Arch support trolley and arm support anti-interference control method thereof

Abstract

The present application relates to a kind of arch trolley and its arm frame anti-interference control method, scheme is through judging the angle difference of pitch direction between any two arm frames, in the case where the angle difference of pitch direction between two arm frames is less than set angle, when one of the arm frames reaches the interference region relative to another arm frame, the movement of the arm frame is limited;The interference region is, when one of the arm frames is rotated to another arm frame direction, the region after reaching the critical position where the interference between two arm frames occurs.The scheme of the present application makes the arm frame limit control more flexible, easy to adjust, can realize the dynamic limit of arm frame anti-interference between arm frames during arm frame operation, realizes the anti-interference protection during the use of arm frame, effectively improves the safety and support efficiency of tunnel construction, and provides safety guarantee for the intelligent control such as remote control and remote control of arch trolley.

Description

Technical Field

[0001] This invention relates to an arch frame trolley and its boom anti-interference control method, belonging to the field of tunnel equipment control technology; and particularly to a boom control method for the arch frame trolley. Background Technology

[0002] In tunnel construction, to improve efficiency and reduce management costs, increasingly more mechanized equipment is replacing manual labor. As a crucial step in support operations, the arch support trolley is also gradually replacing manual labor as a key method for arch erection. How to control the arch support trolley to accelerate arch erection has become a major research focus in recent years.

[0003] In recent years, with technological advancements and innovations, research has focused on various control methods for arch frame trolleys, including remote control and intelligent control, making control more flexible and efficient. The primary function of the arch frame trolley is to transport the arch frame into position using its boom. For the control of the arch frame trolley, making the limit control between booms more flexible and preventing interference between booms is crucial for improving construction safety and ensuring construction efficiency.

[0004] In existing technologies, the limiting of the boom of an arch trolley is achieved through traditional mechanical limit switches. The limiting position of mechanical limit switches is relatively fixed. If the limiting rules need to be changed, the limit switches must be removed and re-tested, calibrated, repositioned, and reinstalled. Moreover, mechanical limit switches are easily damaged after repeated collisions, posing a hidden danger to the remote control of the arch trolley. At the same time, the mechanical switch of the boom can only limit the absolute range of motion of the boom and cannot prevent interference between booms based on the position status of each boom. This also affects the safety and flexibility of boom operation to a certain extent, affects construction efficiency, and limits the development of intelligent control of the arch trolley. Summary of the Invention

[0005] The purpose of this invention is to provide an arch frame trolley and its boom anti-interference control method to solve the problems of poor limit flexibility and inability to achieve anti-interference in existing booms.

[0006] To achieve the above objectives, the present invention includes:

[0007] The present invention provides a technical solution for an anti-interference control method for an arch frame trolley boom. It determines the angle difference in the pitch direction between any two booms. When the angle difference in the pitch direction between the two booms is less than a set angle, and one boom reaches the interference zone relative to the other boom, the movement of that boom is restricted. The interference zone is the area after one boom reaches the critical position where interference occurs when it rotates back towards the other boom.

[0008] The method of this invention detects the boom's pose and pre-stores the pose relationship between two booms that may interfere as interference judgment conditions using software. When the boom meets the interference judgment conditions, interference protection is triggered, and the boom movement is stopped. Furthermore, the interference judgment conditions in this solution comprehensively consider the boom's pitch and rotation conditions, making boom control more flexible.

[0009] The method of this invention makes boom limit control more flexible and easier to adjust. It can achieve dynamic limit control to prevent interference between booms during boom operation, realize interference protection during boom use, effectively improve the safety and support efficiency of tunnel construction, and provide a safety guarantee for intelligent control such as remote control and remote control of arch frame trolley.

[0010] Furthermore, the critical position at which the two booms will interfere is the position when the vertical planes of the two booms are parallel.

[0011] When the boom is in a parallel state, regardless of the boom's extension length, there can be no interference between the booms. Therefore, setting the parallel state as the critical condition for preventing interference improves the safety of boom control.

[0012] Furthermore, the critical position is set in the following manner: by installing an encoder on the boom slewing joint to detect the slewing angle of the slewing joint; when the first boom rotates towards the second boom, the position of the first boom at the same slewing angle as the second boom is set as the critical position.

[0013] Furthermore, an encoder is installed on the boom pitch joint to detect the boom pitch angle, and the difference between the pitch angles of the two booms is obtained to obtain the angle difference in the pitch direction between the two booms.

[0014] By collecting the motion data of each joint using encoders, the boom's posture can be accurately and reliably obtained, replacing mechanical limit switches and making boom limiting more flexible and intelligent. Simultaneously, the encoder-detected data enables the visualization of the boom's motion trajectory, providing a data foundation and enabling remote control and other intelligent control functions of the boom.

[0015] Furthermore, the movement of the boom is limited by disconnecting the input current of the boom slewing proportional valve; the boom slewing proportional valve is a proportional valve on the hydraulic oil circuit that drives the boom slewing joint.

[0016] Closing the proportional valve on the hydraulic drive line limits the boom's movement. By directly shutting down the actuator at the action end, the movement is restricted, reducing response time and minimizing the possibility of control interference and failure. This makes the anti-interference control during boom movement safer and more reliable.

[0017] Furthermore, the tunnel outline is scanned using a tunnel scanning device, and the position of the positioning trolley relative to the tunnel cross-section obtained by the tunnel scanning device is used to calculate the maximum angle of left and right rotation of each boom within the action range boundary limited by the tunnel outline. The maximum angle of left and right rotation is used as the limit angle of rotation in the corresponding direction. When the boom rotation reaches the limit angle in the corresponding direction, the movement of the boom is restricted.

[0018] The control method for preventing interference between booms of the present invention can further combine the limitation of the boom's own rotation on the tunnel contour, and further integrate the boom's movement range limitation on the basis of boom interference prevention limitation, so as to achieve comprehensive and complete limitation control during the boom's movement process.

[0019] Furthermore, when one boom rotates towards another boom, the area between the critical position and the position corresponding to the upper limit angle in the rotation direction constitutes the interference region.

[0020] The present invention provides a technical solution for an arch frame trolley, comprising at least two booms and an anti-interference system. The anti-interference system determines the angle difference in the pitch direction between any two booms. When the angle difference in the pitch direction between the two booms is less than a set angle, the system restricts the movement of one boom when it reaches the interference region relative to the other boom. The interference region is the area after one boom reaches the critical position where interference occurs when it rotates towards the other boom. The system restricts the movement of one boom when it reaches the critical region of the other boom.

[0021] Furthermore, the critical position at which the two booms will interfere is the position when the vertical planes of the two booms are parallel.

[0022] Furthermore, the anti-interference system also includes an encoder installed on the boom slewing joint for detecting the slewing angle of the slewing joint; the critical position is set in the following manner: based on the detected boom slewing angle, when the first boom rotates towards the second boom, the position of the first boom at the same slewing angle as the second boom is set as the critical position.

[0023] Furthermore, the anti-interference system also includes an encoder installed on the boom pitch joint for detecting the pitch angle of the pitch joint; based on the detected boom pitch angle, the pitch angles of the two booms are subtracted to obtain the angle difference between the pitch directions of the two booms.

[0024] Furthermore, the anti-interference system limits the movement of the boom by disconnecting the input current of the boom slewing proportional valve; the boom slewing proportional valve is a proportional valve on the hydraulic oil line that drives the boom slewing joint.

[0025] Furthermore, the anti-interference system also scans the tunnel outline using a tunnel scanning device, and calculates the maximum angle of left and right rotation of each boom within the action range boundary limited by the tunnel outline by combining the position of the positioning trolley relative to the tunnel cross-section obtained by the tunnel scanning device; the maximum angle of left and right rotation is used as the limit angle of rotation in the corresponding direction; when the boom rotation reaches the limit angle in the corresponding direction, the movement of the boom is restricted.

[0026] Furthermore, when one boom rotates towards another boom, the area between the critical position and the position corresponding to the upper limit angle in the rotation direction constitutes the interference region. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the arch frame trolley structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the remote control command flow of the arch frame trolley according to the present invention;

[0029] Figure 3 This is a flowchart of the control process for the arch frame trolley boom of the present invention;

[0030] Figure 4 This is a schematic diagram of a right arm posture in one embodiment;

[0031] Figure 5 yes Figure 4 The diagram shows the interference region of the main arm under the right arm's posture.

[0032] Figure 6 This is a schematic diagram of another right arm posture in the embodiment;

[0033] Figure 7 yes Figure 6 The diagram shows the interference region of the main arm under the right arm's posture.

[0034] The diagram includes: 1. Left arm; 2. Main arm; 3. Right arm; 11. Left arm pitch encoder; 12. Left arm rotation encoder; 13. Left arm telescopic encoder; 14. Left robot arm pitch encoder; 15. Left robot arm rotation encoder; 16. Left hoisting rope retraction encoder; 21. Main arm pitch encoder; 22. Main arm rotation encoder; 23. Main arm telescopic encoder; 24. Main robot arm pitch encoder; 25. Main robot arm rotation encoder; 31. Right arm pitch encoder; 32. Right arm rotation encoder; 33. Right arm telescopic encoder; 34. Right robot arm pitch encoder; 35. Right robot arm rotation encoder; 36. Right hoisting rope retraction encoder. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0036] Method Implementation Examples:

[0037] The present invention provides a method for preventing interference of the boom of an arch trolley. The concept is to achieve flexible control of boom limit and prevent boom interference by installing an encoder on the boom of the arch trolley.

[0038] The following description uses a dual-control arch frame trolley as an example to illustrate the anti-interference control method for the boom of the arch frame trolley according to this invention. The dual-control arch frame trolley is capable of both local remote control and remote platform control. Combined with the anti-interference control method for the boom of this invention, it further promotes the intelligent development of arch frame trolleys, making the control method more flexible and efficient.

[0039] To achieve the above concept, the anti-interference system of the arch trolley to which the anti-interference control method of the arch trolley boom of this embodiment is applicable includes: an A remote control receiver, a B remote control receiver, a C remote control receiver, an A remote control switch, a B remote control switch, a C remote control switch, a controller, a left arm encoder, a main arm encoder, a right arm encoder, a human-machine interaction system, a scanning device, and an A remote control, a B remote control, a C remote control, and a remote control platform for controlling boom movement.

[0040] The receiver receives operation command signals from the corresponding remote controller and outputs these signals. The remote control switch determines the validity of the remote controller's operation commands. The controller is the core component of the anti-interference system, used for data processing and automatic control functions. The proportional valves of the three booms (main boom, left boom, and right boom) of the arch trolley receive current signals output from the controller and drive the corresponding joints of those booms to move.

[0041] Encoders are installed at each joint of the boom to detect data on boom joint movements. A human-machine interface system is used for data visualization and transmission with the remote control platform. A scanning device is used to scan the tunnel profile. The remote controller and remote control platform are the main control components for both control modes of the system, used to send control commands.

[0042] In this invention, the current control mode is set on the human-computer interaction system interface, with only one mode (remote control mode or remote control mode) active at a time. In remote control mode, three remote controllers are the control components; control commands are sent from the remote controllers to the receiver, which then issues the commands. In remote control mode, a remote control platform is the control component; control commands are sent from the remote control platform to the human-computer interaction system, which then issues the commands.

[0043] The controller selects and receives corresponding control commands based on the control mode set in the human-machine interface system. After internal processing and determining that there are no abnormalities, it converts the command data into current value data and outputs it to the corresponding proportional valve to realize the boom movement. Encoders are installed at each joint of the boom and can detect the movement data of each joint. The controller receives and processes the encoder data, and can simulate the boom posture and arch movement trajectory in the human-machine interface system and remote control platform, realizing the visualization of the arch movement trajectory.

[0044] The scanning device can scan tunnel contour data and transmit the data. The human-machine interface system and remote control platform can display the scanned tunnel contour image. The motion trajectory and tunnel contour image can guide the operator to control the boom, improving the accuracy of boom control.

[0045] Meanwhile, the simulation interface can analyze the boom posture to determine whether interference will occur between booms. If there is a risk of interference, the controller will prohibit the output of current signals and the boom will stop moving to prevent danger.

[0046] Therefore, the anti-interference control method for the boom of the arch frame trolley according to the present invention, and the arch frame trolley with a corresponding anti-interference system, can realize the anti-interference function of the dual-control arch frame trolley. This achieves a dual-control arch frame trolley supporting both remote and long-range control, while also making boom limit control more flexible and preventing boom interference, effectively improving the safety and efficiency of tunnel construction.

[0047] Specifically, the remote control receivers are mounted on the arch trolley, with a one-to-one correspondence between the remote controllers and receivers: remote controller A corresponds to receiver A, remote controller B to receiver B, and remote controller C to receiver C. The three remote controllers operate independently, each controlling only one boom at a time, and each boom can only be controlled by one remote controller at a time. The correspondence between the three remote controllers and the three booms can be set in the human-machine interface. For example, if remote controller A is set to control the left boom, the controller sends the control command from the transmitter to the receiver via CAN communication. After data processing, the controller outputs a current signal to the proportional valve corresponding to the left boom. Once energized, the proportional valve drives the boom joint to move via the hydraulic circuit. If remote controller A is set to control the main boom, the controller receives the command from remote controller A, converts it into a current value, and outputs it to the proportional valve of the main boom. This drives the main boom joint to move via the hydraulic circuit. Based on this principle, the three remote controllers can be switched to control the three booms respectively. The specific command flow is as follows: Figure 2 As shown.

[0048] The remote control switch determines whether the remote control's action commands are valid. For example, if you need to use remote control A to operate the device, you need to turn on the remote control A switch, at which point remote control A will be effective.

[0049] The left and right arm proportional valves respectively include a boom pitch proportional valve, a boom slewing proportional valve, a boom telescopic proportional valve, a robot arm pitch proportional valve, a robot arm slewing proportional valve, and a sling release / retrieval proportional valve. The main boom proportional valves include a boom pitch proportional valve, a boom slewing proportional valve, a boom telescopic proportional valve, a robot arm pitch proportional valve, a robot arm slewing proportional valve, a gripper swing proportional valve, a first arch tension / relaxation proportional valve, a second arch tension / relaxation proportional valve, a third arch tension / relaxation proportional valve, and a fourth arch tension / relaxation proportional valve.

[0050] The encoder includes a left arm encoder, a main arm encoder, and a right arm encoder. For example... Figure 1 As shown, encoders are installed at various joints of the left arm 1, main arm 2, and right arm 3 to detect data on the movement of the boom joints. The left arm encoders include a left arm pitch encoder 11, a left arm rotation encoder 12, a left arm telescopic encoder 13, a left manipulator pitch encoder 14, a left manipulator rotation encoder 15, and a left sling retraction encoder 16. The main arm encoders include a main arm pitch encoder 21, a main arm rotation encoder 22, a main arm telescopic encoder 23, a main manipulator pitch encoder 24, and a main manipulator rotation encoder 25. The right arm encoders include a right arm pitch encoder 31, a right arm rotation encoder 32, a right arm telescopic encoder 33, a right manipulator pitch encoder 34, a right manipulator rotation encoder 35, and a right sling retraction encoder 36.

[0051] The boom telescopic encoder uses a wire encoder to detect the length of the boom extension, while the other encoders are rotary encoders that detect the angle of joint movement. Encoder data is transmitted via CAN communication, and the controller can receive and process the encoder data. Installing encoders enables visualization of the boom's movement trajectory and can replace mechanical limit switches, making boom limiting more flexible and intelligent.

[0052] The controller is the core component of the system, used for data processing and automatic control functions. The controller receives data from the encoder, processes it, converts it into angle or length values, and sends it to the human-machine interface. The system then processes the data and simulates the boom posture and arch movement trajectory on the interface. If the simulation interface detects a potential risk of interference between boom postures, it will issue a danger signal. Upon receiving the danger signal via CAN communication, the controller will immediately stop outputting current. If the proportional valve does not receive a current signal, the boom will stop moving.

[0053] This method replaces traditional mechanical limit switches. Controlling boom limits using encoder data is more flexible than installing mechanical limit switches. Mechanical limit switches have fixed limit positions; changing the limit range requires removing the switch and reinstalling it after testing and repositioning. Furthermore, mechanical limit switches are easily damaged by repeated impacts. With encoders, the controller analyzes encoder data to logically determine if the limit range has been reached. Changing the limit range only requires modifying the program instructions, such as changing the limit angle in the software interface. The controller will automatically re-evaluate the limit status based on the changed angle.

[0054] The human-machine interface (HMI) system is used for data visualization and data transmission with the remote control platform. The HMI interface allows setting the current control mode: remote control or remote control. Remote control involves manipulating the boom via a remote controller, while remote control involves controlling the boom's movements from the remote control platform. During boom movement, the HMI system receives encoder data from the controller, comprehensively analyzes and processes the encoder values ​​for each boom segment, and simulates the current boom posture and the arch's trajectory. This data can also be sent to the remote control platform for the same simulation processing. This function eliminates the need for cameras or other instruments, allowing for a clear and accurate view of the arch's movement trajectory directly on the interface. Simultaneously, the system interface can display the tunnel outline scanned by the scanning device, guiding operators in boom operation and improving the accuracy and efficiency of boom control.

[0055] The remote control platform is used to send control commands during remote control. The platform and the human-machine interface (HMI) system are connected via a network. After control commands are input on the platform, the HMI system receives the remote control commands and sends them to the controller for processing. Simultaneously with remote control, the platform can receive encoder values ​​and tunnel contour data from the HMI system to simulate the operating trajectory and tunnel contour image. By viewing this image, operators can be guided to adjust the boom control in real time, improving the accuracy and efficiency of boom control.

[0056] The control process of the arch trolley using the anti-interference control method of the arch trolley boom of the present invention is as follows: Figure 3 As shown, the details are as follows:

[0057] Step 1: Set the control mode on the host computer interface, i.e., select remote control or remote control. Only one mode is valid at a time.

[0058] Step Two: If you choose remote control, you need to further configure the mapping between the remote control and the boom on the interface. This mapping is pre-set; if you need to change it, you need to reset it on this interface. Turn on the remote control switch, start the remote control, and operate the remote control handle to send operation commands to the controller system.

[0059] If remote control is selected, a connection needs to be established between the host computer network and the remote control system. The remote control system inputs operation commands and sends them to the host computer, which then feeds back the operation commands to the controller system.

[0060] Step 3: The controller receives operation commands from the remote control system or remote control system, and receives encoder values.

[0061] Step 4: The human-machine interaction system and remote control platform can simulate the current boom posture and arch running trajectory based on the encoder data fed back by the controller, and generate a tunnel contour image based on the tunnel data scanned by the scanning device to guide the trolley's work.

[0062] Step 5: If all joints of the boom in the simulation interface are within the normal range, the controller will output a current value to the corresponding proportional valve of the boom, and the boom will begin to move. If any joint of the boom in the simulation interface is at its limit value, a danger signal will be output, the controller will not output a current signal, the proportional valve will not receive current, and the boom will stop moving. At this time, you can view the specific location of the limit in the simulation interface.

[0063] The anti-interference control method for the arch frame trolley boom of the present invention is as follows:

[0064] The scanning device scans the tunnel outline and displays the outline image on the human-machine interface and remote control platform. By analyzing the arch frame installation area, the range of motion of each boom can be displayed on the interface. Simultaneously, by combining the position of the positioning trolley relative to the tunnel cross-section scanned by the scanning device, the left and right angles of each boom's movement towards the boundary of its range of motion are calculated. This angle can be used as a limiting angle to restrict the boom's movement.

[0065] During boom movement, the boom slewing encoder continuously monitors the current boom angle and compares it to the limit angle. If the angle is less than the limit angle, the boom operates normally. Once the detected angle reaches the limit angle, the controller outputs a current-blocking switch, stopping the boom's movement. If the limit angle needs adjustment, manual mode can be selected on the human-machine interface or remote control platform to manually change the boom's limit angle. When controlling the boom's movement, the continuously detected angle is compared with the manually input angle to determine if the limit has been reached.

[0066] During operation, the vertical direction of the boom facing the tunnel cross-section is taken as the zero position of the boom. A preset angle difference is established in the human-machine interface or remote control platform as the critical angle for boom interference in the pitch direction. During boom movement, the encoder continuously monitors the pitch angles of the three booms. If the pitch angle difference between any two booms is greater than the preset angle difference, it indicates that the three booms are in three different planes in space, and there will be no boom interference during rotation. In this case, the boom rotation is only limited by the boom's own limits. If the encoder detects that the pitch angle difference between two booms is less than the preset angle difference, these two booms will interfere during rotation. In this case, when one boom rotates towards the other, the angle of the other boom should be assessed.

[0067] For example, at a certain moment, if the pitch angle difference between the main arm and the right arm is less than the preset value, and the pitch angle difference between the main arm and the left arm is greater than the preset value, then when the main arm rotates to the left arm direction, it is only limited by its own limit. When it rotates to the right arm direction, it is necessary to judge the angle of the right arm at this time to determine whether it will enter the interference region.

[0068] Considering the extension movement of the boom, to prevent interference between booms in any extended state, this embodiment sets the critical condition for preventing interference between booms as maintaining a parallel state. That is, if the booms move in the same or opposite directions and cross the parallel state, they will enter the interference zone, posing a collision risk. Those skilled in the art should understand that absolute parallelism is only possible when the pitch angles of the two booms are exactly the same. Here, parallelism should be understood as the state where the vertical planes perpendicular to the horizontal plane where the two booms are located are parallel, provided the difference between their pitch angles is within a certain range.

[0069] It should be noted that the left turn of the left arm and the right turn of the right arm will not cause any risk of interference with other booms. Therefore, the above rotation is only limited by its own limit and is unrelated to the state of other booms.

[0070] Taking the main boom as an example, if the pitch angle difference between the main boom and the right boom is less than the preset angle difference, it is necessary to determine whether the boom will enter the interference zone when the main boom turns right and the right boom turns left. For example, when the main boom turns right, first determine the angle of the right boom relative to the zero position of the right boom. This angle is the critical value for the main boom to turn right relative to the zero position of the main boom.

[0071] like Figure 4As shown, right arm 3 is currently at position A2 to the right of right arm zero position A1, with a rotation angle of angle 1. The dotted lines representing main arm 2 and left arm 1 indicate their zero positions, not their actual positions. Therefore, the prerequisite for the main arm to rotate to the right is that it is to the left of the main arm zero position; it can also be to the right of the main arm zero position, provided that the angle value to the right of the zero position (the rotation angle corresponding to the zero position) is less than the critical value, which is angle 1. At this time, the main boom is turning right normally. If the angle of the main boom turning right reaches either its own limit angle or a critical value (considering that when the angle 1 of the right arm's position is greater than the limit angle of the main boom, the main boom should first reach the limit angle of the main boom and then stop moving; when the angle 1 of the right arm's position is less than the limit angle of the main boom, the main boom should first reach the critical value angle 1 and then stop moving. Because of these two situations, reaching either the limit angle or the critical value angle first will cause the boom to stop moving), then the controller output point will have no current output, the solenoid valve will not receive current, and the boom will stop moving.

[0072] The limiting angle is the restriction condition for the boom's own rotation, which is determined by the tunnel profile or the boom's slewing joint itself. The critical angle is set to prevent the boom from entering the interference zone and causing interference with other booms. Figure 4 When the right arm is positioned under these conditions, the interference region is detailed in the following diagram. Figure 5 As shown, the dashed lines representing the left arm 1 and right arm 3 indicate their zero-positions, not their actual positions. In the diagram, the angle of the main arm 2 between positions B1 and B3 is its limiting angle, while the interference zone between positions B2 and B3 represents the possible interference with… Figure 4 The interference region of the right arm under the given condition is defined by angle 1, which is the range of angles 1 between positions B1 and B2. This range represents the angle limit after the main arm rotates to the right past the zero position. Clearly, the size of the interference region should be the limit angle minus angle 1.

[0073] like Figure 6 As shown, if the right arm 3 is currently at position A3 to the left of the right arm zero position A1, and the rotation angle is angle 2, then the prerequisite for the main arm 2 to turn right is clearly that the main arm is to the left of the main arm zero position, and the angle relative to the main arm zero position is greater than a critical value, which is angle 2. Only then can the main arm turn right. During the normal right turn of the main arm, if the angle of the main arm relative to the main arm zero position is equal to the critical value, the boom is at risk of entering the interference zone. The controller output point will have no current output, the solenoid valve will not receive current, and the boom will stop moving. Figure 6 For details regarding the interference region of the main arm, please refer to [link / reference]. Figure 7As shown, the dashed lines representing the left arm 1 and right arm 3 indicate their zero-positions, not their actual positions. In the diagram, the angle of main arm 2 between positions B1 and B3 is its rightward rotation limit angle, while the interference zone between positions B4 and B3 represents the possible interference with… Figure 6 The interference area occurs in the right arm under the given conditions, where position B4 is the limit of the main arm's rightward rotation. Clearly, the size of the interference area should be the limit angle plus angle 2.

[0074] The above explanation pertains to the rightward rotation of the main arm. When analyzing the leftward rotation of the right arm, the same principle applies: the angle of the main arm relative to its zero position is used to determine whether the right arm will enter the interference zone of the main arm.

[0075] Based on the above, once the simulation interface detects that the boom has entered the interference zone through the angles of each encoder, it will issue a danger signal. The simulation interface will mark the interference zone in red as a warning to remind the operator of the specific situation of the interference zone. After receiving the danger signal, the controller will prohibit current output and stop the boom movement to prevent the risk of interference.

[0076] Example of an arch frame trolley:

[0077] An arch frame trolley of the present invention is provided with an anti-interference system for the arch frame trolley and is capable of implementing the anti-interference control method for the arch frame trolley boom of the present invention. The anti-interference system and the anti-interference control method for the arch frame trolley boom have been described sufficiently in the method embodiments and will not be repeated here.

Claims

1. A method for preventing interference with the boom of an arch-frame trolley, characterized in that, The pitch angle difference between any two booms is determined. If the pitch angle difference between the two booms is less than a set angle, the movement of one boom is restricted when it reaches the interference zone relative to the other boom. The interference zone is the area after one boom reaches the critical position where the two booms will interfere when it rotates towards the other boom. The critical position where the two booms will interfere is the position when the vertical planes of the two booms are parallel. The critical position is set by installing an encoder on the boom slewing joint to detect the slewing angle of the slewing joint. When the first boom rotates towards the second boom, the position of the first boom when its slewing angle is the same as that of the second boom is set as the critical position.

2. The anti-interference control method for the arch frame trolley boom according to claim 1, characterized in that, An encoder is installed on the boom pitch joint to detect the boom pitch angle. The difference between the pitch angles of the two booms is obtained by subtracting the pitch angles of the two booms.

3. The anti-interference control method for the arch frame trolley boom according to claim 1, characterized in that, The movement of the boom is limited by disconnecting the input current of the boom slewing proportional valve; the boom slewing proportional valve is a proportional valve on the hydraulic line that drives the boom slewing joint.

4. The anti-interference control method for the arch frame trolley boom according to claim 1, characterized in that, The tunnel outline is also scanned using a tunnel scanning device. At the same time, the position of the positioning trolley relative to the tunnel cross section obtained by the tunnel scanning device is used to calculate the maximum angle of left and right rotation of each boom within the action range boundary limited by the tunnel outline. The maximum angle of left and right rotation is used as the limit angle of rotation in the corresponding direction. When the boom rotation reaches the limit angle in the corresponding direction, the movement of the boom is restricted.

5. The anti-interference control method for the arch frame trolley boom according to claim 4, characterized in that, When one boom rotates towards another boom, the area between the critical position and the position corresponding to the upper limit angle in the rotation direction constitutes the interference region.

6. An arch-frame trolley, comprising at least two booms, characterized in that, An anti-interference system is also provided. This system determines the angle difference in the pitch direction between any two booms. If the angle difference in the pitch direction between the two booms is less than a set angle, the system restricts the movement of one boom when it reaches the interference zone relative to the other boom. The interference zone is the area after the two booms reach the critical position where they will interfere when one boom rotates towards the other. The critical position where the two booms will interfere is the position where the vertical planes of the two booms are parallel. The anti-interference system also includes an encoder installed on the boom slewing joint for detecting the slewing angle of the slewing joint. The critical position is set as follows: based on the detected boom slewing angle, when the first boom rotates towards the second boom, the position of the first boom at the same slewing angle as the second boom is set as the critical position.

7. The arch frame trolley according to claim 6, characterized in that, The anti-interference system also includes an encoder installed at the boom pitch joint for detecting the pitch angle of the pitch joint; based on the detected boom pitch angle, the pitch angles of the two booms are subtracted to obtain the angle difference between the pitch directions of the two booms.

8. The arch frame trolley according to claim 6, characterized in that, The anti-interference system limits the movement of the boom by disconnecting the input current of the boom slewing proportional valve; the boom slewing proportional valve is a proportional valve on the hydraulic line that drives the boom slewing joint.

9. The arch frame trolley according to claim 6, characterized in that, The anti-interference system also scans the tunnel outline using a tunnel scanning device, and calculates the maximum angle of left and right rotation of each boom within the action range bounded by the tunnel outline by combining the position of the positioning trolley relative to the tunnel cross-section obtained by the tunnel scanning device. The maximum angle of left and right rotation is used as the limit angle of rotation in the corresponding direction. When the boom reaches the limit angle in the corresponding direction, the movement of the boom is restricted.

10. The arch frame trolley according to claim 9, characterized in that, When one boom rotates towards another boom, the area between the critical position and the position corresponding to the upper limit angle in the rotation direction constitutes the interference region.

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