Method, controller and engineering machinery for anti-squeezing monitoring

Abstract

The present application discloses a method, a controller and an engineering machine for anti-squeezing monitoring. The method comprises: obtaining a first angle of a mast in a first direction and a second angle of a mast in a second direction detected by a gravity sensor at the current moment; when the first angle is less than a preset value, determining the second angle as the actual offset angle of the mast in the second direction, and determining the safety limit angle of the mast in the second direction as a set value; determining a first simulation value and a second simulation value according to the actual offset angle and the safety limit angle; determining the control current of the first cylinder and the second cylinder according to the first simulation value and the second simulation value to control the first cylinder and the second cylinder. The present application takes into account interference conditions such as vehicle body offset, monitors the movement and offset angle of the mast in real time through a gravity sensor, so as to realize real-time calculation of the actual offset angle of the mast, and compares it with the safety limit angle to output a corresponding correction strategy, with low hardware cost and high accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery control, and in particular to a method, a controller and an engineering machinery for anti-extrusion monitoring. Background Art

[0002] Anti-extrusion monitoring is a protection function used in engineering machinery including rotary drilling rigs. At present, the only existing anti-extrusion monitoring technology that solves the limits of the two ends of the freedom of movement of the target control structure is through limit switches, and the safety of the mechanical mechanism is ensured by limit switches. However, the existing technology only limits the angle extremes through limit switches, and the safety value cannot be set by itself due to the limitations of the mechanical structure. The control technology is simple and often requires precise control of the installation accuracy of the limit switch, which increases the hardware cost. In addition, there is no correction strategy when the overall structure deviates, which will cause limit errors, resulting in low accuracy and reduced safety. Therefore, the anti-extrusion monitoring technology used in the existing technology has the problems of high cost and low accuracy. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, a controller and an engineering machine for anti-extrusion monitoring, so as to solve the problem that the anti-extrusion monitoring technology adopted in the prior art has high cost and low accuracy.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for anti-squeezing monitoring, which is applied to engineering machinery, the engineering machinery comprising a mast, a first oil cylinder and a second oil cylinder, the first oil cylinder and the second oil cylinder are used to control the mast, and a gravity sensor is provided on the mast, the method comprising:

[0005] Obtain a first angle of the mast in the first direction and a second angle of the mast in the second direction detected by the gravity sensor at the current moment;

[0006] When the first angle is less than a preset value, the second angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle of the mast in the second direction is determined as the set value;

[0007] Determine a first simulation value and a second simulation value according to an actual offset angle and a safety limit angle;

[0008] The control currents of the first cylinder and the second cylinder are determined according to the first simulation value and the second simulation value to control the first cylinder and the second cylinder.

[0009] In the embodiment of the present application, the engineering machinery further includes an angle sensor, which is disposed at a hinge between the mast and an adjacent mechanism of the mast, and the method further includes:

[0010] acquiring a third angle between the mast and the adjacent mechanism in the second direction detected by the angle sensor;

[0011] When the first angle is greater than or equal to a preset value, the third angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle is determined according to the first angle.

[0012] In the embodiment of the present application, the first direction is parallel to the movement plane and the horizontal plane of the mast, and the second direction is perpendicular to the movement plane of the mast.

[0013] In the embodiment of the present application, the first simulation value satisfies formula (1):

[0014]

[0015] The second simulation value satisfies formula (2):

[0016]

[0017] Among them, B1 is the first simulation value, B2 is the second simulation value, A is the safety limit angle, α is the actual offset angle, and Q is the setting coefficient.

[0018] In the embodiment of the present application, the control current of the first cylinder includes a first extension current and a first contraction current, the control current of the second cylinder includes a second extension current and a second contraction current, and determining the control currents of the first cylinder and the second cylinder according to the first analog value and the second analog value includes:

[0019] Obtaining the current initial first extension current, initial first contraction current, initial second extension current and initial second contraction current of the mast;

[0020] Determine a target first contraction current and a target second extension current according to the initial first contraction current, the initial second extension current and the first simulation value;

[0021] A target first stretch current and a target second contraction current are determined according to the initial first stretch current, the initial second contraction current and the second simulation value.

[0022] In the embodiment of the present application, determining the target first contraction current and the target second extension current according to the initial first contraction current, the initial second extension current and the first simulation value includes:

[0023] Determining whether the first simulation value is within a preset range;

[0024] When the first simulation value is greater than a maximum value of a preset range, determining the initial first contraction current as the target first contraction current, and determining the initial second extension current as the target second extension current;

[0025] When the first simulation value is less than the minimum value of the preset range, the target first contraction current and the target second extension current are both zero;

[0026] When the first simulation value is within the preset range, the target first contraction current satisfies formula (3), and the target second extension current satisfies formula (4):

[0027]

[0028] Among them, M1 is the target first contraction current, N2 is the target second extension current, m1 is the initial first contraction current, n2 is the initial second extension current, MIN is the minimum valve current of the solenoid valve controlling the first cylinder and the second cylinder, MAX is the maximum valve current of the solenoid valve controlling the first cylinder and the second cylinder, and B1 is the first simulation value.

[0029] In the embodiment of the present application, determining the target first stretch current and the target second contraction current according to the initial first stretch current, the initial second contraction current and the second simulation value includes:

[0030] Determining whether the second simulation value is within a preset range;

[0031] When the second simulation value is greater than a maximum value of a preset range, the initial first stretching current is determined as the target first stretching current, and the initial second contraction current is determined as the target second contraction current;

[0032] When the second simulation value is less than the minimum value of the preset range, the target first extension current and the target second contraction current are both zero;

[0033] When the second simulation value is within the preset range, the target first extension current satisfies formula (5), and the target second contraction current satisfies formula (6):

[0034]

[0035] Wherein, N1 is the target first stretch current, M2 is the target second contraction current, n1 is the initial first stretch current, m2 is the initial second contraction current, and B2 is the second simulation value.

[0036] A second aspect of an embodiment of the present application provides a controller, including:

[0037] a memory configured to store instructions; and

[0038] The processor is configured to call instructions from the memory and implement the above-mentioned method for anti-squeeze monitoring when executing the instructions.

[0039] A third aspect of the embodiments of the present application provides an engineering machine, including:

[0040] the controller mentioned above;

[0041] Mast;

[0042] a gravity sensor, in communication with the controller, disposed on the mast, and configured to detect a first angle of the mast in a first direction and a second angle of the mast in a second direction and transmit the detections to the controller;

[0043] an angle sensor, in communication with the controller, disposed at a hinge between the mast and an adjacent structure of the mast, for detecting a third angle between the mast and the adjacent structure of the mast in a second direction and sending the third angle to the controller;

[0044] The first oil cylinder and the second oil cylinder are used to control the mast.

[0045] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned method for anti-squeezing monitoring.

[0046] Through the above technical solution, the first angle of the mast in the first direction and the second angle of the mast in the second direction detected by the gravity sensor at the current moment are obtained; when the first angle is less than the preset value, the second angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle of the mast in the second direction is determined as the set value; the first simulation value and the second simulation value are determined according to the actual offset angle and the safety limit angle; the control current of the first cylinder and the second cylinder is determined according to the first simulation value and the second simulation value to control the first cylinder and the second cylinder. This application takes into account interference conditions such as vehicle body offset, monitors the movement and offset angle of the mast in real time through a gravity sensor, so as to realize real-time calculation of the actual offset angle of the mast, and compares it with the safety limit angle to output the corresponding correction strategy, with low hardware cost and high accuracy.

[0047] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0049] Figure 1 A schematic diagram of the structure of an oil cylinder for controlling a mast provided in an embodiment of the present application;

[0050] Figure 2 A flow chart of a method for anti-extrusion monitoring provided in an embodiment of the present application;

[0051] Figure 3 A structural block diagram of a controller provided in an embodiment of the present application.

[0052] Description of Reference Numerals

[0053] 100 first cylinder 200 second cylinder DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0055] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0057] Figure 1 The schematic diagram of the structure of a cylinder for controlling a mast provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the mast is controlled by two oil cylinders, the first oil cylinder 100 and the second oil cylinder 200, and has two degrees of freedom, and can move in the X and Y directions within the gravity coordinate system. Its structure can be directly controlled by the two oil cylinders, and the movement of the mast in the X and Y directions is controlled by the telescopic cooperation of the two oil cylinders. In order to support the mast, such a large structure must be equipped with other base structures and adjacent structures that play a fixing role. The base structure and the adjacent structures usually impose certain restrictions on the movement of the mast. Because when the oil cylinder controls the mast to move, its radius and movement inertia are relatively large. If it is not restricted, the probability of the mast being squeezed or collided with the adjacent ones will increase, reducing the safety of production. To this end, an embodiment of the present application provides a method for anti-extrusion monitoring.

[0058] Figure 2 A flow chart of a method for anti-squeezing monitoring provided in an embodiment of the present application. Figure 2 As shown, an embodiment of the present application provides a method for anti-squeezing monitoring, which is applied to engineering machinery. The engineering machinery includes a mast, a first oil cylinder and a second oil cylinder. The first oil cylinder and the second oil cylinder are used to control the mast. A gravity sensor is provided on the mast. The method may include the following steps:

[0059] Step 201, obtaining a first angle of the mast in a first direction and a second angle of the mast in a second direction detected by a gravity sensor at the current moment;

[0060] Step 202: When the first angle is less than a preset value, the second angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle of the mast in the second direction is determined as a set value;

[0061] Step 203, determining a first simulation value and a second simulation value according to the actual offset angle and the safety limit angle;

[0062] Step 204 : Determine control currents of the first oil cylinder and the second oil cylinder according to the first simulation value and the second simulation value to control the first oil cylinder and the second oil cylinder.

[0063] In the embodiment of the present application, anti-crushing monitoring refers to real-time monitoring of the mast in operation. If the mast is offset and there is a risk of squeezing adjacent or other mechanisms, corresponding treatment measures are implemented in advance to prevent the mast from squeezing adjacent mechanisms and causing mechanical damage. Figure 1 In the Y direction shown, due to the influence of adjacent structures and structures such as the oil cylinder, its movement in the Y direction is limited to a certain range. Once this range is exceeded, it will cause damage to the body structure. The mast is even more restricted in the X direction. Normally, the mast will not move in the X direction, but due to the long-term use of engineering machinery, the mast movement will inevitably deviate, causing the mast to deviate in the X direction. In order to prevent the mast from squeezing adjacent structures, the embodiment of the present application detects the change angle of the mast in real time and controls the movement limit of the mast through the angle data.

[0064] In the embodiment of the present application, engineering machinery may refer to equipment including rotary drilling rigs and other equipment with a structure controlled by two oil cylinders. The gravity sensor is set on the mast and is mainly used to measure the movement angle of the mast. By measuring the acceleration caused by gravity by the gravity sensor, the inclination angle of the equipment relative to the horizontal plane can be calculated. The first angle is the offset angle of the mast in the first direction measured by the gravity sensor. The first direction refers to the direction of normal movement of the mast during operation, i.e. Figure 1In one example, the mast is in a vertical state as the initial state of the mast, and the offset angles in the first direction and the second direction are both 0° in the vertical state, and the offset angle in the first direction is 90° when it is in a flat state. The second angle is the offset angle of the mast in the second direction measured by the gravity sensor, and the second direction is the direction in which the mast is offset, that is, Figure 1 In one example, the first direction and the second direction are perpendicular to each other and are both perpendicular to the horizontal plane.

[0065] In the embodiment of the present application, in order to prevent the mast from being severely squeezed with adjacent structures and thus damaging the mechanical structure due to excessive displacement of the mast in the X direction, a safety limit angle can be set to limit the allowable range of displacement of the mast in the X direction. The safety limit angle is the displacement threshold of the mast in the X direction. When the displacement angle of the mast in the X direction is greater than or equal to the safety limit angle, the current input to the first cylinder and the second cylinder is stopped, and the current of the first cylinder and the second cylinder is reduced to 0, so that the mast can stop moving, thereby preventing greater damage to the mechanical structure.

[0066] In the embodiment of the present application, since the offset angle of the mast moving in the Y direction is different, the probability of squeezing the adjacent structure is also different, and the size of the safety limit value is also different. The smaller the offset angle in the Y direction, the lower the probability of the mast squeezing the adjacent structure in the X direction. In one example, when the offset angle of the mast in the Y direction is relatively small, the probability of squeezing the adjacent structure is also relatively small, and the safety limit angle is correspondingly small. On the contrary, the probability of squeezing the adjacent structure is large, and the safety limit angle also changes accordingly. Therefore, in the embodiment of the present application, a preset value can be set. When the offset angle of the mast in the Y direction is less than the preset value, the probability of the mast being offset in the X direction and squeezing the adjacent structure is low, and the probability within this range is basically equal. At this time, the safety limit angle of the mast offset in the X direction can be set to a fixed value. And when the offset angle of the mast in the Y direction is less than the preset value, the mast is close to a vertical state. At this time, the gravity sensor can simultaneously ensure that the offset angle between the mast and the ground is within a safe range to prevent the shaking caused by the movement of the mast from causing the equipment to tip over. Therefore, the offset angle of the mast in the X direction detected by the gravity sensor can be determined as the actual offset angle of the mast in the X direction.

[0067] In the embodiment of the present application, the first simulation value and the second simulation value are relative simulation proportional values ​​of the output currents of the first cylinder and the second cylinder determined according to the actual offset angle of the mast, wherein the first simulation value is for the first cylinder and the second simulation value corresponds to the second cylinder. When the actual offset angle and the safety limit angle of the mast in the X direction are determined, the first simulation value and the second simulation value can be determined according to the actual offset angle and the safety limit angle. Furthermore, the controller can determine the control current for controlling the first cylinder and the second cylinder according to the first simulation value and the second simulation value, so as to control the first cylinder and the second cylinder and control the mast within a safe range, thereby preventing the mast from squeezing adjacent structures and avoiding damage to the mechanical structure.

[0068] It should be noted that the method for anti-squeezing monitoring provided in the embodiment of the present application can also be applied to engineering machinery such as a mast that is controlled by two cylinders.

[0069] Through the above technical solution, the first angle of the mast in the first direction and the second angle of the mast in the second direction detected by the gravity sensor at the current moment are obtained; when the first angle is less than the preset value, the second angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle of the mast in the second direction is determined as the set value; the first simulation value and the second simulation value are determined according to the actual offset angle and the safety limit angle; the control current of the first cylinder and the second cylinder is determined according to the first simulation value and the second simulation value to control the first cylinder and the second cylinder. This application takes into account interference conditions such as vehicle body offset, monitors the movement and offset angle of the mast in real time through a gravity sensor, so as to realize real-time calculation of the actual offset angle of the mast, and compares it with the safety limit angle to output the corresponding correction strategy, with low hardware cost and high accuracy.

[0070] In an embodiment of the present application, the engineering machinery further includes an angle sensor, and the angle sensor is disposed at a hinge between the mast and an adjacent mechanism of the mast. The method may further include:

[0071] acquiring a third angle between the mast and the adjacent mechanism in the second direction detected by the angle sensor;

[0072] When the first angle is greater than or equal to a preset value, the third angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle is determined according to the first angle.

[0073] In an embodiment of the present application, when the mast is in a normal motion state and no displacement occurs, the angle between the mast and its adjacent structure in the X direction remains unchanged. Therefore, in order to improve the measurement accuracy of the mast, while testing the angle of the mast in two directions through a gravity sensor, the relative change angle between the mast and its adjacent structure can also be obtained.

[0074] Specifically, an angle sensor may be provided at the hinge of the mast and its adjacent structure to measure the relative angle between the mast and the adjacent structure in the X direction. In the embodiment of the present application, the third angle is the relative angle between the mast and its adjacent structure in the second direction measured by the angle sensor. The second direction is Figure 1 The X direction shown is also the direction in which the mast deviates. The first angle is the deflection angle of the mast in the first direction measured by the gravity sensor. Figure 1 The Y direction shown is also the main movement direction of the mast. When the first offset angle of the mast is greater than or equal to the preset value, as the first offset angle decreases, the safety limit angle in the X direction also decreases. Therefore, the safety limit angle can be determined by the first offset angle. At this time, in order to ensure the accuracy of the measurement structure, the third angle detected by the angle sensor can be determined as the actual offset angle of the mast in the X direction. In this way, the movement efficiency of the mast can be improved, the accuracy of the measurement results can be guaranteed, and a data basis can be provided for the subsequent adjustment of the mast, thereby improving the safety of the equipment operation.

[0075] In a specific embodiment of the present application, there are various types of angle sensors. Here, the voltage output type is taken as an example. The controller can process the voltage signal sent by the angle sensor and convert the voltage signal into a specific angle value. The controller performs real-time detection on the angle sensor, and can obtain three states of the angle sensor, namely short circuit, open circuit and out of range. The input voltage and angle range of the angle sensor are linearly simulated, that is, the angle measurement value can be output according to the voltage signal of the angle sensor. For example, suppose that the voltage of the angle sensor is 500~4500-5000 during normal angle measurement, and the angle range is -90°~90°; then, if the voltage detected by the angle sensor is less than 500, it can be determined that the angle sensor is short-circuited; if the voltage detected by the angle sensor is greater than 5000, the angle sensor is judged to be open-circuited; if the voltage detected by the angle sensor is between 4500~5000, it is determined that the detection value of the angle sensor exceeds its range; if the voltage detected by the angle sensor is 500~4500, the corresponding angle is -90°~90°. The voltage signal is converted into the corresponding angle value according to the linearized simulation relationship. It should be noted that the detection signal of the sensor may be converted into angle data by using other proportional conversion methods.

[0076] In the embodiment of the present application, the first direction is parallel to the movement plane and the horizontal plane of the mast, and the second direction is perpendicular to the movement plane of the mast.

[0077] Specifically, the mast has two degrees of freedom and can move in the first direction and the second direction. However, due to the adjacent structure of the mast and the limitations of the two cylinders controlling the mast, during normal operation, the mast usually moves in the first direction, which refers to the direction in which the mast mainly moves. Figure 1 When the mast moves in the second direction, it will squeeze the adjacent structure, thereby damaging the mechanical structure. Therefore, the second direction refers to the direction in which the mast deviates, that is, Figure 1 By decomposing the movement of the mast into two directions, it is beneficial to combine the offset angles of the mast in the two directions for data processing, thereby controlling the movement of the mast, preventing the mast from squeezing adjacent structures, and improving the safety of the equipment.

[0078] For the convenience of description, the following description will be made with the X direction replacing the second direction and the Y direction replacing the first direction.

[0079] In the embodiment of the present application, the first simulation value may satisfy formula (1):

[0080]

[0081] The second simulation value can satisfy formula (2):

[0082]

[0083] Among them, B1 is the first simulation value, B2 is the second simulation value, A is the safety limit angle, α is the actual offset angle, and Q is the setting coefficient.

[0084] In the embodiment of the present application, the direction from the first cylinder to the second cylinder is the positive direction of the X direction. When the mast deviates toward the direction of the first cylinder, the offset angle of the mast in the X direction is a negative value; when the mast deviates toward the direction of the second cylinder, the offset angle of the mast in the X direction is a positive value. The first simulation value and the second simulation value are relative simulation ratios of the output currents of the first cylinder and the second cylinder determined according to the actual offset angle of the mast, wherein the first simulation value is for the first cylinder and the second simulation value is for the second cylinder. The determination of the first simulation value and the second simulation value should be combined with the actual offset angle of the mast in the X direction and the current safety limit angle of the mast. After multiple experimental fittings, it is determined that the first simulation value can satisfy formula (1) and the second simulation value can satisfy formula (2). Formulas (1) and (2) are designed based on the PID control principle and tested through multiple experiments. Q is a setting coefficient, which is determined according to the actual experimental fitting situation, for example, it can be 100 / 3. In this way, the analog value related to the output current of the first cylinder and the second cylinder is determined by the actual offset angle and the safety limit angle of the mast, which is conducive to outputting the control current according to the actual movement of the mast, thereby ensuring the accuracy of the control.

[0085] In the embodiment of the present application, the control current of the first cylinder includes a first extension current and a first contraction current, and the control current of the second cylinder includes a second extension current and a second contraction current. Determining the control currents of the first cylinder and the second cylinder according to the first analog value and the second analog value may include:

[0086] Obtaining the current initial first extension current, initial first contraction current, initial second extension current and initial second contraction current of the mast;

[0087] Determine a target first contraction current and a target second extension current according to the initial first contraction current, the initial second extension current and the first simulation value;

[0088] A target first stretch current and a target second contraction current are determined according to the initial first stretch current, the initial second contraction current and the second simulation value.

[0089] In the embodiment of the present application, each oil cylinder is controlled by an extension solenoid valve and a contraction solenoid valve, the first extension current is the control current of the extension solenoid valve of the first oil cylinder, the first contraction current is the control current of the contraction solenoid valve of the first oil cylinder, the second extension current is the control current of the extension solenoid valve of the second oil cylinder, and the second contraction current is the control current of the contraction solenoid valve of the second oil cylinder. In one example, the extension solenoid valve and the contraction solenoid valve of the first oil cylinder and the second oil cylinder are mutually exclusive and will not be energized at the same time, and in order to ensure the consistency of the control of the mast, the first oil cylinder and the second oil cylinder will be in the extension or contraction state at the same time. For example, when in the extension state, the extension solenoid valves of the first oil cylinder and the second oil cylinder both obtain displacement current, while the contraction solenoid valves of the first oil cylinder and the second oil cylinder are not energized; when in the contraction state, the contraction solenoid valves of the first oil cylinder and the second oil cylinder both obtain displacement current, while the extension solenoid valves of the first oil cylinder and the second oil cylinder are not energized.

[0090] In the embodiment of the present application, the mast is offset due to inconsistent control of the first cylinder and the second cylinder controlling the mast. For example, when the cylinder is extended, the mast is offset in the negative direction of the first cylinder, i.e., the X direction. The reason is that the extension speed of the first cylinder is slower than that of the second cylinder. At this time, in order to return the mast to the normal position, it is necessary to increase the control current of the extension valve of the first cylinder and / or reduce the control current of the extension valve of the second cylinder.

[0091] In the embodiment of the present application, the first contraction current of the control current target of the contraction solenoid valve of the first cylinder can be determined according to the current contraction current of the first cylinder and the extension current of the second cylinder obtained in combination with the first simulation value, and the second extension current of the control current target of the extension solenoid valve of the second cylinder can be determined. The first extension current of the control current target of the extension solenoid valve of the first cylinder can be determined according to the current extension current of the first cylinder and the contraction current of the second cylinder obtained in combination with the second simulation value, and the second contraction current of the control current target of the contraction solenoid valve of the second cylinder can be determined. In this way, the target control current is determined by combining the current initial control current of the first cylinder and the second cylinder with the simulation value, which is conducive to ensuring the accuracy of the output result and improving the control efficiency of the system.

[0092] In the embodiment of the present application, determining the target first contraction current and the target second extension current according to the initial first contraction current, the initial second extension current and the first simulation value may include:

[0093] Determining whether the first simulation value is within a preset range;

[0094] When the first simulation value is greater than a maximum value of a preset range, determining the initial first contraction current as the target first contraction current, and determining the initial second extension current as the target second extension current;

[0095] When the first simulation value is less than the minimum value of the preset range, the target first contraction current and the target second extension current are both zero;

[0096] When the first simulation value is within the preset range, the target first contraction current satisfies formula (3), and the target second extension current satisfies formula (4):

[0097]

[0098] Among them, M1 is the target first contraction current, N2 is the target second extension current, m1 is the initial first contraction current, n2 is the initial second extension current, MIN is the minimum valve current of the solenoid valve controlling the first cylinder and the second cylinder, MAX is the maximum valve current of the solenoid valve controlling the first cylinder and the second cylinder, and B1 is the first simulation value.

[0099] In the embodiment of the present application, the maximum valve current and the minimum valve current of the extension solenoid valve and the contraction solenoid valve of the first oil cylinder and the second oil cylinder are the same, wherein the maximum valve current is the control current when the valve opening of the extension solenoid valve and the contraction solenoid valve is at the maximum, and the minimum valve current is the control current when the valve opening of the extension solenoid valve and the contraction solenoid valve is at the minimum, and the interval formed by the minimum valve current and the maximum valve current is the control current interval. Among them, the size of the valve opening of the solenoid valve is proportional to the size of the control current.

[0100] In the embodiment of the present application, the analog value is mainly used to participate in the output of the control current, and is in a corresponding relationship with the control current. Since the control current of the oil cylinder is within a certain range, the analog value also has a certain range, and the preset range is the range interval of the analog value. After multiple real statistical analyses, it is found that when the first analog value is greater than the maximum value of the preset range interval, the initial first contraction current can be directly output as the target first contraction current of the contraction solenoid valve of the first oil cylinder, and the initial second extension current can be output as the target second extension current of the extension solenoid valve of the second oil cylinder. When the first analog value is less than the minimum value of the preset range, the target first contraction current of the contraction valve of the first oil cylinder and the target second extension current of the extension valve of the second oil cylinder are both output as 0. When the first analog value is within the preset range, the target first contraction current and the target second extension current can be determined by formula (3) and formula (4), wherein formula (3) and formula (4) are obtained by multiple experimental fittings and are logical in actual application. The mast can be controlled to move within the safety limit range through the corresponding control program to ensure that the offset angle of the mast does not exceed the safety limit angle, thereby preventing the mast from squeezing the adjacent structure, which is beneficial to maintaining the stability of the mechanical structure and improving the safety of construction.

[0101] In the embodiment of the present application, determining the target first stretch current and the target second contraction current according to the initial first stretch current, the initial second contraction current and the second simulation value may include:

[0102] Determining whether the second simulation value is within a preset range;

[0103] When the second simulation value is greater than a maximum value of a preset range, the initial first stretching current is determined as the target first stretching current, and the initial second contraction current is determined as the target second contraction current;

[0104] When the second simulation value is less than the minimum value of the preset range, the target first extension current and the target second contraction current are both zero;

[0105] When the second simulation value is within the preset range, the target first extension current satisfies formula (5), and the target second contraction current satisfies formula (6):

[0106]

[0107] Wherein, N1 is the target first stretch current, M2 is the target second contraction current, n1 is the initial first stretch current, m2 is the initial second contraction current, and B2 is the second simulation value.

[0108] In the embodiment of the present application, the maximum valve current and the minimum valve current of the extension solenoid valve and the contraction solenoid valve of the first oil cylinder and the second oil cylinder are the same, wherein the maximum valve current is the control current when the valve opening of the extension solenoid valve and the contraction solenoid valve is at the maximum, and the minimum valve current is the control current when the valve opening of the extension solenoid valve and the contraction solenoid valve is at the minimum, and the interval formed by the minimum valve current and the maximum valve current is the control current interval. Among them, the size of the valve opening of the solenoid valve is proportional to the size of the control current.

[0109] In the embodiment of the present application, the analog value is mainly used to participate in the output of the control current, and is in a corresponding relationship with the control current. Since the control current of the oil cylinder is within a certain range, the analog value also has a certain range, and the preset range is the range interval of the analog value. After multiple real statistical analysis, it is found that when the second analog value is greater than the maximum value of the preset range interval, the initial first extension current can be directly output as the target first extension current of the extension solenoid valve of the first oil cylinder, and the initial second contraction current can be output as the target second contraction current of the contraction valve of the second oil cylinder. When the second analog value is less than the minimum value of the preset range, the target first extension current of the extension valve of the first oil cylinder and the target second contraction current of the contraction valve of the second oil cylinder are both output as 0. When the second analog value is within the preset range, the target first extension current and the target second contraction current can be determined by formula (5) and formula (6), wherein formula (5) and formula (6) are obtained by multiple experimental fittings, which are logical in actual application, and the mast can be controlled to move within the safety limit range through the corresponding control program to ensure that the offset angle of the mast does not exceed the safety limit angle, thereby preventing the mast from squeezing the adjacent structure, which is conducive to maintaining the stability of the mechanical structure and improving the safety of construction.

[0110] Figure 3 This is a structural block diagram of a controller provided in an embodiment of the present application. Figure 3 As shown, an embodiment of the present application provides a controller, which may include:

[0111] Memory 310, configured to store instructions; and

[0112] The processor 320 is configured to call instructions from the memory 310 and implement the above-mentioned method for anti-squeeze monitoring when executing the instructions.

[0113] Specifically, in the embodiment of the present application, the processor 320 may be configured to:

[0114] Applied to engineering machinery, the engineering machinery includes a mast, a first oil cylinder and a second oil cylinder, the first oil cylinder and the second oil cylinder are used to control the mast, and a gravity sensor is arranged on the mast, and the method includes:

[0115] Obtain a first angle of the mast in the first direction and a second angle of the mast in the second direction detected by the gravity sensor at the current moment;

[0116] When the first angle is less than a preset value, the second angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle of the mast in the second direction is determined as the set value;

[0117] Determine a first simulation value and a second simulation value according to an actual offset angle and a safety limit angle;

[0118] The control currents of the first cylinder and the second cylinder are determined according to the first simulation value and the second simulation value to control the first cylinder and the second cylinder.

[0119] Furthermore, the processor 320 may be configured to:

[0120] The engineering machine further includes an angle sensor, which is disposed at a hinge between the mast and an adjacent mechanism of the mast. The method further includes:

[0121] acquiring a third angle between the mast and the adjacent mechanism in the second direction detected by the angle sensor;

[0122] When the first angle is greater than or equal to a preset value, the third angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle is determined according to the first angle.

[0123] In the embodiment of the present application, the first direction is parallel to the movement plane and the horizontal plane of the mast, and the second direction is perpendicular to the movement plane of the mast.

[0124] In the embodiment of the present application, the first simulation value satisfies formula (1):

[0125]

[0126] The second simulation value satisfies formula (2):

[0127]

[0128] Among them, B1 is the first simulation value, B2 is the second simulation value, A is the safety limit angle, α is the actual offset angle, and Q is the setting coefficient.

[0129] Furthermore, the processor 320 may be configured to:

[0130] The control current of the first oil cylinder includes a first extension current and a first contraction current, the control current of the second oil cylinder includes a second extension current and a second contraction current, and determining the control currents of the first oil cylinder and the second oil cylinder according to the first analog value and the second analog value includes:

[0131] Obtaining the current initial first extension current, initial first contraction current, initial second extension current and initial second contraction current of the mast;

[0132] Determine a target first contraction current and a target second extension current according to the initial first contraction current, the initial second extension current and the first simulation value;

[0133] A target first stretch current and a target second contraction current are determined according to the initial first stretch current, the initial second contraction current and the second simulation value.

[0134] Furthermore, the processor 320 may be configured to:

[0135] Determining the target first contraction current and the target second stretch current according to the initial first contraction current, the initial second stretch current and the first simulation value comprises:

[0136] Determining whether the first simulation value is within a preset range;

[0137] When the first simulation value is greater than a maximum value of a preset range, determining the initial first contraction current as the target first contraction current, and determining the initial second extension current as the target second extension current;

[0138] When the first simulation value is less than the minimum value of the preset range, the target first contraction current and the target second extension current are both zero;

[0139] When the first simulation value is within the preset range, the target first contraction current satisfies formula (3), and the target second extension current satisfies formula (4):

[0140]

[0141] Among them, M1 is the target first contraction current, N2 is the target second extension current, m1 is the initial first contraction current, n2 is the initial second extension current, MIN is the minimum valve current of the solenoid valve controlling the first cylinder and the second cylinder, MAX is the maximum valve current of the solenoid valve controlling the first cylinder and the second cylinder, and B1 is the first simulation value.

[0142] Furthermore, the processor 320 may be configured to:

[0143] Determining the target first stretch current and the target second contraction current according to the initial first stretch current, the initial second contraction current and the second simulation value comprises:

[0144] Determining whether the second simulation value is within a preset range;

[0145] When the second simulation value is greater than a maximum value of a preset range, the initial first stretching current is determined as the target first stretching current, and the initial second contraction current is determined as the target second contraction current;

[0146] When the second simulation value is less than the minimum value of the preset range, the target first extension current and the target second contraction current are both zero;

[0147] When the second simulation value is within the preset range, the target first extension current satisfies formula (5), and the target second contraction current satisfies formula (6):

[0148]

[0149] Wherein, N1 is the target first stretch current, M2 is the target second contraction current, n1 is the initial first stretch current, m2 is the initial second contraction current, and B2 is the second simulation value.

[0150] The present application also provides an engineering machine, including:

[0151] the controller mentioned above;

[0152] Mast;

[0153] a gravity sensor, in communication with the controller, disposed on the mast, and configured to detect a first angle of the mast in a first direction and a second angle of the mast in a second direction and transmit the detections to the controller;

[0154] an angle sensor, in communication with the controller, disposed at a hinge between the mast and an adjacent structure of the mast, for detecting a third angle between the mast and the adjacent structure of the mast in a second direction and sending the third angle to the controller;

[0155] The first oil cylinder and the second oil cylinder are used to control the mast.

[0156] In an embodiment of the present application, the above-mentioned method for anti-squeezing monitoring can be applied to engineering machinery, which may include a controller, a mast, a gravity sensor, an angle sensor, a first oil cylinder and a second oil cylinder. Among them, the gravity sensor is arranged on the mast, communicates with the controller, and is used to detect the first angle of the mast in the first direction and the second angle of the mast in the second direction, and sends the detected data to the controller to provide data support for the controller. The angle sensor is arranged at the hinge between the mast and the adjacent structure of the mast, communicates with the controller, and is used to detect the third angle of the mast and the adjacent structure in the second direction, and sends the detected data to the controller to provide data support for the controller. The movement of the mast is usually controlled by two oil cylinders that are several times smaller than it, and the first oil cylinder and the second oil cylinder are the oil cylinders that control the movement of the mast. It should be noted that the mast can also be replaced by other structures that are similar to its structure and controlled by two oil cylinders.

[0157] Through the above technical solution, the first angle of the mast in the first direction and the second angle of the mast in the second direction detected by the gravity sensor at the current moment are obtained; when the first angle is less than the preset value, the second angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle of the mast in the second direction is determined as the set value; the first simulation value and the second simulation value are determined according to the actual offset angle and the safety limit angle; the control current of the first cylinder and the second cylinder is determined according to the first simulation value and the second simulation value to control the first cylinder and the second cylinder. This application takes into account interference conditions such as vehicle body offset, monitors the movement and offset angle of the mast in real time through a gravity sensor, so as to realize real-time calculation of the actual offset angle of the mast, and compares it with the safety limit angle to output the corresponding correction strategy, with low hardware cost and high accuracy.

[0158] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned method for anti-extrusion monitoring.

[0159] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0160] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0161] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0162] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0163] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0164] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0165] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0166] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0167] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for anti-crushing monitoring, characterized in that: Applied to engineering machinery, the engineering machinery comprises a mast, a first oil cylinder and a second oil cylinder, the first oil cylinder and the second oil cylinder are used to control the mast, and a gravity sensor is provided on the mast, the method comprises: Acquire a first angle of the mast in a first direction and a second angle of the mast in a second direction detected by the gravity sensor at a current moment, wherein the first direction is parallel to a movement plane of the mast and a horizontal plane, the first angle is a deviation angle of the mast in the first direction, and the second angle is a deviation angle of the mast in the second direction; In the case where the first angle is smaller than a preset value, the second angle is determined as the actual offset angle of the mast in a second direction, and the safety limit angle of the mast in the second direction is determined as a set value, wherein the second direction is perpendicular to the movement plane of the mast; Determine a first simulation value and a second simulation value according to the actual offset angle and the safety limit angle; Determine the control current of the first oil cylinder and the second oil cylinder according to the first analog value and the second analog value, so as to control the first oil cylinder and the second oil cylinder; Wherein, the first simulation value satisfies formula (1): The second simulation value satisfies formula (2): Wherein, B1 is the first simulation value, B2 is the second simulation value, A is the safety limit angle, α is the actual deviation angle, and Q is the setting coefficient; The control current of the first oil cylinder includes a first extension current and a first contraction current, the control current of the second oil cylinder includes a second extension current and a second contraction current, and the determining the control currents of the first oil cylinder and the second oil cylinder according to the first analog value and the second analog value includes: Obtaining a current initial first extension current, an initial first contraction current, an initial second extension current, and an initial second contraction current of the mast; Determine a target first contraction current and a target second stretch current according to the initial first contraction current, the initial second stretch current and the first analog value; determining a target first stretch current and a target second contraction current according to the initial first stretch current, the initial second contraction current and the second analog value; Determining whether the first simulation value is within a preset range; In a case where the first simulation value is greater than a maximum value of the preset range, determining the initial first contraction current as a target first contraction current, and determining the initial second extension current as a target second extension current; When the first simulation value is less than the minimum value of the preset range, the target first contraction current and the target second extension current are both zero; When the first simulation value is within the preset range, the target first contraction current satisfies formula (3), and the target second extension current satisfies formula (4): Wherein, M1 is the target first contraction current, N2 is the target second extension current, m1 is the initial first contraction current, n2 is the initial second extension current, MIN is the minimum valve current of the solenoid valve controlling the first oil cylinder and the second oil cylinder, MAX is the maximum valve current of the solenoid valve controlling the first oil cylinder and the second oil cylinder, and B1 is the first simulation value; Determining whether the second simulation value is within the preset range; In a case where the second simulation value is greater than the maximum value of the preset range, determining the initial first stretching current as the target first stretching current, and determining the initial second contraction current as the target second contraction current; When the second analog value is less than the minimum value of the preset range, the target first extension current and the target second contraction current are both zero; When the second simulation value is within the preset range, the target first extension current satisfies formula (5), and the target second contraction current satisfies formula (6): Wherein, N1 is the target first stretch current, M2 is the target second contraction current, n1 is the initial first stretch current, N2 is the initial second contraction current, and B2 is the second analog value.

2. The method according to claim 1, characterized in that The engineering machine further includes an angle sensor, and the angle sensor is disposed at a hinge between the mast and an adjacent mechanism of the mast. The method further includes: Acquire a third angle between the mast and the adjacent structure in the second direction detected by the angle sensor, wherein the third angle is a relative angle between the mast and the adjacent structure in the second direction; When the first angle is greater than or equal to the preset value, the third angle is determined as the actual offset angle of the mast in the second direction, and the safety limit angle is determined according to the first angle.

3. A controller, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the method for anti-crushing monitoring according to any one of claims 1 to 2 when executing the instructions.

4. An engineering machine, characterized in that: include: A controller according to claim 3; Mast; a gravity sensor, communicating with the controller, disposed on the mast, and used to detect a first angle of the mast in a first direction and a second angle of the mast in a second direction and send the detection results to the controller, wherein the first direction is parallel to a movement plane of the mast and a horizontal plane, the first angle is a deviation angle of the mast in the first direction, the second direction is perpendicular to the movement plane of the mast, and the second angle is a deviation angle of the mast in the second direction; an angle sensor, communicating with the controller, disposed at a hinge between the mast and an adjacent structure of the mast, for detecting a third angle between the mast and the adjacent structure of the mast in the second direction and sending the third angle to the controller, wherein the third angle is a relative angle between the mast and the adjacent structure in the second direction; The first oil cylinder and the second oil cylinder are used to control the mast.

5. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the method for anti-squeezing monitoring according to any one of claims 1 to 2.

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