speed of the excavator is reduced to the preset speed.
For example, the preset speed may be 2 kilometers per hour (km/h), 3km/h, 5km/h, or the like. Taking 5km/h as an example, if the current speed of the excavator is greater than 5km/h, the control system of the excavator can control the speed of the excavator to be reduced to 5km/h after receiving the notification instruction; and if the current speed of the excavator is less than or equal to 5km/h, the control system of the excavator can control the speed of the excavator to keep unchanged after receiving the notification instruction.
Alternatively, the notification instruction may also instruct the excavator to reduce the moving speed by a preset value, which may be 5km/h, 8km/h, 10km/h, or the like. Taking 10km/h as an example, after receiving the notification instruction, the control system of the excavator can firstly judge whether the current speed of the excavator is less than or equal to 10km/h, and if so, the notification instruction is not executed or the excavator is controlled to stop; if the current speed of the excavator is greater than 10km/h, if so: 15km/h, the moving speed of the excavator can be controlled to be reduced by 10km/h, namely, the moving speed is reduced from 15km/h to 10km/h, and the reduced speed is 5 km/h.
In another embodiment, a first preset distance and a second preset distance may be preset in the controller, wherein the second preset distance is smaller than the first preset distance. The controller may first determine whether the distance between the excavator and the surrounding obstacle is smaller than a first preset distance according to the distance information, and if the distance is smaller than the first preset distance, the controller may send a first notification instruction to a control system of the excavator, where the first notification instruction may be used to instruct the excavator to reduce the moving speed to a preset speed, and the specific reduction manner may be described in the foregoing embodiment and will not be described herein again. During or after the excavator decelerates, the controller can continuously judge whether the distance between the excavator and the surrounding obstacles is smaller than a second preset distance according to the received new distance information, if so, the controller can send a second notification instruction to a control system of the excavator, the second notification instruction is used for indicating the excavator to stop, and after the control system of the excavator receives the second notification instruction, the excavator can be controlled to stop moving.
It should be noted that, the specific numerical values of the preset distance, the first preset distance, the second preset distance, the preset value, the preset speed, and the like are not specifically limited in this application.
Optionally, in this embodiment of the application, as described in the foregoing embodiment, the controller determines whether the excavator decelerates or stops according to the distance information, and then sends a notification instruction to a control system of the excavator, where the control system of the excavator is configured to execute the notification instruction to implement deceleration or stop of the excavator. The controller may directly transmit the distance information to the control system of the excavator, and the control system of the excavator may determine whether deceleration or stop is required according to the distance information. That is, the step of generating the notification command according to the distance information may be executed by the controller, or may be executed by the control system of the excavator, and the present application is not limited thereto.
In some embodiments of the present application, the excavator monitoring device can be directly powered by the storage battery of the excavator, so as to implement work, and also can be independently provided with a power supply for the excavator monitoring device, so as to provide electric energy for the excavator monitoring device.
Fig. 5 shows another schematic structural diagram of the excavator monitoring device provided in the embodiment of the present application.
Alternatively, as shown in fig. 5, when a manner is adopted in which a power supply is separately provided for the excavator monitoring device, the excavator monitoring device may further include: an
Wherein, energy storage device is the battery that can save electric energy, like: lead-acid batteries, lithium iron phosphate batteries, and the like. The energy storage device may provide power for a controller, an ultrasonic radar sensor, a camera, etc. When the excavator is in an operating state, the generator of the excavator is in an operating state, and the
In this embodiment, since the
Optionally, the controller may further be in communication connection with a cloud server, and send the image information to the cloud server for storage, so that the historical environment data related to the excavator is stored in the cloud server, and when the excavator is lost, damaged by people and the like, the related image information may be downloaded from the cloud server through the monitoring terminal for checking, obtaining evidence and the like.
An excavator monitoring method provided by the embodiment of the present application is further provided, and may be applied to the excavator monitoring device described in the foregoing embodiment, and fig. 6 illustrates a flowchart of the excavator monitoring method provided by the embodiment of the present application.
As shown in fig. 6, the method may include:
s601, the controller obtains distance information of the obstacles collected by the ultrasonic radar sensors and judges whether the obstacles exist in the preset distance according to the distance information.
And S602, if an obstacle exists in the preset distance and the current excavator is in a stop state, the controller controls the plurality of cameras to start and sends image information acquired by the plurality of cameras to the monitoring terminal.
Optionally, the excavator monitoring method may further include:
and if the obstacle exists in the preset distance and the current excavator is in the running state, the controller generates prompt information.
Fig. 7 shows another flowchart of the excavator monitoring method according to the embodiment of the present application.
Optionally, the image information may include a plurality of groups of images corresponding to the plurality of cameras one to one; as shown in fig. 7, the step of sending, by the controller, image information collected by a plurality of cameras to the monitoring terminal may include:
and S701, splicing the multiple groups of images by the controller to obtain a panoramic video.
S702, the controller sends the panoramic video to the monitoring terminal.
Fig. 8 shows another flowchart of the excavator monitoring method according to the embodiment of the present application.
Optionally, as shown in fig. 8, the step of splicing the multiple groups of images by the controller to obtain the panoramic video may include:
s801, the controller establishes splicing templates corresponding to the multiple groups of images according to preset rules.
S802, the controller performs feature point matching on the images to be spliced in the splicing template according to a preset algorithm to obtain the same feature points among the images to be spliced.
And S803, the controller converts the images to be spliced into the same coordinate system, and splices the images to be spliced according to the same characteristic points to obtain a panoramic image.
Optionally, the excavator monitoring device may further include: the display device is electrically connected with the controller; the excavator monitoring method can also comprise the following steps:
and if the current excavator is in the running state, the controller controls the display device to display the image information.
Optionally, the excavator monitoring device may further include: the prompting device is electrically connected with the controller; the excavator monitoring method can also comprise the following steps:
the controller sends prompt information to the prompt device.
Optionally, the controller is further used for connecting with a control system of the excavator; the excavator monitoring method can also comprise the following steps:
if an obstacle exists in the preset distance and the excavator is in a running state currently, the controller sends a notification instruction to a control system of the excavator, and the notification instruction is used for indicating the excavator to decelerate or stop.
Optionally, on the basis of any one of the above method embodiments, the excavator monitoring method may further include:
the controller transmits the image information to the cloud server.
The embodiment of the application also provides a computer storage medium, wherein a computer program is stored on the computer storage medium, and when the controller executes the computer program, the excavator monitoring method provided by the foregoing method embodiment can be executed.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
- 上一篇：一种医用注射器针头装配设备
- 下一篇：一种铲车斗齿脱落预警装置及方法