CN-121994140-A - Landing leg unfolding distance detection method and device, engineering vehicle and electronic equipment

CN121994140ACN 121994140 ACN121994140 ACN 121994140ACN-121994140-A

Abstract

The application provides a method and a device for detecting the unfolding distance of a supporting leg, an engineering vehicle and electronic equipment, which are applied to the technical field of engineering vehicles, and the method comprises the following steps: acquiring an image of the first supporting leg in a spreading state, detecting and identifying the image based on a preset key point detection model, acquiring a plurality of key points and corresponding key point coordinates of the first supporting leg, calculating a spreading distance value of the first supporting leg based on the key points and the key point coordinates, and determining whether the current spreading state of the first supporting leg is compliant or not according to the spreading distance value and the preset spreading distance value. The whole process of the application does not need to be manually participated, the detection result is more accurate, the efficiency is higher, a data closed loop is formed with the whole vehicle control system, the safety of the engineering vehicle is controlled in advance, and the stability and the safety of the engineering vehicle during operation are ensured.

Inventors

LIU ZHENJI
TAN KE
ZHANG LI

Assignees

湖南三一智能控制设备有限公司

Dates

Publication Date: 20260508
Application Date: 20251231

Claims (10)

1. A leg deployment distance detection method, comprising: Acquiring an image of the first support leg in an unfolded state; detecting and identifying the image based on a preset key point detection model to obtain a plurality of key points and corresponding key point coordinates of the first supporting leg; calculating the unfolding distance value of the first supporting leg based on the key points and the key point coordinates; And determining whether the current unfolding state of the first supporting leg is compliant or not according to the unfolding distance value and a preset unfolding distance value.
2. The method for detecting the unfolding distance of the supporting leg according to claim 1, wherein the detecting and identifying the image based on the preset key point detection model to obtain a plurality of key points and corresponding key point coordinates of the first supporting leg comprises: And detecting and identifying the image based on a preset key point detection model to obtain a first key point and a first key point coordinate of the first supporting leg and a second key point coordinate of the first supporting leg, wherein the first key point is an intersection point of the first supporting leg and a vehicle body, the second key point is a movable point which is far away from the vehicle body on the first supporting leg, and at least one of the first key point and the second key point is arranged.
3. The leg deployment distance detection method of claim 2, wherein the deployment distance value of the first leg is a pixel deployment distance value of the first leg on an image, and calculating the deployment distance value of the first leg based on the keypoint and the keypoint coordinates comprises: And calculating the unfolding distance value of the first supporting leg based on the first key point and the first key point coordinates, and the second key point coordinates.
4. The leg expansion distance detection method according to claim 2, wherein the expansion distance value of the first leg is an actual expansion distance value of the first leg in the real world, and calculating the expansion distance value of the first leg based on the key point and the key point coordinates includes: Calculating a pixel unfolding distance value of the first supporting leg based on the first key point and the first key point coordinates, the second key point and the second key point coordinates, wherein the pixel unfolding distance value is an unfolding distance value of the first supporting leg on the image; According to the pixel unfolding distance value, a preset maximum pixel unfolding distance value and a preset first unfolding distance value, calculating to obtain the unfolding distance value of the first supporting leg, wherein the preset maximum pixel unfolding distance value is the pixel unfolding distance value when the unfolding distance of the first supporting leg is maximum, and the preset first unfolding distance value is the actual unfolding distance value of the real world when the unfolding distance of the first supporting leg is maximum.
5. The leg deployment distance detection method of claim 4, wherein prior to acquiring the image of the first leg in the deployed state, the method further comprises: And calibrating the first supporting leg to obtain the preset maximum pixel unfolding distance value and the preset first unfolding distance value.
6. The leg deployment distance detection method of claim 1, wherein determining whether the current deployment state of the first leg is compliant according to the deployment distance value and a preset deployment distance value comprises: When the absolute value of the difference between the unfolding distance value and the preset unfolding distance value is smaller than a first threshold value, determining that the current unfolding state of the first supporting leg is compliant; And when the absolute value of the difference between the unfolding distance value and the preset unfolding distance value is larger than or equal to a first threshold value, determining that the current unfolding state of the first supporting leg is not compliant.
7. The leg deployment distance detection method of claim 6, further comprising: and when the current unfolding state of the first supporting leg is not qualified, alarming and prompting are carried out, and the image is stored.
8. A leg deployment distance detection apparatus, comprising: The image acquisition module is used for acquiring an image of the first supporting leg in the unfolded state; The key point detection module is used for detecting and identifying the image based on a preset key point detection model to obtain a plurality of key points and corresponding key point coordinates of the first supporting leg; The calculation module is used for calculating the unfolding distance value of the first supporting leg according to the key points and the key point coordinates; and the determining module is used for determining whether the current unfolding state of the first supporting leg is compliant according to the unfolding distance value and a preset unfolding distance value.
9. A construction vehicle comprising the leg deployment distance detection apparatus according to claim 8.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the leg deployment distance detection method of any of the preceding claims 1 to 7 when executing the computer program.

Description

Landing leg unfolding distance detection method and device, engineering vehicle and electronic equipment Technical Field The application relates to the technical field of engineering vehicles, in particular to a method and a device for detecting a support leg unfolding distance, an engineering vehicle and electronic equipment. Background The engineering vehicle develops to the directions of large height, long arm support and heavy load, the gravity center of the whole vehicle often exceeds the outline of the chassis, and the elastic deformation and the specific pressure of the ground contact of the tire can not provide stable counter force, so that the whole vehicle load is directly transmitted to the ground by adopting hydraulic support legs. The more fully the support legs are unfolded, the larger the stabilizing moment is, the standard requires the support legs to extend to the rated length, but in some relatively narrow places such as urban pipe gallery, mountain wind power and the like, drivers usually work in the semi-extending state of the support legs, the supporting surface is reduced, the stabilizing moment is seriously reduced, and the primary cause of the rollover accident is formed. Therefore, detecting the expansion distance of the support leg is very important for the safe construction of the engineering vehicle. In the prior art, the method for detecting the unfolding distance of the supporting leg generally depends on visual inspection of an operator or spot measurement, for example, the maximum stretching length scale mark is usually sprayed beside the supporting leg, after a driver stretches out of the supporting leg, the relative positions of the tail end of the supporting leg and the scale mark are compared with naked eyes at a distance of 2-3m, and if rain and fog weather or scales are covered by soil, the positions can be estimated only empirically. When the measuring tape is used for pulling out, the operator hooks the measuring tape on the outer side of the supporting leg beam after the supporting leg is completely supported, pulls the measuring tape to the edge of the chassis or the marking point of the rotation center, reads out the horizontal length, only measures one supporting leg for saving trouble, and the other three supporting legs are symmetrical by default. Therefore, visual inspection or tape drawing and measuring are affected by human and environment, the error is large, the efficiency is low, the record is lost, a data closed loop cannot be formed with a whole vehicle control system, and the safety of the engineering vehicle is controlled in advance. Therefore, a technology capable of automatically completing distance measurement and early warning in advance after the support legs are unfolded is needed, and transition from post alarming to pre prevention and control is achieved. Disclosure of Invention In view of the above, the application provides a method and a device for detecting the unfolding distance of a supporting leg, an engineering vehicle and electronic equipment, and solves the problems that visual inspection or tape drawing and measurement is influenced by human and environment, the error is large, the efficiency is low, the record is missing, a data closed loop cannot be formed with a whole vehicle control system, and the safety of the engineering vehicle is controlled in advance. As a first aspect of the present application, the present application provides a leg deployment distance detection method including: Acquiring an image of the first support leg in an unfolded state; detecting and identifying the image based on a preset key point detection model to obtain a plurality of key points and corresponding key point coordinates of the first supporting leg; calculating the unfolding distance value of the first supporting leg based on the key points and the key point coordinates; And determining whether the current unfolding state of the first supporting leg is compliant or not according to the unfolding distance value and a preset unfolding distance value. Optionally, the detecting and identifying the image based on the preset key point detection model to obtain a plurality of key points and corresponding key point coordinates of the first leg includes: And detecting and identifying the image based on a preset key point detection model to obtain a first key point and a first key point coordinate of the first supporting leg and a second key point coordinate of the first supporting leg, wherein the first key point is an intersection point of the first supporting leg and a vehicle body, the second key point is a movable point which is far away from the vehicle body on the first supporting leg, and at least one of the first key point and the second key point is arranged. Optionally, the unfolding distance value of the first leg is a pixel unfolding distance value of the first leg on an image, and the calculating the unfolding distance value of the first leg