US 11,773,567 B2
Engineering machinery equipment, and method, system, and storage medium for safety control thereof
Liangjun Zhang, Sunnyvale, CA (US); Liyang Wang, Sunnyvale, CA (US); and Jinxin Zhao, Sunnyvale, CA (US)
Assigned to Baidu USA LLC, Sunnyvale, CA (US)
Filed by Baidu USA LLC, Sunnyvale, CA (US)
Filed on Jul. 22, 2020, as Appl. No. 16/935,502.
Prior Publication US 2022/0025612 A1, Jan. 27, 2022
Int. Cl. E02F 9/20 (2006.01); G06T 7/73 (2017.01); G06V 20/58 (2022.01); E02F 3/43 (2006.01)
CPC E02F 9/2033 (2013.01) [E02F 3/435 (2013.01); G06T 7/74 (2017.01); G06V 20/58 (2022.01); G06T 2207/10016 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30261 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method for safety control of an engineering machinery equipment, comprising:
acquiring spatial sensing data of a work area, wherein acquiring the spatial sensing data of the work area comprises:
acquiring the spatial sensing data of the work area by using a plurality of sensors comprising a first sensor, a second sensor, a third sensor, a fourth sensor, a fifth sensor, a sixth sensor, a seventh sensor, and an eighth sensor, wherein the first sensor, the third sensor, the fifth sensor and the seventh sensor are evenly disposed on four sides of the engineering machinery equipment respectively, and the second sensor, the fourth sensor, the sixth sensor and the eighth sensor are evenly disposed in a target area out of sensing ranges of the first sensor, the third sensor, the fifth sensor and the seventh sensor and other than the engineering machinery equipment, the target area being a part of the work area;
performing obstacle detection based on the spatial sensing data to determine a position of an obstacle within the work area, wherein the work area is divided into a plurality of areas by a distance to a mechanical structural component;
determining that the obstacle is within a first area of the plurality of areas, wherein a shortest distance between the first area and the mechanical structural component is greater than a first distance, and a longest distance between the first area and the mechanical structural component is smaller than a second distance;
determining a safe working range of the mechanical structural component of the engineering machinery equipment based on the position of the obstacle within the work area; and
controlling a working range of the mechanical structural component of the engineering machinery equipment based on the safe working range, wherein controlling the working range of the mechanical structural component of the engineering machinery equipment based on the safe working range comprises:
controlling the mechanical structural component of the engineering machinery equipment to operate in the first area while avoiding the position of the obstacle.