A climbing assistance control system and method for a crawler-type mechanical device

Abstract

An embodiment of the present invention provides a climbing assistance control system and method for a crawler-type mechanical device. The control system includes a first inclination sensor, a second inclination sensor, a distance measurement sensor, and a controller. The first inclination sensor is adapted to detect the inclination angle of the chassis of the mechanical device. The second inclination sensor is adapted to detect the inclination angle of the working device. The distance measurement sensor is adapted to detect the width expansion of the crawler. The controller is electrically connected to the first inclination sensor, the second inclination sensor, and the distance measurement sensor respectively. The climbing assistance control system for the crawler-type mechanical device provided by the embodiment of the present invention detects the inclination angle of the chassis of the mechanical device through the first inclination sensor, detects the inclination angle of the robotic arm through the second inclination sensor, and detects the width expansion of the crawler through the distance measurement sensor, realizing multiple factors as input values, and effectively improving the accuracy of the control output of the climbing action of the mechanical device.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering equipment, and particularly to a climbing assist control system and method for crawler-type mechanical equipment. Background Art

[0002] At present, most of the climbing assist systems for traveling devices process the angle information collected by sensors through a controller and output values to control their own motion devices, so as to improve the motion stability and achieve stable climbing. At present, the climbing assist systems for large construction machinery such as rotary drilling rigs are rare. There are more anti-tipping systems and devices during the working process. In particular, there is no dedicated assist system for the climbing action of rotary drilling rigs, and there is no climbing angle prediction and alarm system.

[0003] The existing climbing assist systems only collect the inclination angle of a single body, which is used as the only input value for the controller to calculate, and there are few judgment conditions. At the same time, the existing climbing assist systems only control the motion stability during the climbing process, and do not combine the body structure to use the climbing angle as the calculation input value to pre-judge and alarm whether the climbing angle is feasible. Summary of the Invention

[0004] Embodiments of the present invention provide a climbing assist control system and method for crawler-type mechanical equipment, which are used to solve the problems in the prior art that the climbing assist system only collects the inclination angle of a single body, which is used as the only input value for the controller to calculate, and there are few judgment conditions; and it does not have the function of pre-judging and alarming whether the climbing angle is feasible.

[0005] Embodiments of the present invention provide a climbing assist control system for crawler-type mechanical equipment. The climbing assist control system for crawler-type mechanical equipment includes:

[0006] A first inclination sensor, which is suitable for detecting the inclination angle of the chassis of the mechanical equipment;

[0007] A second inclination sensor, which is suitable for detecting the inclination angle of the working device;

[0008] A ranging sensor, which is suitable for detecting the widening of the crawler;

[0009] A controller, which is electrically connected to the first inclination sensor, the second inclination sensor, and the ranging sensor respectively.

[0010] According to an embodiment of the present invention, the climbing assist control system for crawler-type mechanical equipment further includes:

[0011] A slope recognition sensor, which is electrically connected to the controller and is suitable for pre-measuring the slope to obtain a pre-measured value of the slope.

[0012] The climbing assist control system of a crawler-type mechanical equipment according to an embodiment of the present invention, wherein the slope identification sensor is a camera.

[0013] The climbing assist control system of a crawler-type mechanical equipment according to an embodiment of the present invention, the control system further includes:

[0014] An alarm, the alarm is electrically connected to the controller.

[0015] The climbing assist control system of a crawler-type mechanical equipment according to an embodiment of the present invention, the alarm is a display, a speaker, an indicator light or a vibrator.

[0016] The climbing assist control system of a crawler-type mechanical equipment according to an embodiment of the present invention, the first inclination sensor is arranged on the chassis of the mechanical equipment, the second inclination sensor is arranged on the working device, and the distance measuring sensor is arranged on the crawler or the chassis of the mechanical equipment.

[0017] The climbing assist control system of a crawler-type mechanical equipment according to an embodiment of the present invention, both the first inclination sensor and the second inclination sensor are acceleration sensors; the working device is a mast.

[0018] The embodiment of the present invention also provides a climbing assist control method for a crawler-type mechanical equipment, the control method includes the following steps:

[0019] Step S10, adjusting the attitude of the working device and the width of the crawler according to the inclination angle of the chassis of the mechanical equipment and the center of gravity of the mechanical equipment;

[0020] Step S20, judging whether the slope is a slope that the mechanical equipment can climb according to the slope pre-measured value and the center of gravity of the mechanical equipment.

[0021] The climbing assist control method of a crawler-type mechanical equipment according to an embodiment of the present invention, the adjusting the attitude of the working device and the width of the crawler according to the inclination angle of the chassis of the mechanical equipment and the center of gravity of the mechanical equipment includes:

[0022] Obtaining the inclination angle of the chassis of the mechanical equipment, the attitude of the working device and the width of the crawler;

[0023] Obtaining the center of gravity of the mechanical equipment according to the inclination angle of the chassis of the mechanical equipment and the structure of the mechanical equipment;

[0024] Adjusting the attitude of the working device and the width of the crawler according to the inclination angle of the chassis of the mechanical equipment, the center of gravity of the mechanical equipment, the attitude of the working device and the width of the crawler.

[0025] The climbing assist control method for a crawler-type mechanical equipment according to an embodiment of the present invention, wherein determining whether the slope is a slope that the mechanical equipment can climb based on the predicted slope value and the center of gravity of the mechanical equipment includes:

[0026] Obtaining the predicted value of the slope;

[0027] Combining the predicted value with the center of gravity of the chassis of the mechanical equipment to obtain a predicted center of gravity offset value S1;

[0028] Comparing the predicted center of gravity offset value S1 with a preset threshold S2. If S1 ≤ S2, then execute step S20; if S1 > S2, then send an alarm message.

[0029] The climbing assist control system for the crawler-type mechanical equipment provided by the embodiment of the present invention detects the inclination angle of the chassis of the mechanical equipment through a first inclination sensor, detects the inclination angle of the working device through a second inclination sensor, and detects the width expansion of the crawler through a distance measuring sensor, realizing multiple factors as input values, and effectively improving the accuracy of the control output of the climbing action of the mechanical equipment. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 It is a schematic structural diagram of a climbing assist control system for a crawler-type mechanical equipment provided by an embodiment of the present invention;

[0032] Figure 2 It is a schematic flow diagram of a climbing assist control method for a crawler-type mechanical equipment provided by an embodiment of the present invention.

[0033] Reference Signs:

[0034] 1. First inclination sensor; 2. Second inclination sensor; 3. Distance measuring sensor; 4. Controller; 5. Slope identification sensor; 6. Alarm. Detailed Embodiments

[0035] The following further describes in detail the embodiments of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0036] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.

[0037] In the embodiments of the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0038] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0039] The following will be combined with Figures 1 to 2 Describe the climbing assistance control system and method of the tracked mechanical equipment in the embodiments of the present invention.

[0040] Such as Figure 1As shown in the figure, the climbing assistance control system of the crawler-type mechanical equipment includes: a first inclination sensor 1, a second inclination sensor 2, a distance measurement sensor 3, and a controller 4. The first inclination sensor 1 is arranged on the chassis of the mechanical equipment. In this embodiment, the chassis of the mechanical equipment is the chassis of a rotary drilling rig, and the first inclination sensor 1 is suitable for detecting the inclination of the chassis of the mechanical equipment. The second inclination sensor 2 is arranged on the working device, and the second inclination sensor 2 is suitable for detecting the inclination of the working device. In this embodiment, the mechanical equipment is a rotary drilling rig, so the working device is the mast, and the inclination of the working device detected by the second inclination sensor 2 is the inclination of the mast. The distance measurement sensor 3 is arranged on the crawler or the chassis of the mechanical equipment, and the distance measurement sensor 3 is suitable for detecting the width of the crawler. The controller 4 is electrically connected to the first inclination sensor 1, the second inclination sensor 2, and the distance measurement sensor 3 respectively. The controller 4 is suitable for adjusting the attitude of the working device and the width of the crawler according to the inclination of the chassis of the mechanical equipment and the center of gravity of the mechanical equipment, and judging whether the slope is the slope that the mechanical equipment can climb according to the predicted slope value and the center of gravity of the mechanical equipment.

[0041] The climbing assistance control system of the crawler-type mechanical equipment provided by the embodiment of the present invention detects the inclination of the chassis of the mechanical equipment through the first inclination sensor 1, detects the inclination of the working device through the second inclination sensor 2, and detects the width of the crawler through the distance measurement sensor 3, realizing multiple factors as input values, and effectively improving the accuracy of the control output of the climbing action of the mechanical equipment.

[0042] According to the embodiment of the present invention, the climbing assistance control system of the crawler-type mechanical equipment in this embodiment further includes a slope recognition sensor 5. The slope recognition sensor 5 is electrically connected to the controller 4 and is suitable for pre-measuring the slope to obtain a predicted slope value. In this embodiment, the slope recognition sensor 5 is a camera. The slope recognition sensor 5 pre-measures the slope to obtain a predicted slope value, and the controller 4 calculates the center of gravity according to the predicted value and the structure of the mechanical equipment. If the climbing slope is greater than the slope that the mechanical equipment can climb, an alarm prompt can be sent through the alarm 6, effectively improving the driving safety of the mechanical equipment.

[0043] According to the embodiment of the present invention, the climbing assistance control system of the crawler-type mechanical equipment in this embodiment further includes an alarm 6. The alarm 6 is electrically connected to the controller 4. The alarm 6 is a display, a speaker, an indicator light, or a vibrator. If the controller 4 determines that the climbing slope is greater than the slope that the mechanical equipment can climb, an alarm can be sent through the control of the alarm 6 for prompt, effectively improving the driving safety of the mechanical equipment.

[0044] As Figure 2 shown, the present invention also provides a method for controlling the climbing assistance of mechanical equipment. The method for controlling the climbing assistance of mechanical equipment includes the following steps:

[0045] Step S10, adjust the attitude of the working device and the width of the crawlers according to the inclination angle of the mechanical equipment chassis and the center of gravity of the mechanical equipment;

[0046] Step S20, determine whether the slope is the climbable slope of the mechanical equipment according to the predicted slope value and the center of gravity of the mechanical equipment.

[0047] In this embodiment, the crawler-type mechanical equipment is a rotary drilling rig. Therefore, the inclination angle of the working device is the inclination angle of the mast. Of course, in addition to being a rotary drilling rig, the crawler-type mechanical equipment can also be a crawler-type mechanical equipment such as an excavator.

[0048] The mechanical equipment climbing assistance control method according to the embodiment of the present invention effectively improves the accuracy of the control output of the mechanical equipment climbing action and improves driving safety by collecting multiple factors as the input values of the controller 4. By predicting the slope to obtain the predicted slope value and calculating the center of gravity according to the predicted value and the mechanical equipment structure, if the climbing slope is greater than the climbable slope of the mechanical equipment, an alarm prompt is issued, effectively improving the driving safety of the mechanical equipment.

[0049] According to an embodiment of the present invention, the mechanical equipment climbing assistance control method in this embodiment includes the following steps:

[0050] Step S100, obtain the inclination angle of the mechanical equipment chassis, the attitude of the working device, and the width of the crawlers;

[0051] Step S110, obtain the center of gravity of the mechanical equipment according to the inclination angle of the mechanical equipment chassis and the structure of the mechanical equipment;

[0052] Step S120, adjust the attitude of the working device and the width of the crawlers according to the inclination angle of the mechanical equipment chassis, the center of gravity of the mechanical equipment, the attitude of the working device, and the width of the crawlers;

[0053] Step S130, determine whether the slope is the climbable slope of the mechanical equipment according to the predicted slope value and the center of gravity of the mechanical equipment.

[0054] The above step S130 is the same as step S20 in the above embodiment. For specific implementation, reference can be made to the above step S20.

[0055] By detecting the angle of the working device (mast angle) and the width of the crawlers during the climbing action in real time and continuously adjusting the climbing action in real time with this as the input, the action smoothness is effectively improved.

[0056] According to an embodiment of the present invention, the mechanical equipment climbing assistance control method includes the following steps:

[0057] Step S200, adjust the attitude of the working device and the width of the crawlers according to the inclination angle of the mechanical equipment chassis and the center of gravity of the mechanical equipment;

[0058] Step S210, obtain a predicted value of the slope.

[0059] Step S220, combine the predicted value with the center of gravity of the mechanical equipment chassis to obtain a predicted center of gravity offset value S1.

[0060] Step S230, compare the predicted center of gravity offset value S1 with a preset threshold value S2.

[0061] If S1 ≤ S2, execute step S20.

[0062] At this time, it indicates that the predicted value of the climbing slope belongs to the safe climbing slope range of the rotary drilling rig, so the climbing action can be performed.

[0063] If S1 > S2, send an alarm message.

[0064] If S1 > S2, the controller 4 controls the alarm 6 to give an alarm, reminding the driver that the climbing slope is greater than the climbable slope of the mechanical equipment, effectively improving the driving safety of the mechanical equipment.

[0065] By predicting the climbing angle and calculating the predicted center of gravity offset value in combination with the center of gravity, the safe value of the climbable slope can be effectively determined, and an alarm is given for slopes exceeding the safe value, improving driving safety.

[0066] According to an embodiment of the present invention, the climbing assistance control method for the mechanical equipment in this embodiment includes the following steps:

[0067] Step S300, obtain the inclination angle of the mechanical equipment chassis, the attitude of the working device, and the width of the crawler.

[0068] Step S310, obtain the center of gravity of the mechanical equipment according to the inclination angle of the mechanical equipment chassis and the structure of the mechanical equipment.

[0069] Step S320, adjust the attitude of the working device and the width of the crawler according to the inclination angle of the mechanical equipment chassis, the center of gravity of the mechanical equipment, the attitude of the working device, and the width of the crawler.

[0070] Step S330, adjust the attitude of the working device and the width of the crawler according to the inclination angle of the mechanical equipment chassis and the center of gravity of the mechanical equipment.

[0071] Step S340, obtain a predicted value of the slope.

[0072] Step S350, combine the predicted value with the center of gravity of the mechanical equipment chassis to obtain a predicted center of gravity offset value S1.

[0073] Step S360: Compare the center of gravity budget offset value S1 with the preset threshold value S2. If S1 ≤ S2, execute step S20; if S1 > S2, send an alarm message.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A climbing assist control system for a crawler-type mechanical equipment, characterized in that, the control system includes: a first inclination sensor adapted to detect the inclination of the chassis of the mechanical equipment; a second inclination sensor adapted to detect the inclination of the working device; a distance measuring sensor adapted to detect the width expansion of the crawler; a controller electrically connected to the first inclination sensor, the second inclination sensor, and the distance measuring sensor respectively; the control system is based on the following control method, and the control method includes the following steps: Step S10, adjusting the attitude of the working device and the width expansion of the crawler according to the inclination of the chassis of the mechanical equipment and the center of gravity of the mechanical equipment; Step S20, judging whether the slope is a slope that the mechanical equipment can climb according to the predicted slope value and the center of gravity of the mechanical equipment; The adjusting the attitude of the working device and the width expansion of the crawler according to the inclination of the chassis of the mechanical equipment and the center of gravity of the mechanical equipment includes: obtaining the inclination of the chassis of the mechanical equipment, the attitude of the working device, and the width expansion of the crawler; obtaining the center of gravity of the mechanical equipment according to the inclination of the chassis of the mechanical equipment and the structure of the mechanical equipment; adjusting the attitude of the working device and the width expansion of the crawler according to the inclination of the chassis of the mechanical equipment, the center of gravity of the mechanical equipment, the attitude of the working device, and the width expansion of the crawler.

2. The climbing assist control system for a crawler-type mechanical equipment according to claim 1, characterized in that, the control system further includes: a slope recognition sensor electrically connected to the controller and adapted to perform a pre-measurement of the slope to obtain a predicted slope value.

3. The climbing assist control system for a crawler-type mechanical equipment according to claim 2, characterized in that, the slope recognition sensor is a camera.

4. The climbing assist control system for a crawler-type mechanical equipment according to claim 1, characterized in that, the control system further includes: an alarm electrically connected to the controller.

5. The climbing assist control system for a crawler-type mechanical equipment according to claim 4, characterized in that, the alarm is a display, a speaker, an indicator light, or a vibrator.

6. The climbing assist control system for a crawler-type mechanical equipment according to claim 1 or 2, characterized in that, the first inclination sensor is arranged on the chassis of the mechanical equipment, the second inclination sensor is arranged on the working device, and the distance measuring sensor is arranged on the crawler or the chassis of the mechanical equipment.

7. The climbing assist control system for a crawler-type mechanical equipment according to claim 6, characterized in that, both the first inclination sensor and the second inclination sensor are acceleration sensors; the working device is a mast.

8. A climbing assist control method for a crawler-type mechanical equipment, the control method being based on the control system according to any one of claims 1 to 7, characterized in that, the control method includes the following steps: Step S10, adjusting the attitude of the working device and the width expansion of the crawler according to the inclination of the chassis of the mechanical equipment and the center of gravity of the mechanical equipment; Step S20: Determine whether the slope is a climbable slope for the mechanical equipment based on the predicted slope value and the center of gravity of the mechanical equipment. The adjustment of the attitude of the working device and the width expansion of the crawler according to the inclination angle of the chassis of the mechanical equipment and the center of gravity of the mechanical equipment includes: Obtain the inclination angle of the chassis of the mechanical equipment, the attitude of the working device, and the width expansion of the crawler. Obtain the center of gravity of the mechanical equipment based on the inclination angle of the chassis of the mechanical equipment and the structure of the mechanical equipment. Adjust the attitude of the working device and the width expansion of the crawler according to the inclination angle of the chassis of the mechanical equipment, the center of gravity of the mechanical equipment, the attitude of the working device, and the width expansion of the crawler.

9. The climbing assistance control method for a crawler-type mechanical equipment according to claim 8, wherein, the determination of whether the slope is a climbable slope for the mechanical equipment based on the predicted slope value and the center of gravity of the mechanical equipment includes: Obtain the predicted value of the slope. Combine the predicted value with the center of gravity of the chassis of the mechanical equipment to obtain a predicted center of gravity offset value S1. Compare the predicted center of gravity offset value S1 with a preset threshold S2. If S1 ≤ S2, then execute step S20; if S1 > S2, then send an alarm message.

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