Anti-collision device, milling machine, and milling machine control method

Abstract

The present invention relates to the technical field of engineering machinery, and specifically provides an anti-collision device, a milling machine, and a milling machine control method. The anti-collision device is suitable for preventing the milling machine from colliding with a feeding vehicle, and comprises: a first sensor, which is arranged on the feeding device of the milling machine; a second sensor, which is arranged on the milling machine; wherein the first sensor is suitable for detecting a first distance between the feeding device and the feeding vehicle in the horizontal direction, and the second sensor is suitable for detecting an inclination angle of the feeding device relative to the horizontal direction. The present invention can effectively prevent the feeding device of the milling machine from colliding with the feeding vehicle, thereby improving the safety of the milling operation and avoiding losses caused by the collision between the feeding device and the feeding vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to an anti-collision device, a milling machine, and a milling machine control method. Background Art

[0002] As a kind of engineering machinery, the milling machine is used to repair and maintain the road surface. The road milling machine is one of the main types of asphalt pavement maintenance construction machinery and one of the main equipment for asphalt concrete pavement maintenance construction. It is mainly used for excavation and renovation of asphalt concrete surface layers in highways, urban roads, airports, freight yards, etc. It can also be used to remove road surface defects such as bumps, oil waves, reticulation, rutting, etc. It can also be used to excavate road potholes and grooves, as well as roughen cement pavements and mill surface misalignments.

[0003] A general milling machine consists of an engine, a frame, a milling rotor, a milling depth adjustment device, hydraulic components, a material collection conveying device, a steering system and a braking system.

[0004] Among them, the milling machine is usually used in conjunction with a feeder truck. The milling machine mills the road surface and transports the waste obtained during milling to the feeder truck, which transports the waste away.

[0005] Therefore, the milling machine needs to maintain an appropriate distance from the feeder car during work to avoid collision between the milling machine and the feeder car. Summary of the invention

[0006] The present invention aims to solve at least one of the above technical problems.

[0007] To this end, a first object of the present invention is to provide an anti-collision device.

[0008] A second object of the present invention is to provide a milling machine.

[0009] The third object of the present invention is to provide a milling machine control method.

[0010] To achieve the first purpose of the present invention, an embodiment of the present invention provides an anti-collision device, which is suitable for preventing a milling machine from colliding with a feeder truck, and includes: a first sensor, which is arranged on a feeding device of the milling machine; a second sensor, which is arranged on the milling machine; a control device, which is connected to the first sensor and the second sensor respectively; wherein the first sensor is suitable for detecting a first distance in the horizontal direction between a position where the first sensor is located and the feeder truck, and the second sensor is suitable for detecting a feeding angle of the feeding device relative to the horizontal direction; the control device controls the milling machine to perform one or more actions of adjusting the feeding angle of the feeding device, changing the driving speed of the milling machine and alarming the feeder truck according to known dimensions of the feeding device, positions of the first sensor and the second sensor on the feeding device and input signals of the first sensor and the second sensor.

[0011] In the above technical solution, the height of the feeding device from the ground at the position corresponding to the feeding vehicle in the longitudinal direction can be obtained through the cooperation of the first sensor and the second sensor. Combined with the known and fixed height parameters of the feeding vehicle, it can be known whether there is a risk of collision between the milling machine and the feeding vehicle. Therefore, the above technical solution can improve the safety of the milling operation and avoid the loss caused by the collision between the feeding device and the feeding vehicle.

[0012] In addition, the anti-collision device provided in the above embodiment of the present invention may also have the following additional technical features:

[0013] The above technical solution also includes: a third sensor, which is suitable for detecting the milling depth of the milling machine, and the third sensor is connected to the control device.

[0014] During the milling operation, the height of the articulated position of the feeding device from the ground is jointly affected by the size parameters of the milling machine itself and the milling depth. This height is the second height of the embodiment of the present invention, and the second height is the sum of the vertical distance between the second sensor and the lower bottom surface of the milling machine plus the milling depth. Among them, the milling depth is measured in real time by the third sensor. Therefore, the technical solution can eliminate the judgment error of the second height caused by the change of the milling depth through the setting of the third sensor, thereby improving the accuracy of the anti-collision device, and further effectively avoiding the collision between the milling machine and the feeding car. By arranging the third sensor on the oil cylinder of the milling machine, the milling depth of the milling machine can be accurately reflected according to the change of the oil cylinder, thereby further eliminating the judgment error caused by the change of the milling depth.

[0015] Any of the above technical solutions includes multiple first sensors, which are arranged at intervals in the upper and lower directions along the height direction of the feeding device, and the control device is connected to the multiple first sensors. The control device analyzes the height of the cargo box of the feeding vehicle according to the position information of the multiple first sensors and the input signals of the multiple first sensors; or includes a laser scanning sensor, which is arranged on the feeding device and is connected to the control device. The control device is used to analyze the height of the cargo box of the feeding vehicle according to the position information of the laser scanning sensor and the input signal of the laser scanning sensor.

[0016] There are only a limited number of existing cargo box height specifications, so the feedback data from multiple sensors along the height direction can be used to determine which specification the feeder truck belongs to, thereby improving the accuracy of control.

[0017] In any of the above technical solutions, the fourth sensor is suitable for detecting the travel speed of the milling machine.

[0018] The fourth sensor can obtain the traveling speed of the milling machine, and further accurately judge when the feeding device collides with the feeding vehicle according to the current operating state of the milling machine. Since the fourth sensor is connected to the motor of the milling machine, the fourth sensor can measure the number of revolutions of the motor, and accurately know the traveling speed of the milling machine through the number of revolutions of the motor.

[0019] In any of the above technical solutions, the anti-collision device also includes: a fifth sensor, suitable for detecting the inclination angle of the milling machine.

[0020] When the milling machine tilts during the milling operation, the second height is affected by the size parameters of the milling machine itself and the tilt angle of the milling machine. Therefore, in this embodiment, the fifth sensor can be set to eliminate the judgment error of the second height caused by the tilt of the milling machine, thereby improving the accuracy of the anti-collision device.

[0021] In any of the above technical solutions, the first sensor is a millimeter wave radar sensor or an ultrasonic sensor.

[0022] The millimeter wave radar sensor or the ultrasonic sensor accurately detects either the first distance between the feeding device and the feeding vehicle in the horizontal direction or the relative speed between the milling machine and the feeding vehicle to determine the collision risk.

[0023] In any of the above technical solutions, the anti-collision device also includes: a sixth sensor, which is arranged on the feeding vehicle and is suitable for detecting the height of the feeding vehicle.

[0024] The sixth sensor is used to measure the height of the feeder car, so as to further accurately determine the vertical distance between the feeding device of the milling machine and the feeder car, thereby effectively improving the reliability and accuracy of the anti-collision device.

[0025] After obtaining the detection results of the first sensor and the second sensor, the control device can not only judge the collision risk, but also adjust at least one of the feeding angle or travel speed of the milling machine, or control the alarm module such as the horn of the milling machine to warn the driver, thereby achieving the purpose of avoiding collision.

[0026] To achieve the second purpose of the present invention, an embodiment of the present invention provides a milling machine, which is suitable for cooperating with a feeding cart to perform milling operations, including: a milling machine body; a feeding device, connected to the milling machine body, suitable for conveying materials to the feeding cart; an anti-collision device such as any embodiment of the present invention, suitable for preventing the feeding device from colliding with the feeding cart, and the control device is integrated in the cab of the milling machine.

[0027] The milling machine includes the anti-collision device of any embodiment of the present invention, so it has all the beneficial effects of the anti-collision device of any embodiment of the present invention, which will not be repeated here.

[0028] To achieve the third purpose of the present invention, an embodiment of the present invention provides a milling machine control method, which is suitable for preventing the milling machine from colliding with a feeding cart, including: Step 10: obtaining the height of the cargo box of the feeding cart, the feeding angle of the feeding device of the milling machine, the milling depth of the milling machine, the known dimensions of the feeding device, and the horizontal distance between any position of the milling machine and the cargo box of the feeding cart; Step 20: analyzing the minimum distance between the feeding device of the milling machine and the cargo box of the feeding cart based on the information obtained in Step 10; Step 30: based on a comparative analysis of the minimum distance between the feeding device and the cargo box of the feeding cart and a distance threshold, executing one or more actions of adjusting the feeding angle of the feeding device, changing the driving speed of the milling machine, and alarming the feeding cart.

[0029] The above technical solution can determine whether there is a risk of collision between the milling machine and the feeding vehicle. Therefore, the above technical solution can improve the safety of the milling operation and avoid losses caused by the collision between the feeding device and the feeding vehicle.

[0030] In addition, the milling machine control method provided by the above embodiment of the present invention may also have the following additional technical features:

[0031] In the above technical scheme, step 30 includes: if the minimum distance between the feeding device and the cargo box of the feeding vehicle is less than or equal to the first distance threshold, one or more actions of increasing the feeding angle of the feeding device, reducing the travel speed of the milling machine, and reminding the feeding vehicle to increase the forward speed are executed; if the minimum distance between the feeding device and the cargo box of the feeding vehicle is greater than or equal to the second distance threshold, one or more actions of reducing the feeding angle of the feeding device, increasing the travel speed of the milling machine, and reminding the feeding vehicle to reduce the forward speed are executed.

[0032] In any of the above technical solutions, in step 10, the height of the cargo box of the feeding vehicle is obtained by using distance sensors or laser scanning sensors arranged at intervals up and down in the height direction.

[0033] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0035] Figure 1 A first structural schematic diagram of a milling machine according to some embodiments of the present invention;

[0036] Figure 2 A second structural schematic diagram of a milling machine according to some embodiments of the present invention;

[0037] Figure 3A schematic diagram of a first component of an anti-collision device according to some embodiments of the present invention;

[0038] Figure 4 A second schematic diagram of the anti-collision device according to some embodiments of the present invention;

[0039] Figure 5 A schematic diagram of the first step of a milling machine control method according to some embodiments of the present invention;

[0040] Figure 6 A schematic diagram of the second step of the milling machine control method according to some embodiments of the present invention;

[0041] Figure 7 A schematic diagram of a milling machine in some embodiments of the present invention at a first height;

[0042] Figure 8 This is a schematic diagram of the milling machine at a second height according to some embodiments of the present invention.

[0043] The corresponding relationship between the reference numerals and the component names is as follows:

[0044] 10: milling machine, 20: feeder cart, 30: anti-collision device, 12: milling machine body, 14: feeding device, 16: feeding device connection part, 122: motor, 124: cylinder, 302: first sensor, 304: second sensor, 306: third sensor, 308: fourth sensor, 310: fifth sensor, 312: control device, 314: sixth sensor, L1: first distance, L2: second distance, H1: first height, H2: second height, α: tilt angle. DETAILED DESCRIPTION

[0045] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0047] The technical solutions of some embodiments of the present invention are described below with reference to the accompanying drawings.

[0048] like Figures 1 to 3 As shown, an embodiment of the present invention provides an anti-collision device 30. The anti-collision device 30 is suitable for preventing the milling machine 10 from colliding with the feeding vehicle 20.

[0049] The milling machine 10 is a vehicle equipment suitable for road maintenance and repair, and is used for excavating and repairing roads in places such as highways, urban roads, airport runways, port terminals, and parking lots, and can eliminate road surface defects such as bumps, oil waves, potholes, ruts, and cracks, and can also be used to mill rough cement roads and surface misalignment. The milling machine 10 conveys waste materials obtained during the milling operation to the feeder 20, and the feeder 20 transports the waste materials away.

[0050] The milling machine 10 is operated by a driver in the cab. The driver operates the milling machine 10 to move forward and perform milling operations while feeding the milling machine 10 to ensure that the materials are accurately delivered to the feeding vehicle 20. In the related art, the milling machine 10 often collides with the feeding vehicle 20 due to driver negligence, vision obstruction, misjudgment, etc. The collision between the milling machine 10 and the feeding vehicle 20 not only causes material spillage, but also causes safety accidents.

[0051] like Figures 1 to 3 As shown, in order to avoid the collision between the milling machine 10 and the feeding vehicle 20 and improve the operation safety of the milling machine 10, an embodiment of the present invention provides an anti-collision device 30, which is suitable for preventing the milling machine 10 from colliding with the feeding vehicle 20, and includes: a first sensor 302, a second sensor 304 and a control device 312. The first sensor 302 is arranged on the feeding device 14 of the milling machine 10. The second sensor 304 is arranged on the milling machine 10. Among them, the first sensor 302 is suitable for detecting the first distance L1 between the position of the first sensor 302 and the feeding vehicle 20 in the horizontal direction, and the second sensor 304 is suitable for detecting the feeding angle α of the feeding device 14 relative to the horizontal direction. The control device 312 is connected to the first sensor 302 and the second sensor 304 respectively; the control device 312 controls the milling machine 10 to perform one or more actions of adjusting the feeding angle of the feeding device 14, changing the driving speed of the milling machine 10 and alarming the feeding vehicle 20 according to the known size of the feeding device 14, the positions of the first sensor 302 and the second sensor 304 on the feeding device 14 and the input signals of the first sensor 302 and the second sensor 304.

[0052] The milling machine 10 includes a milling machine body 12 and a feeding device 14. The milling machine body 12 is suitable for performing milling operations, and the feeding device 14 is connected to the milling machine body 12 and is suitable for conveying materials to a feeding vehicle 20.

[0053] like Figure 2 As shown, the first sensor 302 is provided on the feeding device 14 of the milling machine 10, and is suitable for detecting the first distance L1 between the feeding device 14 and the feeding vehicle 20 in the horizontal direction. The second sensor 304 is provided on the milling machine 10, and is suitable for detecting the inclination angle α of the feeding device 14 relative to the horizontal direction.

[0054] In some implementations of this embodiment, the first sensor 302 is a millimeter wave radar sensor or an ultrasonic sensor.

[0055] Through the mutual cooperation of the first sensor 302 and the second sensor 304, the embodiment of the present invention can obtain the relative distance between the feeding device 14 and the feeding cart 20 in the longitudinal direction, so as to determine whether there is a risk of collision between the feeding device 14 and the feeding cart 20, so as to adjust the milling machine 10 in time, thereby avoiding the collision between the milling machine 10 and the feeding cart 20.

[0056] For example, in order to avoid the collision between the milling machine 10 and the feeding vehicle 20, Figure 2 As shown, the feeding device 14 extends obliquely from one end of the planing machine body 12 toward the feeding vehicle 20. The first sensor 302 is disposed at the lower end of the middle position of the feeding device 14, and is suitable for detecting a first distance L1 between the feeding device 14 and the feeding vehicle 20 in the horizontal direction. The feeding device 14 and the planing machine body 12 are connected via the feeding device connecting portion 16, and the feeding device 14 can rotate around the feeding device connecting portion 16 to adjust its own inclination angle. The second sensor 304 is disposed on the feeding device 14 near the feeding device connecting portion 16, and is suitable for detecting the inclination angle α of the feeding device 14 relative to the horizontal direction.

[0057] The vertical distance between the first sensor 302 and the second sensor 304 is the second distance L2. Since the straight-line distance between the first sensor 302 and the second sensor 304 is related to the size of the milling machine 10 itself, and the straight-line distance between the first sensor 302 and the second sensor 304 is known and fixed. Therefore, after the inclination angle α of the feeding device 14 relative to the horizontal direction is obtained by the second sensor 304, the vertical distance between the first sensor 302 and the second sensor 304 can be obtained, that is, the length of the second distance L2 is obtained.

[0058] The height of the second sensor 304 from the ground is the second height H2. The second height H2 refers to the vertical distance between the second sensor 304 and the road surface. The size of the second height H2 is affected by the size parameters of the milling machine 10 itself, and since the model of the milling machine 10 is fixed, the parameter is known.

[0059] Thus, according to the measurement results of the first sensor 302 and the second sensor 304, the embodiment of the present invention can obtain the height of the position of the feeding device 14 relative to the feeding cart 20 in the longitudinal direction, that is, the first height H1. According to the first height H1, combined with the known and fixed height parameters of the feeding cart 20, it can be known whether there is a risk of collision between the milling machine 10 and the feeding cart 20, and where the two may collide. For example, when the first height H1 gradually approaches the height of the feeding cart 20, it indicates that the feeding device 14 is about to collide with the feeding cart 20.

[0060] The first height H1 is obtained by the following formula:

[0061] H1=[tanα*(L1+L2)]+H2;

[0062] Among them, the inclination angle α is obtained by the second sensor 304; the first distance L1 is obtained by the first sensor 302; the second distance L2 can be obtained according to the size parameters of the milling machine 10 itself combined with the inclination angle α; the second height H2 can be obtained according to the known size parameters of the milling machine 10 itself.

[0063] Therefore, the embodiment of the present invention can obtain the first height H1, and determine whether there is a risk of collision between the milling machine 10 and the feeding cart 20 based on the first height H1 and the height of the feeding cart 20.

[0064] Example 1

[0065] like Figure 2 and Figure 4 As shown, in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0066] The anti-collision device 30 includes: a third sensor 306. The third sensor 306 is suitable for detecting the milling depth of the milling machine 10. The milling machine 10 includes an oil cylinder 124, and the third sensor 306 is arranged on the oil cylinder 124.

[0067] In this embodiment, the milling depth of the milling machine 10 can be accurately detected by the third sensor 306 installed on the oil cylinder 124 , thereby improving the accuracy of the anti-collision device 30 .

[0068] Specifically, the second height H2 of this embodiment is the vertical distance between the second sensor 304 and the road surface after milling. That is, the second height H2 is affected by the size parameters of the milling machine 10 and the milling depth. The second height H2 of this embodiment is the sum of the vertical distance between the second sensor 304 and the bottom surface of the milling machine 10 plus the milling depth. The milling depth is measured in real time by the third sensor 306.

[0069] Therefore, in this embodiment, by setting the third sensor 306, the judgment error caused by the change of milling depth can be eliminated, thereby improving the accuracy of the anti-collision device 30 and further effectively avoiding the collision between the milling machine 10 and the feeding vehicle 20.

[0070] Example 2

[0071] like Figure 4 As shown, in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0072] The anti-collision device 30 comprises a fifth sensor 310 . The fifth sensor 310 is adapted to detect the tilt angle of the milling machine 10 .

[0073] The fifth sensor 310 is disposed on the milling machine 10 and measures the tilt angle of the milling machine 10 in real time during the milling operation, so as to further improve the accuracy of the anti-collision device 30 .

[0074] Specifically, when the milling machine 10 tilts during the milling operation, the direction of its tilt and the size of the tilt angle will affect the second height H2. That is, when the milling machine 10 tilts during the milling operation, the second height H2 is affected by the size parameters of the milling machine 10 itself and the tilt angle of the milling machine 10. Therefore, in this embodiment, by setting the fifth sensor 310, the judgment error caused by the tilt of the milling machine 10 can be eliminated, thereby improving the accuracy of the anti-collision device 30. Among them, the fifth sensor 310 can be an angle sensor, which directly measures the tilt angle of the milling machine 10. The fifth sensor 310 can also be a distance sensor, which measures the length difference between the front and rear cylinders of the milling machine 10 to obtain the tilt angle of the milling machine 10 during the milling operation.

[0075] Example 3

[0076] like Figure 4 As shown, in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0077] The anti-collision device 30 includes: a third sensor 306 and a fifth sensor 310. The third sensor 306 is adapted to detect the milling depth of the milling machine 10. The fifth sensor 310 is adapted to detect the tilt angle of the milling machine 10.

[0078] Specifically, the second height H2 is affected by the size parameters of the milling machine 10, the milling depth, and the tilt angle of the milling machine 10. Therefore, in this embodiment, by setting the third sensor 306 and the fifth sensor 310 together, the judgment error caused by the tilt of the milling machine 10 and the judgment error caused by the change of the milling depth can be eliminated, thereby further improving the accuracy of the anti-collision device 30.

[0079] Example 4

[0080] In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0081] The first sensor 302 is adapted to detect a relative speed between the milling machine 10 and the feed vehicle 20 .

[0082] That is to say, the first sensor 302 is suitable for detecting both distance and speed. Thus, the first sensor 302 detects the first distance 1 between the feeding device 14 and the feeding vehicle 20 in the horizontal direction, thereby detecting the relative speed between the milling machine 10 and the feeding vehicle 20.

[0083] In this embodiment, by using the relative speed between the milling machine 10 and the feeder 20, it is possible to know where the risk of collision between the feeder 14 and the feeder 20 exists, and further know when the feeder 14 and the feeder 20 will collide. Therefore, in this embodiment, the operating parameters of the milling machine 10 can be further accurately adjusted, and the risk of collision can be effectively avoided by timely adjusting the tilt angle of the milling machine 10 or speeding up the travel speed of the milling machine 10.

[0084] Example 5

[0085] like Figure 2 and Figure 4 As shown, in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0086] The anti-collision device 30 includes: a fourth sensor 308. The fourth sensor 308 is suitable for detecting the travel speed of the milling machine 10. The milling machine 10 includes a motor 122, and the fourth sensor 308 is connected to the motor 122.

[0087] Therefore, the fourth sensor 308 measures the number of revolutions of the motor 122 , and the travel speed of the milling machine 10 is known through the number of revolutions of the motor 122 .

[0088] By setting the fourth sensor 308 , the travel speed of the milling machine 10 can be obtained in real time, thereby accurately controlling the milling machine 10 .

[0089] Example 6

[0090] like Figure 2 and Figure 4 As shown, in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0091] The anti-collision device 30 includes a fourth sensor 308. The fourth sensor 308 is adapted to detect the travel speed of the milling machine 10. The milling machine 10 includes a motor 122, and the fourth sensor 308 is connected to the motor 122. The first sensor 302 is also adapted to detect the relative speed between the milling machine 10 and the feeder 20.

[0092] Thus, the anti-collision device 30 can obtain the traveling speed of the milling machine 10 and the relative speed between the milling machine 10 and the feeding vehicle 20. Therefore, based on knowing when the feeding device 14 and the feeding vehicle 20 will collide, this embodiment can further know whether the milling machine 10 needs to be adjusted and to what extent, so as to accurately control the milling machine 10, that is, to avoid the collision between the feeding device 14 of the milling machine 10 and the feeding vehicle 20, and to avoid the problem of inaccurate feeding or material spillage caused by the large distance between the two.

[0093] Example 7

[0094] In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0095] The anti-collision device 30 further includes a sixth sensor 314 . The sixth sensor 314 is disposed on the feeding vehicle 20 and is suitable for detecting the height of the feeding vehicle 20 .

[0096] The sixth sensor is used to measure the height of the feeder car, so as to further accurately determine the vertical distance between the feeding device of the milling machine and the feeder car, thereby effectively improving the reliability and accuracy of the anti-collision device.

[0097] Example 8

[0098] like Figure 4 As shown, in addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0099] The control device 312 is disposed on the milling machine 10 and is adapted to adjust at least one of the feeding angle or the travel speed of the milling machine 10 according to the operating parameters of the milling machine 10. The operating parameters include the first distance L1 and the inclination angle α.

[0100] The first distance L1 is obtained by detecting the first sensor 302. The inclination angle α is obtained by detecting the second sensor 304. The first sensor 302 and the second sensor 304 are respectively electrically connected or communication-connected to the control device 312 to transmit the detection results to the control device 312. After obtaining the detection results of the first sensor 302 and the second sensor 304, the control device 312 calculates the size of the first height H1. The control device 312 obtains the first height H1, and determines whether there is a risk of collision between the milling machine 10 and the feeder 20, and where the two may collide, based on the first height H1 combined with the known and fixed height parameters of the feeder 20. Furthermore, the control device 312 adjusts at least one of the feeding angle or the travel speed of the milling machine 10, or controls the alarm module such as the horn of the milling machine 10 to warn the driver, so as to achieve the purpose of avoiding collision.

[0101] If the speed of the feeder 20 is slow and a collision is about to occur, the control device 312 adjusts the feeding angle and reduces the travel speed, and reminds the feeder driver to move forward; if the speed of the feeder 20 is fast and is about to exceed the feeding range, the control device 312 adjusts the feeding angle and increases the travel speed, and reminds the feeder driver to slow down; if there is a risk of collision when the feeder 20 is moving backward, the control device 312 adjusts the feeding angle and sounds the horn to remind the feeder driver to stop.

[0102] It should be noted that, for the fixed parameters, this embodiment can input them into the control device 312 for direct use. For example, there are two to three types of conventional feeding carts 20, and the heights of each type of conventional feeding carts 20 are fixed. Therefore, this embodiment can input the height of the conventional feeding cart 20 as a fixed parameter into the control device 312 for use, and can select or modify the height of the feeding cart 20 recorded in the control device 312.

[0103] Example 9

[0104] like Figures 1 to 4 As shown, this embodiment provides a milling machine 10. The milling machine 10 is suitable for cooperating with a feeding vehicle 20 to perform milling operations. The milling machine 10 includes a milling machine body 12 and a feeding device 14. The feeding device 14 is connected to the milling machine body 12 and is suitable for conveying materials to the feeding vehicle 20. The milling machine 10 also includes an anti-collision device 30 according to any embodiment of the present invention. The anti-collision device 30 is suitable for preventing the feeding device 14 from colliding with the feeding vehicle 20.

[0105] Example 10

[0106] like Figure 5 As shown, this embodiment provides a milling machine control method suitable for preventing the milling machine 10 from colliding with the feeding vehicle 20, which includes the following steps:

[0107] S102. Detecting a first distance L1 between the feeding device 14 of the milling machine 10 and the feeding vehicle 20 in the horizontal direction;

[0108] S104. Detecting the inclination angle α of the feeding device 14 relative to the horizontal direction;

[0109] S106 . According to the first distance L1 and the inclination angle α, at least one of the feeding angle of the milling machine 10 or the relative speed between the milling machine 10 and the feeding vehicle 20 is adjusted.

[0110] In this embodiment, the height of the feeding device from the ground at the position corresponding to the feeding vehicle in the longitudinal direction, combined with the known and fixed height parameters of the feeding vehicle, can determine whether there is a risk of collision between the milling machine and the feeding vehicle. Therefore, the above technical solution can improve the safety of the milling operation and avoid losses caused by the collision between the feeding device and the feeding vehicle.

[0111] like Figure 6 As shown, in some implementations of this embodiment, the step of adjusting at least one of the feeding angle of the milling machine 10 or the relative speed between the milling machine 10 and the feeding vehicle 20 according to the first distance L1 and the inclination angle α includes:

[0112] S202. Determine the distance threshold L corresponding to the first distance L1 阈 and the angle threshold α corresponding to the tilt angle α 阈 ;

[0113] S204. The first distance L1 and the distance threshold L 阈 Compare the size and compare the tilt angle α with the angle threshold α 阈 Make size comparisons;

[0114] S206. Adjust at least one of the feeding angle of the milling machine 10 or the relative speed between the milling machine 10 and the feeding vehicle 20 according to the comparison result.

[0115] By comparing the first distance with the distance threshold, comparing the inclination angle with the angle threshold, and determining the specific adjustment method for the milling machine and / or feeder vehicle based on the comparison results, the accuracy and efficiency of judgment and adjustment can be improved.

[0116] In some implementations of this embodiment, the step of adjusting at least one of the feeding angle of the milling machine 10 or the relative speed between the milling machine 10 and the feeding vehicle 20 according to the comparison result includes: determining that the first distance L1 is less than the distance threshold L 阈 And the tilt angle α is less than the angle threshold α 阈 , increase the feeding angle; or determine that the first distance L1 is less than the distance threshold L 阈And the tilt angle α is greater than or equal to the angle threshold α 阈 , reduce the relative speed; or determine that the first distance L1 is greater than or equal to the distance threshold L 阈 And the tilt angle α is less than the angle threshold α 阈 , reduce the feeding angle; or determine that the first distance L1 is greater than or equal to the distance threshold L 阈 And the tilt angle α is greater than or equal to the angle threshold α 阈 , increase the relative speed.

[0117] Embodiment 11

[0118] This embodiment provides an anti-collision device 30. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0119] The anti-collision device 30 includes a plurality of first sensors 302, which are arranged at intervals in the upper and lower directions along the height direction of the feeding device 14, and a control device 312 is connected to the plurality of first sensors 302, and the control device 312 analyzes the height of the cargo box of the feeding vehicle 20 according to the position information of the plurality of first sensors 302 and the input signals of the plurality of first sensors 302; or includes a laser scanning sensor, which is arranged on the feeding device 14 and is connected to the control device 312, and the control device 312 is used to analyze the height of the cargo box of the feeding vehicle 20 according to the position information of the laser scanning sensor and the input signals of the laser scanning sensor.

[0120] For example, Figure 7 and Figure 8 As shown, in this embodiment, multiple first sensors 302 are used to jointly detect or measure the height of the cargo box. For example, four first sensors 302 are arranged on the feeding device 14. Figure 7 As shown, when the feeding device 14 is at the first height, the two lower first sensors 302 can receive the reflected waves from the feeding vehicle 20. The two upper first sensors 302 cannot receive the reflected waves from the feeding vehicle 20. Figure 8 As shown, when the feeding device 14 is at the second height, the three first sensors 302 can receive the reflected waves from the feeding vehicle 20. The top first sensor 302 cannot receive the reflected waves from the feeding vehicle 20. Therefore, according to the signals collected by the multiple first sensors 302, the height of the cargo box of the feeding vehicle can be analyzed.

[0121] Example 12

[0122] This embodiment provides a milling machine control method, which is suitable for preventing the milling machine 10 from colliding with the feeding vehicle 20, including:

[0123] Step 10: Obtain the height of the cargo box of the feeding vehicle 20, the feeding angle of the feeding device 14 of the milling machine 10, the milling depth of the milling machine 10, the known dimensions of the feeding device 14, and the horizontal distance between any position of the milling machine 10 and the cargo box of the feeding vehicle 20;

[0124] Step 20: Analyze the information obtained in step 10 to obtain the minimum distance between the feeding device 14 of the milling machine 10 and the cargo box of the feeding vehicle 20;

[0125] Step 30: Based on the comparative analysis of the minimum distance between the feeding device 14 and the cargo box of the feeding vehicle 20 and the distance threshold, one or more actions including adjusting the feeding angle of the feeding device 14 , changing the travel speed of the milling machine 10 , and alarming the feeding vehicle 20 are performed.

[0126] Optionally, step 30 includes: if the minimum distance between the feeding device 14 and the cargo box of the feeding cart 20 is less than or equal to a first distance threshold, one or more actions of increasing the feeding angle of the feeding device 14, reducing the travel speed of the milling machine, and reminding the feeding cart 20 to increase the forward speed are executed; if the minimum distance between the feeding device 14 and the cargo box of the feeding cart 20 is greater than or equal to a second distance threshold, one or more actions of reducing the feeding angle of the feeding device 14, increasing the travel speed of the milling machine, and reminding the feeding cart 20 to reduce the forward speed are executed.

[0127] Further optionally, in step 10, the height of the cargo box of the feeding vehicle 20 is acquired by using distance sensors or laser scanning sensors arranged at intervals up and down in the height direction. DETAILED DESCRIPTION

[0129] like Figure 1 and Figure 2 As shown, this embodiment provides an anti-collision device 30 and a milling machine 10. The main function of the milling machine 10 is to mill away the damaged road surface and transport the waste to the feeding vehicle 20 for transportation.

[0130] During the construction process of the milling machine in the related technology, the feeding device often collides with the feeding cart due to operating errors and other reasons, which in turn causes damage to the locking pin, cylinder and other mechanisms. It should be noted that during the construction of the milling machine, various positions of the feeding device may collide with the feeding cart, and the collision point depends on the height of the feeding cart and the angle of the feeding device. Therefore, it is difficult for the related technology to determine which position of the feeding device will collide with the feeding cart. In addition, since the total length of the feeding device can reach 8 meters or more, and the collision point where it may collide is unknown, the conventional distance measuring device in the related technology cannot accurately predict the collision risk and collision point. The arrangement of multiple distance measuring devices increases the production cost, increases the measurement error, and reduces the accuracy of the collision risk prompt.

[0131] In view of the limitations of the above-mentioned related technologies, this embodiment uses the provision of an anti-collision device 30 to determine where and when the feeding device 14 of the milling machine 10 collides with the feeding vehicle 20 .

[0132] Specifically, if Figure 3 As shown, the anti-collision device 30 provided in this embodiment is arranged on the milling machine 10. It includes: a first sensor 302 and a second sensor 304. The first sensor 302 is arranged on the feeding device 14 of the milling machine 10, and is suitable for detecting a first distance L1 between the feeding device 14 and the feeding vehicle 20 in the horizontal direction. The first sensor 302 is a millimeter wave radar sensor. The second sensor 304 is arranged on the feeding device 14. Specifically, the second sensor 304 is arranged at a position close to the feeding device connection part 16 of the milling machine 10, and is suitable for detecting the inclination angle α of the feeding device 14 relative to the horizontal direction.

[0133] The control device 312 is connected to the first sensor 302 and the second sensor 304 respectively; the control device 312 controls the milling machine 10 to perform one or more actions of adjusting the feeding angle of the feeding device 14, changing the driving speed of the milling machine 10 and alarming the feeding vehicle 20 according to the known size of the feeding device 14, the positions of the first sensor 302 and the second sensor 304 on the feeding device 14 and the input signals of the first sensor 302 and the second sensor 304.

[0134] Therefore, based on the measurement results of the first sensor 302 and the second sensor 304 and the structural parameters of the milling machine 10 , it can be determined whether the feeding device 14 of the milling machine 10 is at risk of colliding with the feeding vehicle 20 .

[0135] like Figure 4 As shown, in some implementations of this embodiment, the anti-collision device 30 also includes a third sensor 306 and a fifth sensor 310. The third sensor 306 is provided on the oil cylinder 124 of the milling machine 10, and is suitable for detecting the milling depth of the milling machine 10. Specifically, the third sensor 306 is installed on the oil cylinders before and after the side slide of the milling machine 10, and can measure the descending distance of the milling machine 10 compared to the road surface. Again, according to the length difference between the front and rear oil cylinders, the milling depth of the milling machine 10 can be known. Finally, adding the body size of the milling machine 10, a more accurate second height H2 can be obtained through the third sensor 306. The fifth sensor 310 is provided on the milling machine 10, and is suitable for detecting the inclination angle of the milling machine 10. By setting the third sensor 306, the judgment error caused by the change of the milling depth can be eliminated. By setting the fifth sensor 310, the judgment error caused by the inclination of the milling machine 10 can be eliminated. Therefore, by disposing at least one of the third sensor 306 and the fifth sensor 310 , the accuracy of the anti-collision device 30 can be further improved.

[0136] According to the measurement results of the first sensor 302 and the second sensor 304, the present embodiment can obtain the height of the feeding device 14 from the ground at a position corresponding to the feeding vehicle 20 in the longitudinal direction, that is, the first height H1. According to the first height H1, combined with the known and fixed height parameters of the feeding vehicle 20, it can be known whether there is a risk of collision between the milling machine 10 and the feeding vehicle 20, and where the two may collide.

[0137] In some implementations of this embodiment, the first sensor 302 detects the relative speed between the milling machine 10 and the feeding vehicle 20 on the basis of detecting the first distance L1 .

[0138] like Figure 4 As shown, in some implementations of this embodiment, the anti-collision device 30 further includes a fourth sensor 308 and a sixth sensor 314. The fourth sensor 308 is connected to the motor 122 of the milling machine 10 and is suitable for detecting the travel speed of the milling machine 10. The sixth sensor 314 is provided on the feeding vehicle 20 and is suitable for detecting the height of the feeding vehicle 20.

[0139] Among them, the sixth sensor 314 can be an image detection device or a laser scanning device, for example, the height of the feeding vehicle 20 can be obtained by using a device in the patent document with application number: CN201610454954, entitled: A new height measurement method and height meter.

[0140] According to the relative speed between the milling machine 10 and the feeder trolley 20 obtained by the first sensor 302 and the travel speed of the milling machine 10 obtained by the fourth sensor 308, combined with the height of the feeder trolley 20, it is possible to further accurately determine when the feed device 14 collides with the feeder trolley 20 according to the current operating status of the milling machine 10, and then automatically control the angle of the feed device 14 and the travel speed of the milling machine 10 in advance, and perform operations such as honking the horn to remind the driver of the feeder trolley, so as to avoid collision.

[0141] In summary, the beneficial effects of the embodiments of the present invention are:

[0142] 1. Through the combination of the first sensor 302 and the second sensor 304, the feed device 14 of the milling machine 10 can be effectively prevented from colliding with the feeder 20, thereby improving the safety of the milling operation and avoiding the loss caused by the collision between the feed device 14 and the feeder 20.

[0143] 2. Through the cooperation of the first sensor 302 and the fourth sensor 308, the travel speed of the milling machine 10 and its relative speed with the feeding cart 20 are detected, so as to accurately determine when the feeding device 14 and the feeding cart 20 may collide, so as to make timely and accurate adjustments to the milling machine 10, and avoid the collision between the feeding device 14 and the feeding cart 20, and avoid the problem of inaccurate feeding or material spillage caused by the large distance between the two.

[0144] 3. Automatically adjust at least one of the feeding angle or the travel speed of the milling machine 10 through the control device 312, so as to reduce the driver's operating intensity and avoid the risk of accidents caused by driver distraction or fatigue driving.

[0145] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0146] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "upper" and "lower" etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0147] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0148] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An anti-collision device, suitable for preventing a milling machine from colliding with a feeding vehicle, characterized in that: include: A first sensor is provided on the milling machine; A second sensor is provided on the milling machine; a control device connected to the first sensor and the second sensor respectively; Wherein, the first sensor is suitable for detecting a first distance between the position of the first sensor and the feeding vehicle in the horizontal direction; the second sensor is suitable for detecting a feeding angle of the feeding device relative to the horizontal direction; the control device controls the milling machine to perform one or more actions of adjusting the feeding angle of the feeding device, changing the travel speed of the milling machine, and alarming the feeding vehicle according to the known size of the feeding device, the positions of the first sensor and the second sensor on the feeding device, and the input signals of the first sensor and the second sensor; The first sensor is adapted to detect the relative speed between the milling machine and the feeder vehicle; a third sensor, adapted to detect the milling depth of the milling machine, the third sensor being connected to the control device; Wherein, the milling machine includes an oil cylinder, and the third sensor is arranged on the oil cylinder.

2. The anti-collision device according to claim 1, characterized in that: It includes a plurality of first sensors, which are arranged at intervals in the vertical direction of the feeding device, and the control device is connected to the plurality of first sensors. The control device analyzes the height of the cargo box of the feeding vehicle according to the position information of the plurality of first sensors and the input signals of the plurality of first sensors; or It includes a laser scanning sensor, which is arranged on the feeding device and connected to the control device. The control device is used to analyze the height of the cargo box of the feeding vehicle according to the position information of the laser scanning sensor and the input signal of the laser scanning sensor.

3. The anti-collision device according to claim 1, characterized in that: Also includes: The fourth sensor is adapted to detect the travel speed of the milling machine.

4. The anti-collision device according to claim 1, characterized in that: Also includes: The fifth sensor is adapted to detect the tilt angle of the milling machine.

5. A milling machine, suitable for cooperating with a feeding vehicle to perform milling operations, characterized in that: include: Milling machine body; A material feeding device, connected to the milling machine body, suitable for conveying materials to the feeding vehicle; The anti-collision device according to any one of claims 1 to 4 is suitable for preventing the milling machine from colliding with the feeding vehicle, and the control device is integrated in the cab of the milling machine.

6. A milling machine control method, suitable for preventing the milling machine from colliding with a feeding vehicle, characterized in that: The milling machine adopts the milling machine as claimed in claim 5, comprising: Step 10: Obtain the height of the cargo box of the feeding vehicle, the feeding angle of the feeding device of the milling machine, the milling depth of the milling machine, the known dimensions of the feeding device, and the horizontal distance between any position of the milling machine and the cargo box of the feeding vehicle; Step 20: Analyze and obtain the minimum distance between the feeding device of the milling machine and the cargo box of the feeding vehicle according to the information obtained in step 10; Step 30: Based on the comparative analysis of the minimum distance between the feeding device and the cargo box of the feeding vehicle and the distance threshold, one or more actions of adjusting the feeding angle of the feeding device, changing the travel speed of the milling machine and alarming the feeding vehicle are performed.

7. The milling machine control method according to claim 6, characterized in that: The step 30 comprises: If the minimum distance between the feeding device and the cargo box of the feeding vehicle is less than or equal to the first distance threshold, one or more actions are performed: increasing the feeding angle of the feeding device, reducing the traveling speed of the milling machine, and reminding the feeding vehicle to increase the forward speed; If the minimum distance between the feeding device and the cargo box of the feeder vehicle is greater than or equal to the second distance threshold, one or more actions are performed including reducing the feeding angle of the feeding device, increasing the travel speed of the milling machine, and reminding the feeder vehicle to reduce the forward speed.

8. The milling machine control method according to claim 7, characterized in that: In step 10, the height of the cargo box of the feeding vehicle is obtained by using distance sensors or laser scanning sensors arranged at intervals up and down in the height direction.

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