Excavator electronic enclosure wall configuration method, excavator controller and excavator

An excavator controller, electronic fence technology, applied in the direction of earthmoving machine/shovel, construction, etc., can solve the problems of affecting work efficiency, under-protection of electronic fence, excessive rotation stop advance, etc., and achieve a large working range , the effect of improving work efficiency

Active Publication Date: 2020-11-03
LIUZHOU LIUGONG EXCAVATORS +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are certain limitations in configuring the electronic fence through the rotation angle, mainly: when the rotation angle is set based on the farthest end of the working device, when the working device is retracted, there will be too much advance of the rotation stop, resulting in e

Method used

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  • Excavator electronic enclosure wall configuration method, excavator controller and excavator
  • Excavator electronic enclosure wall configuration method, excavator controller and excavator
  • Excavator electronic enclosure wall configuration method, excavator controller and excavator

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Experimental program
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Effect test

Embodiment 1

[0044] figure 2 It is the flow chart of the electronic fence configuration method in the embodiment. This embodiment is applicable to the situation of configuring the electronic fence of the excavator. The method can be executed by the excavator controller. Refer to figure 2 , the excavator electronic fence configuration methods include:

[0045] S1. When the upper turntable of the excavator is at the calibration position, determine the calibration point of the bucket of the excavator.

[0046] In this embodiment, before the actual excavation work is performed, a bucket is used to determine the range covered by the electronic fence. In this embodiment, the calibration position is the limit position to which the bucket can move when determining the electronic fence, and there may be one or more calibration positions. The calibration point can be the corner points on the left and right sides of the front end of the bucket, or the midpoint of the front end of the bucket.

[...

Embodiment 2

[0055] Figure 4 It is a schematic diagram of an electronic fence in the embodiment, refer to Figure 4 , as an alternative, in this embodiment, when the upper turntable of the excavator is at the calibration position, determine the vertical distance between the calibration point and the axis of the lower turntable, as the abscissa of the coordinate, determine that it is parallel to the axis and the distance is the same as the abscissa The same plane area, configure the plane area as the wall of the electronic fence located on one side or both sides of the excavator.

[0056] Exemplarily, if an obstacle (such as a wall of a building) is located on one side of the excavator within the working range of the excavator, the position of the electronic fence can be determined only by one calibration position, for example, the obstacle Taking the object as a wall as an example, the configuration process of the electronic fence includes:

[0057] Step 1. Adjust the position of the ex...

Embodiment 3

[0078] Figure 5 is another schematic diagram of electronic fence in the embodiment, refer to Figure 5 , as an optional solution, in this embodiment, the position of the electronic fence wall on this side of the excavator is determined by using two calibration positions on one side of the excavator.

[0079] Exemplarily, the configuration process of the electronic fence includes:

[0080] Step 1. Adjust the attitude of the excavator arm, boom and bucket so that the bucket extends to the farthest position relative to the main body of the excavator.

[0081] Step 2. Control the upper turntable of the excavator to rotate to one side of the obstacle until the end of the bucket is close to the obstacle.

[0082] Exemplarily, in this step, if the upper turntable rotates to the right, the right corner point at the front end of the bucket is the calibration point, and the position when the upper turntable stops rotating is the first calibration position; if the upper turntable rota...

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Abstract

The invention discloses an excavator electronic enclosure wall configuration method, an excavator controller and an excavator. The excavator electronic enclosure wall configuration method comprises the steps that when an upper rotary table of the excavator is located at a calibration position, a calibration point of an excavator bucket is determined; and coordinates of the calibration point underan excavator coordinate system are determined, the position of an electronic enclosure wall surface is determined according to the coordinates, the origin of the coordinates of the excavator coordinate system is a gyration center point connecting the upper rotary table and a lower rotary table of the excavator, and the wall surface is a plane. According to the electronic enclosure wall configuration method, the position of the electronic enclosure wall surface is determined through the coordinates of the calibration point, compared with an electronic enclosure wall based on a rotation angle, the area surrounded by the electronic enclosure wall configured through the method is larger, and when the posture of the excavator changes, the excavator can rotate by a larger angle, a larger workingrange is obtained, and the working efficiency is further improved.

Description

technical field [0001] Embodiments of the present invention relate to excavator technology, and in particular to an excavator electronic fence configuration method, an excavator controller and an excavator. Background technique [0002] The electronic fence is a virtual fence device. It is used in the excavator operation scene. The electronic fence is used to limit the movement position of the excavator's working device. When any position of the working device is close to the boundary of the electronic fence, the excavator controller locks the excavator. The operating lever to avoid safety accidents caused by operator mistakes. [0003] figure 1 It is a schematic diagram of the electronic fence in the prior art, refer to figure 1 , in the prior art, the limited area of ​​the electronic fence is an annular area. When configuring the electronic fence, the setting of the rotating virtual wall is completed by setting the limited angle of left / right rotation on the instrument. ...

Claims

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Application Information

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IPC IPC(8): E02F9/00E02F9/20
CPCE02F9/00E02F9/20
Inventor 刘建李文新王茄任董必成刘剑
Owner LIUZHOU LIUGONG EXCAVATORS
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