阅读说明：本技术 工程机械主动安全避障的监控方法、监控装置及工程机械 (Monitoring method and monitoring device for active safety obstacle avoidance of engineering machinery and engineering machinery ) 是由 翁建华 汪建利 廖勇 于 2021-07-13 设计创作，主要内容包括：本申请提供了一种工程机械主动安全避障的监控方法及其监控装置,解决或改善了现有技术中无法实现对工程机械发生碰撞的风险进行精确的预测,降低安全事故发生概率的技术问题。通过获取当前时刻时,工程机械与障碍物之间的第三距离；当第三距离小于或等于预设预警距离,继续获取第一时刻、第二时刻工程机械与障碍物之间的第一距离、第二距离；根据第一距离、第二距离、第三距离获取工程机械与障碍物之间的距离变化以及距离速度变化,结合工程机械与障碍物之间当前时刻的第三距离,控制工程机械执行相应动作；工程机械与障碍物之间发生碰撞的风险进行精确的预测,提高预测的精准度,并且控制工程机械的动作,降低安全事故发生概率。(The application provides a monitoring method and a monitoring device for active safety obstacle avoidance of engineering machinery, which solve or improve the technical problems that the risk of collision of the engineering machinery cannot be accurately predicted and the probability of safety accidents is reduced in the prior art. Acquiring a third distance between the engineering machinery and the obstacle at the current moment; when the third distance is smaller than or equal to the preset early warning distance, continuously acquiring the first distance and the second distance between the engineering machinery and the obstacle at the first moment and the second moment; acquiring distance change and distance speed change between the engineering machinery and the obstacle according to the first distance, the second distance and the third distance, and controlling the engineering machinery to execute corresponding actions by combining the third distance at the current moment between the engineering machinery and the obstacle; the risk of collision between the engineering machinery and the obstacle is accurately predicted, the prediction accuracy is improved, the action of the engineering machinery is controlled, and the safety accident occurrence probability is reduced.)

1. A monitoring method for active safety obstacle avoidance of engineering machinery is characterized by comprising the following steps:

acquiring a third distance between the engineering machinery and the obstacle at the current moment;

when the third distance is smaller than or equal to a preset early warning distance, respectively acquiring a first distance and a second distance between the engineering machinery and the obstacle at a first moment and a second moment, wherein the first moment, the second moment and the current moment are three moments arranged according to a time sequence;

acquiring distance change and distance change speed between the engineering machinery and the obstacle according to the first distance, the second distance, the third distance, the first moment, the second moment and the current moment; and

and controlling the action of the engineering machinery according to the third distance, the distance change and the distance change speed.

2. The monitoring method according to claim 1, wherein a distance change and a distance change speed between the construction machine and the obstacle are acquired according to the first distance, the second distance, the third distance, the first time, the second time, and the current time; and controlling the action of the engineering machinery according to the third distance, the distance change and the distance change speed, wherein the action comprises the following steps:

acquiring a first distance change according to the first distance and the second distance, wherein the first distance change is the difference between the first distance and the second distance;

acquiring a second distance change according to the second distance and the third distance, wherein the second distance change is a difference between the second distance and the third distance;

acquiring a first distance change speed according to the first distance change, the first moment and the second moment;

acquiring a second distance change speed according to the second distance change, the second moment and the current moment;

obtaining a distance change speed difference value according to the first distance change speed and the second distance change speed;

when the distance change speed difference is smaller than zero, adjusting an actual warning distance and an actual braking distance, wherein the adjusted actual warning distance is larger than the preset warning distance, and the adjusted actual braking distance is larger than the preset braking distance; and

and controlling the engineering machinery to act according to the second distance change speed, the third distance, the preset early warning distance, the actual warning distance and the actual braking distance.

3. The monitoring method according to claim 2, wherein the adjusting of the actual warning distance and the adjusting of the actual braking distance are performed, wherein the adjusted actual warning distance is greater than the preset warning distance and the adjusted actual braking distance is greater than the preset braking distance; the method comprises the following steps:

when the second distance change speed is smaller than or equal to a first preset speed, adjusting the actual warning distance, wherein the adjusted actual warning distance is larger than or equal to the preset warning distance and smaller than the preset early warning distance;

and adjusting the actual braking distance, wherein the adjusted actual braking distance is greater than the preset braking distance and less than the preset warning distance.

4. The monitoring method of claim 2, wherein the adjusting the actual warning distance and the adjusting the actual stopping distance, wherein the adjusted actual warning distance is greater than the preset warning distance and the adjusted actual stopping distance is greater than the preset stopping distance, comprises:

when the second distance change speed is greater than a first preset speed, adjusting the actual warning distance, wherein the adjusted actual warning distance is greater than the preset warning distance and is less than or equal to the preset warning distance;

and adjusting the actual braking distance, wherein the adjusted actual braking distance is greater than or equal to the preset warning distance and is less than or equal to the adjusted actual warning distance.

5. The monitoring method according to claim 3 or 4, wherein the controlling the work machine action according to the second distance change speed, the third distance, the preset warning distance, the actual warning distance and the actual braking distance comprises:

when the third distance is smaller than or equal to the preset early warning distance and larger than the adjusted actual warning distance, generating first warning information and deceleration control information, wherein the first warning information is used for prompting danger, and the deceleration control information is used for controlling the engineering machinery to decelerate;

and when the third distance is smaller than or equal to the adjusted actual warning distance, generating braking control information, wherein the braking control information is used for controlling the engineering machinery to stop moving.

6. The monitoring method according to claim 2, wherein a distance change and a distance change speed between the construction machine and the obstacle are acquired according to the first distance, the second distance, the third distance, the first time, the second time, and the current time; and controlling the action of the engineering machinery according to the third distance, the distance change and the distance change speed, and further comprising:

when the distance change speed difference is larger than or equal to zero, generating an actual warning distance and an actual braking distance, wherein the actual warning distance is equal to a preset warning distance, and the actual braking distance is equal to a preset braking distance;

and controlling the engineering machinery to act according to the second distance change speed, the third distance, the preset early warning distance, the actual warning distance and the actual braking distance.

7. The monitoring method according to claim 6, wherein the step of controlling the action of the engineering machinery according to the second distance change speed, the third distance, the preset early warning distance, the actual warning distance and the actual braking distance comprises the following steps:

when the second distance change speed is less than or equal to a first preset speed, and when the third distance is less than or equal to the preset warning distance and greater than the preset braking distance, generating first warning information and deceleration control information, wherein the first warning information is used for prompting danger, and the deceleration control information is used for controlling the engineering machinery to decelerate; or

And when the third distance is smaller than or equal to the preset braking distance, generating braking control information, wherein the braking control information is used for controlling the engineering machinery to stop moving.

8. The monitoring method according to claim 6, wherein the operation of the construction machine is controlled according to a second distance change speed, the third distance, the preset warning distance, the actual warning distance and the actual braking distance, and further comprising:

when the second distance change speed is greater than or equal to a first preset speed,

when the third distance is smaller than or equal to the preset early warning distance and larger than the preset warning distance, generating the first warning information and the deceleration control information; or

And when the third distance is smaller than or equal to the preset warning distance, generating the brake control information.

9. The utility model provides a monitoring device of barrier is kept away to engineering machine tool initiative safety which characterized in that includes:

the data acquisition module is used for acquiring a third distance between the engineering machinery and the obstacle at the current moment; when the third distance is smaller than or equal to a preset early warning distance, respectively acquiring a first distance and a second distance between the engineering machinery and the obstacle at a first moment and a second moment, wherein the first moment, the second moment and the current moment are three moments arranged according to a time sequence;

an information generating module, configured to obtain a distance change and a distance change speed between the engineering machine and the obstacle according to the first distance, the second distance, the third distance, the first time, the second time, and the current time;

and the execution module is used for controlling the engineering machinery to act according to the third distance, the distance change and the distance change speed.

10. A working machine, characterized in that the working machine is provided with a monitoring device according to claim 9.

Technical Field

The application relates to the field of engineering machinery, in particular to a monitoring method and a monitoring device for active safety obstacle avoidance of engineering machinery and the engineering machinery.

Background

The mechanical equipment necessary for comprehensive mechanized construction engineering required by earth and stone construction engineering, pavement construction and maintenance, mobile hoisting, loading and unloading operation and various building engineering is called engineering machinery. The construction site environment of the engineering machinery is complex, and because the vehicle height body wide view blind area of the engineering machinery is large, an operator cannot take care of all the sides during construction, the engineering machinery collides other objects or personnel carelessly, and uncertain potential safety hazards exist.

In the prior art, in order to prevent the phenomenon that the engineering machinery collides with other objects or personnel in the construction process, early warning is carried out by acquiring the running speed of the engineering machinery; however, the method of acquiring the operating speed of the engineering machine is adopted, and due to the complexity of the construction site environment, the operating speed of the engineering machine is difficult to fit with the safe braking distance, so that an error exists in the calculation of the safe distance, and the response execution time of an operator exists when the braking is manually performed; therefore, by adopting the mode, the phenomenon that the engineering machinery collides cannot be accurately early warned and controlled in advance, and the occurrence probability of safety accidents is reduced.

Disclosure of Invention

In view of this, the application provides a monitoring method and a monitoring device for active safety obstacle avoidance of an engineering machine, and the engineering machine, which solve or improve the technical problems that in the prior art, accurate prediction and control cannot be performed on the risk of collision of the engineering machine, and the occurrence probability of safety accidents is reduced.

According to one aspect of the application, a monitoring method for active safety obstacle avoidance of engineering machinery comprises the following steps: acquiring a third distance between the engineering machinery and the obstacle at the current moment; when the third distance is smaller than or equal to a preset early warning distance, respectively acquiring a first distance and a second distance between the engineering machinery and the obstacle at a first moment and a second moment, wherein the first moment, the second moment and the current moment are three moments arranged according to a time sequence; acquiring distance change and distance change speed between the engineering machinery and the obstacle according to the first distance, the second distance, the third distance, the first moment, the second moment and the current moment; and controlling the action of the engineering machinery according to the third distance, the distance change and the distance change speed.

In a possible implementation manner, the distance change and the distance change speed between the construction machine and the obstacle are acquired according to the first distance, the second distance, the third distance, the first time, the second time and the current time; and controlling the action of the engineering machinery according to the third distance, the distance change and the distance change speed, wherein the action comprises the following steps: acquiring a first distance change according to the first distance and the second distance, wherein the first distance change is the difference between the first distance and the second distance; acquiring a second distance change according to the second distance and the third distance, wherein the second distance change is a difference between the second distance and the third distance; acquiring a first distance change speed according to the first distance change, the first moment and the second moment; acquiring a second distance change speed according to the second distance change, the second moment and the current moment; obtaining a distance change speed difference value according to the first distance change speed and the second distance change speed; when the distance change speed difference is smaller than zero, adjusting an actual warning distance and an actual braking distance, wherein the adjusted actual warning distance is larger than the preset warning distance, and the adjusted actual braking distance is larger than the preset braking distance; and controlling the engineering machinery to act according to a second distance change speed, the third distance, the preset early warning distance, the actual warning distance and the actual braking distance.

In a possible implementation manner, the actual warning distance is adjusted, and the actual braking distance is adjusted, where the adjusted actual warning distance is greater than the preset warning distance, and the adjusted actual braking distance is greater than the preset braking distance; the method comprises the following steps: when the second distance change speed is smaller than or equal to a first preset speed, adjusting the actual warning distance, wherein the adjusted actual warning distance is larger than or equal to the preset warning distance and smaller than the preset early warning distance; and adjusting the actual braking distance, wherein the adjusted actual braking distance is greater than the preset braking distance and less than the preset warning distance.

In one possible implementation, the adjusting the actual warning distance and the adjusting the actual braking distance, where the adjusted actual warning distance is greater than the preset warning distance, and the adjusted actual braking distance is greater than the preset braking distance includes: when the second distance change speed is greater than a first preset speed, adjusting the actual warning distance, wherein the adjusted actual warning distance is greater than the preset warning distance and is less than or equal to the preset warning distance; and adjusting the actual braking distance, wherein the adjusted actual braking distance is greater than or equal to the preset warning distance and is less than or equal to the adjusted actual warning distance.

In a possible implementation manner, the controlling the engineering machinery according to the second distance change speed, the third distance, the preset warning distance, the actual warning distance, and the actual braking distance includes: when the third distance is smaller than or equal to the preset early warning distance and larger than the adjusted actual warning distance, generating first warning information and deceleration control information, wherein the first warning information is used for prompting danger, and the deceleration control information is used for controlling the engineering machinery to decelerate; and when the third distance is smaller than or equal to the adjusted actual warning distance, generating braking control information, wherein the braking control information is used for controlling the engineering machinery to stop moving.

In a possible implementation manner, the distance change and the distance change speed between the construction machine and the obstacle are acquired according to the first distance, the second distance, the third distance, the first time, the second time and the current time; and controlling the action of the engineering machinery according to the third distance, the distance change and the distance change speed, and further comprising: when the distance change speed difference is larger than or equal to zero, generating an actual warning distance and an actual braking distance, wherein the actual warning distance is equal to a preset warning distance, and the actual braking distance is equal to a preset braking distance; and controlling the engineering machinery to act according to the second distance change speed, the third distance, the preset early warning distance, the actual warning distance and the actual braking distance.

In one possible implementation manner, controlling the engineering machinery to act according to a second distance change speed, the third distance, the preset warning distance, the actual warning distance, and the actual braking distance includes: when the second distance change speed is less than or equal to a first preset speed, and when the third distance is less than or equal to the preset warning distance and greater than the preset braking distance, generating first warning information and deceleration control information, wherein the first warning information is used for prompting danger, and the deceleration control information is used for controlling the engineering machinery to decelerate; or when the third distance is smaller than or equal to the preset braking distance, generating braking control information, wherein the braking control information is used for controlling the engineering machinery to stop moving.

In a possible implementation manner, controlling the engineering machinery to act according to a second distance change speed, the third distance, the preset warning distance, the actual warning distance, and the actual braking distance further includes: when the second distance change speed is greater than or equal to a first preset speed, and when the third distance is less than or equal to the preset early warning distance and greater than the preset warning distance, generating the first warning information and the deceleration control information; or when the third distance is less than or equal to the preset warning distance, generating the brake control information.

As a second aspect of the present application, a monitoring device for active safety obstacle avoidance of an engineering machine includes: the data acquisition module is used for acquiring a third distance between the engineering machinery and the obstacle at the current moment; when the third distance is smaller than or equal to a preset early warning distance, respectively acquiring a first distance and a second distance between the engineering machinery and the obstacle at a first moment and a second moment, wherein the first moment, the second moment and the current moment are three moments arranged according to a time sequence; an information generating module, configured to obtain a distance change and a distance change speed between the engineering machine and the obstacle according to the first distance, the second distance, the third distance, the first time, the second time, and the current time; and the execution module is used for controlling the engineering machinery to act according to the third distance, the distance change and the distance change speed.

As a third aspect of the present application, an electronic apparatus includes: a processor; and a memory for storing the processor executable information; the processor is configured to execute the monitoring method of the construction machine according to the above claims.

As a fourth aspect of the present application, a computer-readable storage medium stores a computer program for executing the monitoring method of a construction machine described above.

As a fifth aspect of the present application, a construction machine is provided with the monitoring device as described above.

According to the monitoring method, the monitoring device and the engineering machinery for the active safety obstacle avoidance of the engineering machinery, the third distance between the engineering machinery and the obstacle at the current moment is obtained; judging according to the third distance and the preset early warning distance, and when the third distance is smaller than or equal to the preset early warning distance and the distance between the engineering machinery and the obstacle is short, and the risk of collision exists, continuing to acquire the first distance and the second distance between the engineering machinery and the obstacle at the first moment and the second moment; and then, acquiring the distance change and the distance speed change between the engineering machinery and the obstacle according to the first distance, the second distance and the third distance, and controlling the engineering machinery to execute corresponding actions by combining the third distance at the current moment between the engineering machinery and the obstacle. By acquiring the distance between the engineering machinery and the obstacle, the operation speed of the engineering machinery does not need to be acquired; and then, according to the acquired distance, the distance change and the distance speed change, the risk of collision between the engineering machinery and the obstacle is accurately predicted, so that the prediction accuracy is improved, the action of the engineering machinery is controlled, and the safety accident occurrence probability is reduced.

Drawings

Fig. 1 is a schematic flow chart of a monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 2 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 3 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 4 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 5 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 6 is a schematic flow chart illustrating another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 7 is a schematic flow chart illustrating another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 8 is a schematic flow chart illustrating another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 9 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 10 is a schematic flow chart illustrating another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 11 is a schematic flow chart illustrating another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application;

fig. 12 is a schematic diagram of another monitoring device for active safety obstacle avoidance of construction machinery according to the present application;

fig. 13 is a schematic structural diagram of an electronic device provided in the present application;

fig. 14 is a setting diagram of a preset braking area, a preset warning area and a preset early warning area in another monitoring method for active safety obstacle avoidance of an engineering machine according to the present application.

Detailed Description

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

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 only a part of the embodiments of the present application, and not all of the embodiments. 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.

Fig. 1 shows a schematic flow chart of a monitoring method for active safety obstacle avoidance of an engineering machine according to the present application, and as shown in fig. 1, the monitoring method includes:

step S100, acquiring a third distance between the engineering machinery and the obstacle at the current time t 3;

step S100, setting the distance between the engineering machinery and the obstacle as a third distance for acquiring the traveling direction of the engineering machinery or the distance between the engineering machinery and the obstacle around the body of the engineering machinery at the current moment; specifically, for example: setting the current time as t₃Obtaining t₃At the moment, the third distance between the engineering machinery and the obstacle is S₃。

Step S200, judging whether the third distance is smaller than or equal to a preset early warning distance;

if the judgment result in the step S200 is yes, namely the third distance is smaller than or equal to the preset early warning distance;

it should be noted that, as shown in fig. 14, another monitoring method for active safety obstacle avoidance of an engineering machine provided by the present application is a preset braking area, a preset warning area, and a preset early warning area setting diagram, as shown in fig. 14, the engineering machine is preset with the preset braking area, the preset warning area, and the preset early warning area from near to far, for example, an area ranging from 0 m to X1 m is the preset braking area, an area ranging from X1 m to X2 m is the preset warning area, and an area ranging from X2 m to X3 m is the preset early warning area, where X1< X2< X3, which are only examples, and the preset early warning area, the preset warning area, and the preset braking area may not be rectangular areas, but may also be fan-shaped areas, as shown in fig. 14. The preset early warning distance is the distance between the outer side boundary of the preset early warning area and the engineering machinery, the preset warning distance is the distance between the outer side boundary of the preset warning area and the engineering machinery, and the preset braking distance is the distance between the outer side boundary of the preset braking area and the engineering machinery. When the preset warning distance is smaller than the distance between the engineering machine and the obstacle, and the preset early warning distance is smaller than the preset early warning distance, the obstacle can be judged to enter a preset early warning area of the engineering machine;

corresponding to the preset warning area and the preset braking area, the actual warning area and the actual braking area can cover part or all of the preset warning area and the preset braking area with the actual braking area according to a danger coefficient when a relatively dangerous condition is sensed, the actual braking area only covers the preset braking area and the actual warning area only covers the preset warning area when the relatively dangerous condition is sensed, and then the engineering machinery is controlled to act according to the actual braking area and the actual warning area;

under the safe condition, the distance between the engineering machinery and the obstacle is larger than the preset early warning distance; when the third distance is less than or equal to the preset early warning distance, it is indicated that there is a risk of collision between the engineering machine and the obstacle, and at this time, the first distance and the second distance between the engineering machine and the obstacle at the first time and the second time need to be obtained, that is, step S300 is executed;

if the judgment result in the step S200 is negative, that is, the third distance is greater than the preset warning distance, which indicates that the distance between the engineering machine and the obstacle is relatively long at this time and there is no risk of collision, the step S100 is executed to continue to acquire the third distance between the engineering machine and the obstacle at the current time.

Step S300, respectively acquiring a first distance and a second distance between the engineering machinery and the obstacle at a first time and a second time, wherein the first time, the second time and the current time are three times arranged according to a time sequence;

step S300 is to respectively obtain a first distance between the engineering machinery and the obstacle at a first moment and a second distance between the engineering machinery and the obstacle at a second moment; for example, a first time t₁First distance S between engineering machinery and obstacle₁At a second time t₂Second distance S between the construction machine and the obstacle₂(ii) a Wherein t is₁Less than t₂Less than t₃，t₃Is the current time.

Step S400, acquiring distance change and distance change speed between the engineering machinery and the obstacle according to the first distance, the second distance, the third distance, the first moment, the second moment and the current moment; and

step S500, controlling the action of the engineering machinery according to the third distance, the distance change and the distance change speed;

step S400 and step S500, wherein the step S400 is to continuously acquire the distance change and the distance change speed between the construction machine and the obstacle area at the first time, the second time and the current time according to the third distance acquired in the step S100, and the first distance and the second distance acquired in the step S300; controlling the engineering machine according to the third distance, the distance change and the distance change speed in the step S100, so as to predict the risk of collision between the engineering machine and the obstacle; step S500 is controlling the construction machine to execute a corresponding action according to the third distance, the distance change, and the distance change speed.

The application provides a monitoring method for actively and safely avoiding obstacles of engineering machinery, which comprises the steps of acquiring a third distance between the engineering machinery and an obstacle at the current moment; judging according to the third distance and the preset early warning distance, and when the third distance is smaller than or equal to the preset early warning distance and the distance between the engineering machinery and the obstacle is short, and the risk of collision exists, continuing to acquire the first distance and the second distance between the engineering machinery and the obstacle at the first moment and the second moment; and then, acquiring the distance change and the distance speed change between the engineering machinery and the obstacle according to the first distance, the second distance and the third distance, and controlling the engineering machinery to execute corresponding actions by combining the third distance at the current moment between the engineering machinery and the obstacle. By acquiring the distance between the engineering machinery and the obstacle, the operation speed of the engineering machinery does not need to be acquired; and then, according to the acquired distance, the distance change and the distance speed change, the risk of collision between the engineering machinery and the obstacle is accurately predicted, so that the prediction accuracy is improved, the action of the engineering machinery is controlled, and the safety accident occurrence probability is reduced.

In a possible implementation manner, fig. 2 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 2, in step S400 (obtaining a distance change and a distance change speed between the engineering machine and an obstacle according to a first distance, a second distance, a third distance, a first time, a second time, and a current time), the method specifically includes:

step S401, acquiring a first distance change according to a first distance and a second distance, wherein the first distance change is a difference between the first distance and the second distance;

step S401 is to obtain a first distance change according to the difference between the first distance and the second distance; specifically, for example: the first distance is S₁The second distance is S₂The first distance variation is Δ S₁(ii) a First distance variation is Δ S₁＝S₁-S₂。

Step S402, acquiring a second distance change according to the second distance and the third distance, wherein the second distance change is the difference between the second distance and the third distance;

step S402, obtaining a second distance change according to the difference between the second distance and the third distance; for example: the second distance is S₂The third distance is S₃The second distance variation is Δ S₂(ii) a Second distance variation is Δ S₂＝S₂-S₃。

Step S403, acquiring a first distance change speed according to the first distance change, the first time and the second time;

step S403 is to obtain a first distance change speed according to the first distance change, the first time and the second time in step S401; for example: first distance change Δ S₁First time t₁At a second time t₂First distance change speed Δ V₁First distance change speed Δ V₁＝ΔS₁/(t₁-t₂)。

Step S404, acquiring a second distance change speed according to the second distance change, the second time and the current time;

step S404 is to obtain a second distance change speed according to the second distance change, the second time and the third time in step S402; for example: second distance change Δ S₂At a second time t₂Third time t₃Second distance change speed Δ V₂Second distance change speed Δ V₂＝ΔS₂/(t₂-t₃)。

Step S405, obtaining a distance change speed difference value according to the first distance change speed and the second distance change speed;

in step S405, a distance change speed difference is obtained according to the first distance change speed in step S403 and the second distance change speed in step S404, for example: first distance change speed Δ V₁Second distance change speed Δ V₂Distance change speed difference Δ V; distance change speed difference Δ V ═ Δ V₁-ΔV₂Or Δ V ═ Δ S₁/(t₁-t₂)-ΔS₂/(t₂-t₃)。

Step S406, judging whether the distance change speed difference is less than zero;

if the determination result in the step S406 is yes, that is, if the distance change speed difference is less than zero, it indicates that the first distance change speed of the engineering machine is less than the second distance change speed, and the distance between the engineering machine and the obstacle is in an acceleration decreasing trend, for example, the distance between the engineering machine and the obstacle is 10 meters in the first second, 9 meters in the second, and 7 meters in the third second; the actual warning distance between the engineering machine and the obstacle and the actual braking distance need to be adjusted, that is, step S407 is executed; for example: distance change speed difference Δ V ═ Δ V₁-ΔV₂＝ΔS₁/(t₁-t₂)-ΔS₂/(t₂-t₃)＜0。

Step S407, adjusting an actual warning distance and an actual braking distance, wherein the adjusted actual warning distance is greater than a preset warning distance, and the adjusted actual braking distance is greater than a preset braking distance;

step S407 is to determine that the relative speed between the engineering machine and the obstacle is in an increasing trend when the acceleration between the engineering machine and the obstacle is determined to be in a decreasing trend according to step S406, and the preset distance between the engineering machine and the obstacle needs to be extended, that is, the actual warning distance is extended, and the actual warning distance is greater than the preset warning distance; expanding the actual braking distance, wherein the actual braking distance is larger than the preset braking distance;

it should be noted that the warning prompt is required when the preset warning distance is within the distance between the engineering machine and the obstacle, and the braking of the engineering machine is required when the preset braking distance is within the distance between the engineering machine and the obstacle, so that the engineering machine is stopped.

Acquiring a first distance change speed and a second distance change speed after the acquired first distance change and second distance change; judging the relative speed between the engineering machinery and the obstacle according to a distance change speed difference value obtained by the first distance change speed and the second distance change speed; when the distance change speed difference is smaller than zero, namely the first distance change speed is smaller than the second distance change speed, the acceleration reduction trend between the engineering machinery and the obstacle is shown, the distance between the engineering machinery and the obstacle needs to be expanded to obtain an actual warning distance and an actual braking distance, the expanded actual warning distance is larger than a preset warning distance, and the actual braking distance is larger than the preset braking distance; therefore, the preset warning distance and the actual warning distance between the engineering machinery and the obstacle, and the preset braking distance and the actual braking distance are adjusted and switched; and obtaining the adjusted actual warning distance and actual braking distance, and improving the accuracy of predicting the collision risk of the engineering machinery and the obstacle.

In a possible implementation manner, fig. 3 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 3, in step S500 (controlling an action of the engineering machine according to a third distance, a distance change, and a distance change speed), the method specifically includes:

step S501, controlling the action of the engineering machinery according to the second distance change speed, the third distance, the preset early warning distance, the actual warning distance and the actual braking distance;

step S501 is that after the distance between the construction machine and the obstacle is extended in step S407, the construction machine is controlled to perform corresponding work according to the second distance change speed, the third distance, the preset warning distance, the actual warning distance, and the actual braking distance, and the construction machine is controlled to perform corresponding actions after the distance between the construction machine and the obstacle is predicted, so as to prevent collision between the construction machine and the obstacle.

And generating monitoring information according to the second distance change speed, the third distance, the preset early warning distance, the actual warning distance and the actual braking distance, and determining the collision risk between the engineering machinery and the obstacle to control the engineering machinery to execute corresponding actions, so that the engineering machinery is prevented from colliding with the obstacle.

In a possible implementation manner, fig. 4 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 4, in step S407 (adjusting an actual warning distance and an actual braking distance, where the adjusted actual warning distance is greater than a preset warning distance, and the adjusted actual braking distance is greater than a preset braking distance), the method specifically includes:

step S4071, judging whether the second distance change speed is less than or equal to a first preset speed;

step S4071, if the determination result is yes, that is, the second distance change speed is less than or equal to a first preset speed, where the first preset speed is a standard safety speed of the engineering machine, and the distance change speed between the engineering machine and the obstacle belongs to a safety driving speed, only expanding the early warning distance between the engineering machine and the obstacle area, that is, executing step S4072; for example: second distance change speed Δ V₂Less than a first predetermined speed V₀I.e. Δ V₂＜V₀。

Step S4072, adjusting the actual warning distance, wherein the adjusted actual warning distance is greater than or equal to the preset warning distance and is smaller than the preset early warning distance;

step S4073, adjusting the actual braking distance, wherein the adjusted actual braking distance is greater than the preset braking distance and smaller than the preset warning distance;

step S4072 and step S4073 are to adjust the actual warning distance and the actual braking distance, and the adjusted actual warning distance is greater than or equal to the preset warning distance and smaller than the preset early warning distance; the adjusted actual braking distance is larger than the preset braking distance, and the actual braking distance is smaller than the preset warning distance.

Judging whether the second distance change speed is less than or equal to a first preset speed or not, and when the second distance change speed is less than or equal to the first preset speed, indicating that the engineering machinery is in a safe speed running state, only expanding the preset distance between the engineering machinery and the obstacle at the moment, and determining an actual warning distance and an actual braking distance; namely, the adjusted actual warning distance is greater than the preset warning distance and less than the preset early warning distance; the adjusted actual braking distance is greater than the preset braking distance and smaller than the preset warning distance; the distance between the engineering machinery and the obstacle is expanded, so that the safety level is increased, and the reliability of the anti-collision function is improved.

In a possible implementation manner, fig. 5 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 5, in step S501 (controlling an action of the engineering machine according to a second distance change speed, a third distance, a preset warning distance, an actual warning distance, and an actual braking distance), the method specifically includes:

step S5011, when the third distance is smaller than or equal to the preset early warning distance and larger than the adjusted actual warning distance, generating first warning information and deceleration control information, wherein the first warning information is used for prompting danger, and the deceleration control information is used for controlling the engineering machinery to decelerate;

step S5011 is after the second distance change speed is less than or equal to the first preset speed in step S4071, and the actual warning distance adjusted in step S4072 is greater than or equal to the preset warning distance and is less than the preset warning distance; when the third distance between the engineering machinery and the obstacle at the current moment is smaller than or equal to the preset early warning distance and is larger than the adjusted actual braking distance, a certain distance is still left between the engineering machinery and the obstacle, and first warning information is generated to remind an operator that the risk of collision exists between the engineering machinery and the obstacle; the generated deceleration control information controls the engineering machinery to reduce the speed, and the engineering machinery is prevented from colliding with the obstacle;

step S5012, when the third distance is smaller than or equal to the adjusted actual warning distance, generating braking control information, wherein the braking control information is used for controlling the engineering machinery to stop moving;

step S5012, adjusting the actual braking distance according to step S4073, wherein the adjusted actual braking distance is larger than the preset braking distance and smaller than the preset warning distance; and when the third distance acquired at the current moment is smaller than or equal to the adjusted actual warning distance, indicating that the engineering machinery and the obstacle are about to collide with each other, and generating braking control information at the moment, wherein the braking control information controls the engineering machinery to stop moving so as to prevent the risk of collision between the engineering machinery and the obstacle.

In a possible implementation manner, fig. 6 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 6, in step S407 (adjusting an actual warning distance and an actual braking distance, where the adjusted actual warning distance is greater than a preset warning distance, and the adjusted actual braking distance is greater than a preset braking distance), the method specifically includes:

step S4071, judging whether the second distance change speed is less than or equal to a first preset speed;

step S4071, if the judgment result is negative, that is, if the second distance change speed is greater than the first preset speed, it indicates that the relative operation speed of the engineering machinery is too high, and the distance between the engineering machinery and the obstacle needs to be expanded and determined;

step S4074, adjusting the actual warning distance, wherein the adjusted actual warning distance is larger than the preset warning distance and smaller than or equal to the preset early warning distance;

step S4074 and step S4075 determine the actual distance between the engineering machine and the obstacle, and because the relative operating speed of the engineering machine is too high, step S4074 adjusts the actual warning distance, and the adjusted actual warning distance is greater than the preset warning distance and less than or equal to the preset warning distance, that is, the actual warning area is expanded and covers the preset warning area;

step S4075, adjusting the actual braking distance, wherein the adjusted actual braking distance is greater than or equal to the preset warning distance and is less than or equal to the adjusted actual warning distance;

step S4075 is adjusting the actual braking distance, wherein the adjusted actual braking distance is greater than or equal to the preset warning distance and is less than or equal to the actual warning distance; because the operation speed of the engineering machinery is relatively too fast, the actual braking distance needs to be correspondingly expanded and further determined, after the actual warning distance between the engineering machinery and the obstacle is reached, the second distance change speed is still greater than the first preset speed, the probability of collision between the engineering machinery and the obstacle is considered to be too high, and the engineering machinery needs to be braked, so the actual braking distance is obtained.

Judging whether the second distance change speed is smaller than or equal to a first preset speed, and when the second distance change speed is larger than the first preset speed, adjusting the actual warning distance and the actual braking distance, wherein the adjusted actual warning distance is larger than the preset warning distance and smaller than or equal to the preset early warning distance; the adjusted actual braking distance is greater than or equal to a preset warning distance and is less than or equal to an actual warning distance; therefore, the distance between the engineering machinery and the obstacle at the current moment is accurately judged.

In a possible implementation manner, fig. 7 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 7, in step S501 (controlling an action of the engineering machine according to a second distance change speed, a third distance, a preset warning distance, an actual warning distance, and an actual braking distance), the method specifically includes:

step S5013, when the third distance is smaller than or equal to the preset early warning distance and is larger than the actual warning distance, generating first warning information and deceleration control information;

step S5013 is to determine that the second distance change speed is greater than the first preset speed according to step S4071, and the actual warning distance adjusted in step S4074 is greater than the preset warning distance and is less than or equal to the preset warning distance; when the third distance between the engineering machinery and the obstacle at the current moment is smaller than or equal to the preset early warning distance and is larger than the actual warning distance, a certain distance exists between the engineering machinery and the obstacle at the current moment, and the first warning information prompts the risk that the engineering machinery and the obstacle are about to collide; the speed control information can be used for controlling the engineering machinery to decelerate;

step S5014: when the third distance is smaller than or equal to the adjusted actual warning distance, generating brake control information;

step S45014 is that the actual braking distance adjusted according to step S4075 is greater than or equal to the preset warning distance, and is less than or equal to the adjusted actual warning distance; and when the third distance is smaller than or equal to the actual warning distance, indicating that the risk of collision between the engineering machinery and the obstacle is about to occur, and controlling the engineering machinery to stop moving through the braking control information.

In a possible implementation manner, fig. 8 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 8, in step S400 (obtaining a distance change and a distance change speed between the engineering machine and an obstacle according to a first distance, a second distance, and a third distance), the method specifically includes:

step S406, judging whether the distance change speed difference is less than zero;

if the result of the determination in the step S406 is negative, that is, if the difference between the distance change speeds is greater than or equal to zero, it indicates that the first distance change speed between the engineering machine and the obstacle is greater than or equal to the second distance change speed, and the relative speed between the engineering machine and the obstacle is in a decreasing or uniform trend, and the distance between the engineering machine and the obstacle does not need to be adjusted, that is, the step S409 is executed;

step S409, generating an actual warning distance and an actual braking distance, wherein the actual warning distance is equal to a preset warning distance, and the actual braking distance is equal to a preset braking distance;

step S409 is that if the distance change speed difference in step S406 is greater than zero, the distance between the construction machine and the obstacle tends to increase, but the relative speed between the construction machine and the obstacle tends to decrease or decrease at a constant speed, the actual warning distance at this time is equal to the preset warning distance, and the actual braking distance is equal to the preset braking distance.

Judging according to the fact that the distance change speed difference is smaller than zero, when the distance change speed difference is larger than or equal to zero, the distance between the engineering machinery and the obstacle is in an acceleration increasing trend, the obtained actual warning distance is equal to the preset warning distance, and the actual braking distance is equal to the preset braking distance; from an accurate prediction of the risk of collision between the work machine and an obstacle.

In a possible implementation manner, fig. 9 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 9, in step S500 (controlling an action of the engineering machine according to a third distance, a distance change, and a distance change speed), the method further includes:

step S502, controlling the action of the engineering machinery according to the second distance change speed, the third distance, the preset early warning distance, the preset warning distance and the preset braking distance;

step S502 is that after the distance between the construction machine and the obstacle does not need to be adjusted according to the determination result of step S406, the actual warning distance in step S409 is equal to the preset warning distance, and the actual braking distance is equal to the preset braking distance; controlling the action of the engineering machinery according to the second distance change speed, the third distance, the preset early warning distance, the preset warning distance and the preset braking distance; therefore, the engineering machinery is controlled before the risk of collision between the engineering machinery and the obstacle occurs, and the probability of collision is reduced.

In a possible implementation manner, fig. 10 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 10, in step S502 (controlling an action of the engineering machine according to a second distance change speed, a third distance, a preset warning distance, and a preset braking distance), the method includes:

step S410, judging whether the second distance change speed is less than or equal to the first preset speed,

if the judgment result in the step S410 is yes, the second distance change speed is less than or equal to the first preset speed, which indicates that the engineering machine is operating stably or slowly at the standard safe speed;

step S5021, when the third distance is smaller than or equal to a preset warning distance and larger than a preset braking distance, first warning information and deceleration control information are generated, the first warning information is used for prompting danger, the frequency of the first warning information is slow, and the probability of collision between the engineering machinery and an obstacle is prompted to be small; the deceleration control information is used for controlling the engineering machinery to decelerate;

step S5021, when the third distance is smaller than or equal to a preset warning distance and larger than a preset braking distance, a certain distance exists between the engineering machinery and an obstacle, danger is prompted through first warning information, and the engineering machinery is controlled to decelerate through deceleration control information;

and step S5022, when the third distance is smaller than or equal to the preset braking distance, generating braking control information, wherein the braking control information is used for controlling the engineering machinery to stop moving.

Step S5022 is that when the third distance is less than or equal to the preset braking distance, the risk of collision between the engineering machine and the obstacle is indicated, and the braking control information is used for controlling the engineering machine to stop moving.

When the second distance change speed of the engineering machinery is judged to be less than or equal to the first preset speed, the stable or slow operation of the engineering machinery at the standard safe speed is indicated; when the third distance is smaller than or equal to the preset warning distance and larger than the preset braking distance, controlling the engineering machinery to decelerate and prompting danger; when the third distance is smaller than or equal to the preset braking distance, controlling the engineering machinery to stop moving; namely, the engineering machinery is controlled according to the level of the collision risk between the engineering machinery and the obstacle after the third distance, the preset warning distance and the preset braking distance of the engineering machinery at the current moment are in a big-small relation.

In a possible implementation manner, fig. 11 is a schematic flow chart of another monitoring method for active safety obstacle avoidance of an engineering machine provided in the present application, as shown in fig. 11, in step S502 (controlling an action of the engineering machine according to a second distance change speed, a third distance, a preset warning distance, and a preset braking distance), the method further includes:

step S410, judging whether the second distance change speed is less than or equal to the first preset speed,

if the judgment result in the step S410 is negative, that is, if the second distance change speed is greater than or equal to the first preset speed, it indicates that the relative operation speed of the machine is too fast in the time course;

step S5023, when the third distance is smaller than or equal to the preset early warning distance and larger than the preset warning distance, first warning information and deceleration control information are generated; the first warning information is used for prompting danger, and the deceleration control information is used for controlling the engineering machinery to decelerate;

step S5023, when the second distance change speed is judged to be greater than or equal to a first preset speed in the step S410, the relative operation speed of the engineering machinery is too high in the process, the third distance is smaller than or equal to the preset early warning distance and is greater than the preset warning distance, the first warning information is used for early warning prompt, and the deceleration control information is used for controlling the engineering machinery to decelerate;

and step S5024, when the third distance is smaller than or equal to the preset warning distance, generating braking control information, wherein the braking control information is used for controlling the engineering machinery to stop moving.

And step S5024, when the third distance is smaller than or equal to the preset warning distance, the brake control information is used for controlling the engineering machinery to stop moving.

After the distance between the engineering machinery and the obstacle does not need to be expanded, the second distance change speed is greater than or equal to the first preset speed; when the third distance is smaller than or equal to the preset early warning distance and larger than the preset warning distance, generating first warning information and controlling the engineering machinery to decelerate; when the third distance is smaller than or equal to the preset warning distance, controlling the engineering machinery to stop moving; thereby realizing the control of the engineering machinery.

In a second aspect of the present application, fig. 12 is a schematic structural diagram of a monitoring device for active safety obstacle avoidance of an engineering machine, as shown in fig. 12, the monitoring device includes: the data acquisition module 11 is configured to acquire a third distance between the engineering machine and the obstacle at the current time; when the third distance is smaller than or equal to the preset early warning distance, respectively acquiring a first distance and a second distance between the engineering machinery and the obstacle at a first moment and a second moment, wherein the first moment, the second moment and the current moment are three moments arranged according to a time sequence; the monitoring information generation module 12 is configured to obtain a distance change and a distance change speed between the engineering machine and the obstacle according to the first distance, the second distance, and the third distance; generating monitoring information according to the third distance, the distance change and the distance change speed; and the execution module 13 is used for controlling the action of the engineering machinery according to the monitoring information. Acquiring a third distance between the engineering machinery and the obstacle at the current moment through the data acquisition module 11, indicating that the engineering machinery and the obstacle have a risk of collision when the third distance is greater than a preset early warning distance, and acquiring a first distance and a second distance between the engineering machinery and the obstacle at a first moment before the current moment and at a second moment; the monitoring information generation module 12 acquires a distance change and a distance change speed between the engineering machine and the obstacle according to the first distance, the second distance and the third distance; generating monitoring information according to the third distance, the distance change and the distance change speed; the execution module 13 controls the engineering machinery to decelerate or brake and stop according to the monitoring information, so as to realize early warning, monitoring and controlling of the engineering machinery for the collision risk between the engineering machinery and the obstacle, and reduce the collision risk of the engineering machinery.

In a third aspect of the present application, a construction machine is provided with the monitoring device as described above.

Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 13. Fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

As shown in fig. 13, the electronic device 600 includes one or more processors 601 and memory 602.

The processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

Memory 601 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer readable storage medium and executed by processor 601 to implement the monitoring methods of the work machine of the various embodiments of the present application described above or other desired functions.

In one example, the electronic device 600 may further include: an input device 603 and an output device 603, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

The input device 603 may include, for example, a keyboard, a mouse, and the like.

The output device 603 can output various kinds of information to the outside. The output means 603 may comprise, for example, a display, a communication network, a remote output device connected thereto, etc.

Of course, for the sake of simplicity, only some of the components related to the present application in the electronic device 600 are shown in fig. 13, and components such as a bus, an input/output interface, and the like are omitted. In addition, electronic device 600 may include any other suitable components depending on the particular application.

In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the method of monitoring a work machine according to various embodiments of the present application described in the present specification.

The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program information, which, when executed by a processor, causes the processor to perform the steps in the monitoring method of a work machine according to various embodiments of the present application.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.

The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention should be included in the scope of the present invention.