Cooperative control method, cooperative control system, and construction machine group

Abstract

The application relates to the field of engineering machinery and discloses a cooperative control method, a cooperative control system and an engineering machinery group. The cooperative control method comprises the following steps: predicting a relative motion trend between a first joint of a first device and a second joint of a second device; in the case that the relative motion trend indicates that the two joints have an approaching trend, determining a control strategy for the first joint and the second joint according to the speeds of the first joint and the second joint and the joint relative distance between the first joint and the second joint; and controlling the first joint to execute a first sub-control strategy and the second joint to execute a second sub-control strategy according to a construction method avoidance principle, so as to prevent the first device and the second device from colliding. The application can automatically control the cooperative work of devices, can ensure that engineering machinery with large motion inertia can detect collision risks in time and take safe avoidance measures.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery, specifically to a collaborative control method, a collaborative control system, and a group of engineering machinery. Background Technology

[0002] With the increasing number of large-scale construction projects, the coexistence of various types of construction equipment, high-density construction environments, and high-efficiency construction rhythms have become the norm. Simultaneous operation of multiple machines leads to time and space conflicts and a high risk of collisions. In the event of a safety accident, it can cause significant losses to equipment contractors and construction contractors, including downgrades in qualifications and project delays.

[0003] When a time-space conflict occurs, the coordination personnel and the operators usually communicate with each other to complete the avoidance action. However, there are problems such as untimely communication, misunderstandings, and the inability of dispatchers to carry out unified resource allocation. This results in long communication time, long equipment waiting time, and low construction efficiency.

[0004] Existing collision avoidance strategies for tower crane groups are designed for manually operated tower cranes. In the event of a potential collision, the strategy simply stops the equipment, requiring a human operator to coordinate the avoidance. This approach does not analyze the collision risk and provides solutions for the equipment; the crane operator must coordinate and judge based on the specific situation. Therefore, it is unsuitable for automated crane groups. Summary of the Invention

[0005] The purpose of this invention is to provide a collaborative control method, a collaborative control system, and a group of engineering machinery. Based on the prediction of the motion trend of equipment joints, the calculation of the dynamic safety threshold of the motion state of each joint of the equipment, and the avoidance principles and methods of on-site construction methods, it automatically controls the collaborative operation of equipment, which can ensure that engineering machinery with large motion inertia can detect collision risks in a timely manner and take safety avoidance measures.

[0006] To achieve the above objectives, a first aspect of the present invention provides a cooperative control method, the cooperative control method comprising: predicting the relative motion trend between the first joint and the second joint based on the motion posture of a first joint of a first device and a second joint of a second device; when the relative motion trend indicates that the first joint and the second joint have a tendency to approach each other, determining a control strategy for the first joint and the second joint based on the speed of the first joint, the speed of the second joint, and the relative distance between the first joint and the second joint, wherein the control strategy includes a deceleration strategy, an avoidance strategy, an emergency stop strategy, and / or a normal operation strategy; and controlling the first joint to execute a first sub-control strategy of the control strategy and the second joint to execute a second sub-control strategy of the control strategy according to the construction method avoidance principle, so as to prevent the first device and the second device from colliding.

[0007] Preferably, the cooperative control method further includes: determining the horizontal operating area of ​​the first device and the horizontal operating area of ​​the second device; when the horizontal operating areas of the first device and the second device overlap, determining a shared limited joint collision area and a critical collision risk area for each of the first device and the second device; and when the slewing joints of the first device and the second device respectively enter their respective critical collision risk areas, performing the step of predicting the relative motion trend between the first joint and the second joint, wherein the limited joint collision area is formed by the rotation center of the first device, a first critical collision point, the rotation center of the second device, and a second critical collision point. The quadrilateral region; the critical collision risk region of the first device is the angle region through which the slewing joint of the first device turns when it comes to a smooth stop at the current speed and just enters the defined joint collision region; and the critical collision risk region of the second device is the angle region through which the slewing joint of the second device turns when it comes to a smooth stop at the current speed and just enters the defined joint collision region. Wherein, when both the first joint and the second joint are slewing joints, the prediction of the relative motion trend between the first joint and the second joint includes: determining that the first joint and the second joint have a tendency to approach each other in the horizontal direction when the slewing joint of the first device and the slewing joint of the second device meet the horizontal proximity condition. Preferably, the horizontal approach conditions include at least one of the following: the slewing joints of the first device and the second device enter a defined joint collision region; the slewing joints of the first device and the second device simultaneously enter their respective critical collision risk regions; the slewing joint of the first device enters the defined joint collision region of the first device and the slewing joint of the second device enters the critical collision risk region of the second device; the slewing joint of the second device enters the defined joint collision region of the second device and the slewing joint of the first device enters the critical collision risk region of the first device; the slewing joints of the first device and the slewing joint of the second device rotate in the same direction in multiple consecutive cycles.

[0008] Preferably, the first critical collision point and the second critical collision point are the intersection points of the outlines of the horizontal working area of ​​the first device and the horizontal working area of ​​the second device.

[0009] Preferably, when the end of the luffing joint of the first device is higher than the upper side of the slewing joint of the second device, and the first joint is a luffing joint and the second joint is a slewing joint, the prediction of the relative motion trend between the first joint and the second joint includes: determining the vertical working area of ​​the first device and the vertical working area of ​​the second device; and when the vertical working area of ​​the first device and the vertical working area of ​​the second device satisfy a first vertical proximity condition, determining that the first joint and the second joint have a proximity trend in the vertical direction, wherein the vertical working area of ​​the first device is a rectangular area with the horizontal projection length of the luffing joint of the first device as its length and the vertical distance from the end of the luffing joint of the first device to the lower side of the luffing joint of the second device as its width; and the vertical working area of ​​the second device is a rectangular area with the horizontal projection length of the slewing joint of the second device as its length and the vertical distance from the end of the slewing joint of the second device to the end of the hoisting joint of the second device as its width.

[0010] Preferably, the first vertical proximity condition includes: the horizontal distance between the vertical working area of ​​the first device and the vertical working area of ​​the second device decreases over multiple consecutive periods.

[0011] Preferably, when the end of the luffing joint of the first device is lower than the lower side of the slewing joint of the second device, and the first joint is a luffing joint and the second joint is a luffing joint or a hoisting joint, the prediction of the relative motion trend between the first joint and the second joint includes: determining the vertical working area of ​​the first device and the vertical working area of ​​the second device; and when the vertical working area of ​​the first device and the vertical working area of ​​the second device satisfy a second vertical proximity condition, determining that the first joint and the second joint have a proximity trend in the vertical direction, wherein the vertical working area of ​​the first device is a rectangular area with the horizontal projection length of the luffing joint of the first device as its length and the vertical distance from the end of the luffing joint of the first device to the end of the hoisting joint of the first device as its width; and the vertical working area of ​​the second device is a rectangular area with the horizontal distance from the slewing center of the second device to the outer side of the luffing joint as its length and the vertical distance from the luffing joint of the second device to the end of the hoisting joint of the second device as its width.

[0012] Preferably, the second vertical proximity condition includes: the vertical working area of ​​the first device and the vertical working area of ​​the second device overlap in the vertical direction but not in the horizontal direction, and the horizontal distance between the vertical working area of ​​the first device and the vertical working area of ​​the second device decreases in a plurality of consecutive periods; or the vertical working area of ​​the first device and the vertical working area of ​​the second device overlap in the horizontal direction but not in the vertical direction, and the vertical distance between the vertical working area of ​​the first device and the vertical working area of ​​the second device decreases in a plurality of consecutive periods.

[0013] Preferably, determining the control strategy for the first joint and the second joint includes: determining a control timing threshold based on the speeds of the first joint and the second joint, the total inertial parameters of the first device and the second device, and a first correspondence, wherein the first correspondence is the correspondence between the speeds of the first joint, the speeds of the second joint, the control timing, and the inertial parameters; and determining the control strategy based on the control timing threshold and the relative joint distance between the first joint and the second joint.

[0014] Preferably, when the control timing threshold includes a first threshold, a second threshold, and a third threshold, determining the control strategy includes: when the relative joint distance between the first joint and the second joint is less than the first threshold and greater than or equal to the second threshold, determining a deceleration strategy and an avoidance strategy for one of the first joint and the second joint as the first sub-control strategy, and determining a normal operation strategy for the other joint as the second sub-control strategy; when the relative joint distance between the first joint and the second joint is less than the second threshold and greater than or equal to the third threshold, determining a deceleration strategy and an avoidance strategy for one of the first joint and the second joint as the first sub-control strategy, and determining a deceleration strategy for the other joint as the second sub-control strategy; or when the relative joint distance between the first joint and the second joint is less than the third threshold, determining an emergency stop strategy and an avoidance strategy for one of the first joint and the second joint as the first sub-control strategy, and determining an emergency stop strategy for the other joint as the second sub-control strategy, wherein the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold.

[0015] Preferably, the first threshold is the relative distance between the first joint and the second joint when they run at a speed threshold for a first preset time without colliding, the second threshold is the relative distance between the first joint and the second joint when they run at the speed threshold for a second preset time without colliding, wherein the second preset time is less than the first preset time, and the third threshold is the relative distance between the first joint and the second joint when they decelerate and stop at their respective current speeds without colliding, wherein the speed threshold is less than the smaller value between the speed of the first joint and the speed of the second joint.

[0016] Preferably, controlling the first joint to execute the first sub-control strategy of the control strategy and the second joint to execute the second sub-control strategy of the control strategy includes: controlling the first joint of the first equipment to execute the first sub-control strategy and the second joint of the second equipment to execute the second sub-control strategy according to the construction method avoidance principle, wherein the first equipment is an unloaded equipment and the second equipment is a heavy-loaded equipment; the first equipment is a low-speed equipment and the second equipment is a high-speed equipment; or the first equipment is a hoisting equipment and the second equipment is a pumping equipment.

[0017] Preferably, when the slewing joints of the first device and the second device enter their respective critical collision risk zones, the cooperative control method further includes: when the coordinates of the bounding box corresponding to the slewing joint of the first device and the bounding box corresponding to the slewing joint of the second device indicate that the horizontal working areas of the first device and the second device overlap, based on the center coordinates of the chassis of the first device, the center coordinates of the chassis of the second device, the coordinates of multiple feature points of the bounding boxes corresponding to each joint of the first device, and the coordinates of multiple feature points of the bounding boxes corresponding to each joint of the second device, calculating the distance between any one of the multiple feature points of the bounding box corresponding to any joint of the first device and any one of the multiple feature points of the bounding box corresponding to any joint of the second device; when the distance between the two closest feature points on the bounding boxes corresponding to the first joint of the first device and the bounding boxes corresponding to the second joint of the second device is the smallest and the minimum distance is less than a preset distance, determining the approach speed of the first joint and the second joint based on the minimum distance, wherein the approach speed is the rate of change of the minimum distance over time; and when the approach speed is less than 0, controlling the first joint and the second joint to execute an emergency stop strategy.

[0018] Preferably, when the end of the luffing joint of the first device is higher than the upper side of the slewing joint of the second device, the horizontal working area of ​​the first device is a circular area with the slewing center of the first device as the center and the horizontal projected length of the luffing joint as the radius, and the horizontal working area of ​​the second device is a circular area with the slewing center of the second device as the center and the horizontal distance from the slewing center to the end of the boom as the radius; or when the end of the luffing joint of the first device is lower than the lower side of the slewing joint of the second device, the horizontal working area of ​​the first device is a circular area with the slewing center of the first device as the center and the horizontal projected length of the boom as the radius, and the horizontal working area of ​​the second device is a circular area with the slewing center of the second device as the center and the horizontal distance from the slewing center to the outer side of the luffing joint as the radius.

[0019] Through the above technical solution, this invention creatively predicts the relative motion trend between the first joint of the first device and the second joint of the second device; then, when the relative motion trend indicates that the first joint and the second joint are approaching each other, a control strategy for the first joint and the second joint is determined based on the speeds of the first joint and the second joint, as well as the relative distance between the first joint and the second joint; finally, according to the construction method avoidance principle, the first joint is controlled to execute the first sub-control strategy of the control strategy, and the second joint is controlled to execute the second sub-control strategy of the control strategy to prevent the first device and the second device from colliding. Therefore, this invention, based on the prediction of device joint motion trends, the calculation of dynamic safety thresholds for the motion states of each joint of the device, and the principles and methods of on-site construction method avoidance, automatically controls the coordinated operation of equipment, ensuring that construction machinery with large inertia can detect collision risks in a timely manner and take safe avoidance measures.

[0020] A second aspect of the present invention provides a cooperative control system, comprising: a trend prediction device for predicting the relative motion trend between a first joint of a first device and a second joint of a second device; a strategy determination device for determining a control strategy for the first joint and the second joint based on the speeds of the first joint and the second joint and the relative distance between the first joint and the second joint, wherein the control strategy includes a deceleration strategy, an avoidance strategy, an emergency stop strategy, and / or a normal operation strategy, when the relative motion trend indicates that the first joint and the second joint have a tendency to approach each other; and a control device for controlling the first joint to execute a first sub-control strategy of the control strategy and the second joint to execute a second sub-control strategy of the control strategy, according to the avoidance principle of construction methods, to prevent the first device and the second device from colliding.

[0021] For specific details and benefits of the cooperative control system provided by this invention, please refer to the above description of the cooperative control method, which will not be repeated here.

[0022] A third aspect of the present invention provides a group of engineering machinery, the group of engineering machinery comprising: a first device; a second device; and a collaborative control system for controlling the operation of the first device and the second device according to the collaborative control method.

[0023] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 This is a flowchart of a collaborative control method provided in an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the horizontal work area division provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of a vertical working area provided in an embodiment of the present invention;

[0028] Figure 4A and Figure 4B These are schematic diagrams of a vertical working area provided in an embodiment of the present invention;

[0029] Figure 5 This is a flowchart of a method for predicting motion trends based on joint spatial distance calculation, provided in an embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the various enclosures corresponding to the tower crane provided in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the various enclosure boxes corresponding to the crane provided in an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the various enclosure boxes corresponding to the pump truck provided in an embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of the feature points of a cube and a cylindrical bounding box provided in an embodiment of the present invention; and

[0034] Figure 10This is a schematic diagram of a collaborative control platform provided in an embodiment of the present invention. Detailed Implementation

[0035] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0036] As equipment evolves towards unmanned operation, it gradually achieves task-based path planning and automated operation. If there is a tendency for collisions between devices, even if there is still a certain distance, a collision will generally occur without control measures. Therefore, during dynamic operation of equipment, it is even more necessary to quickly and in real-time detect the relative motion trends between devices, predict collisions in advance, and take avoidance measures.

[0037] Figure 1 This is a flowchart of a collaborative control method provided in an embodiment of the present invention. Figure 1 As shown, the collaborative control method may include the following steps S101-S103.

[0038] Step S101: Based on the motion poses of the first joint of the first device and the second joint of the second device, predict the relative motion trend between the first joint and the second joint.

[0039] Step S102: When the relative motion trend indicates that the first joint and the second joint are approaching each other, a control timing threshold and control strategy for the first joint and the second joint are determined based on the speed of the first joint, the speed of the second joint, and the relative distance between the first joint and the second joint. The control strategy includes a deceleration strategy, an avoidance strategy, an emergency stop strategy, and / or a normal operation strategy.

[0040] Step S103: According to the construction method avoidance principle, control the first joint to execute the first sub-control strategy in the control strategy and the second joint to execute the second sub-control strategy in the control strategy to prevent the first device from colliding with the second device.

[0041] This invention creatively predicts the relative motion trend between the first joint of a first device and the second joint of a second device. Then, when the relative motion trend indicates that the first and second joints are likely to approach each other, a control strategy for the first and second joints is determined based on the speeds of the first and second joints and the relative distance between them. Finally, according to construction method avoidance principles, the first joint is controlled to execute the first sub-control strategy of the control strategy, and the second joint is controlled to execute the second sub-control strategy of the control strategy to prevent collisions between the first and second devices. Therefore, this invention, based on the prediction of device joint motion trends, the calculation of dynamic safety thresholds for the motion states of each joint, and the principles and methods of on-site construction method avoidance, automatically controls the coordinated operation of equipment, ensuring that construction machinery with large inertia can detect collision risks in a timely manner and take safe avoidance measures.

[0042] The collaborative control method may further include: determining the horizontal working area of ​​the first device and the horizontal working area of ​​the second device; when the horizontal working areas of the first device and the second device overlap, determining a shared limited joint collision area and a critical collision risk area for each of the first device and the second device; and when the slewing joints of the first device and the second device enter their respective critical collision risk areas, performing the step of predicting the relative motion trend between the first joint and the second joint (i.e., step S101).

[0043] The defined joint collision area is a quadrilateral area formed by the rotation center of the first device, the first critical collision point, the rotation center of the second device, and the second critical collision point; the critical collision risk area of ​​the first device is the angle area through which the rotation joint of the first device rotates when it comes to a smooth stop at the current speed and just enters the defined joint collision area; and the critical collision risk area of ​​the second device is the angle area through which the rotation joint of the second device rotates when it comes to a smooth stop at the current speed and just enters the defined joint collision area.

[0044] Before introducing step S101, let's first explain the classification of device space status based on dynamic shared space.

[0045] First, describe the specific details of the horizontal working area of ​​the equipment.

[0046] Based on the relative positional relationship between the equipment bases and the working range of each joint, the horizontal working area of ​​the equipment is divided into a no-collision-risk area, a critical collision-risk area, and a limited joint collision area. These areas are not fixed but dynamically change as the posture of the equipment joints is adjusted.

[0047] When the end of the luffing joint of the first device is higher than the upper side of the slewing joint of the second device, the horizontal working area of ​​the first device is a circular area with the slewing center of the first device as the center and the horizontal projected length of the luffing joint as the radius, and the horizontal working area of ​​the second device is a circular area with the slewing center of the second device as the center and the horizontal distance from the slewing center to the end of the boom as the radius; or when the end of the luffing joint of the first device is lower than the lower side of the slewing joint of the second device, the horizontal working area of ​​the first device is a circular area with the slewing center of the first device as the center and the horizontal projected length of the boom as the radius, and the horizontal working area of ​​the second device is a circular area with the slewing center of the second device as the center and the horizontal distance from the slewing center to the outer side of the luffing joint as the radius.

[0048] The following explanation uses the division of horizontal working areas for cranes and tower cranes as an example. Figure 2 As shown.

[0049] If the first piece of equipment is a crane and the second piece of equipment is a tower crane, the crane's horizontal working area (a circle with the slewing center as the center and the length of the boom's projection on the horizontal plane as the radius) will dynamically change with the luffing angle. The tower crane's horizontal working area (a circle with the slewing center as the center and the length of the horizontal boom or the boom length from the slewing center to the luffing trolley as the radius) is related to the height of the tower crane's horizontal boom relative to the surrounding equipment: when the tower crane's boom is higher than the surrounding equipment, the radius of the horizontal working area is the boom length from the slewing center to the luffing trolley; otherwise, it is the length of the horizontal boom.

[0050] When the tower crane's boom height is lower than that of the crane, such as Figure 2As shown, the circle corresponding to the crane represents the crane's horizontal operating area; the larger circle corresponding to the tower crane represents the tower crane's horizontal operating area. The quadrilateral formed by points O1, A, O2, and B represents the defined joint collision area between the crane and the tower crane. When the crane's slewing joint comes to a smooth stop at a first preset speed and just enters the defined joint collision area, the angle area rotated by the crane's slewing joint (sector O1CA and sector O1C'B) is the crane's critical collision risk area; when the tower crane's slewing joint comes to a smooth stop at a second preset speed and just enters the defined joint collision area, the angle area rotated by the tower crane's slewing joint (sector O2DA and sector O2D'B) is the tower crane's critical collision risk area. Correspondingly, other areas within the horizontal operating area are collision-free areas.

[0051] Secondly, the specific details of the equipment's vertical operating area are described.

[0052] Taking the vertical working area of ​​cranes and tower cranes as an example, such as... Figure 3 As shown in Figure 4.

[0053] The vertical working area of ​​the crane is Figure 3 or Figure 4A (or Figure 4B The rectangular area corresponding to the crane shown is illustrated. The horizontal projection of the boom is its length; the distance from the boom end to the bottom of the tower crane's boom (the tower crane's boom is shorter than the crane's boom, e.g.) Figure 3 As shown), or from the end of the boom to the end of the hook (the boom of the tower crane is higher than the end of the boom of the crane, such as...). Figure 4A or Figure 4B The vertical distance shown is the width.

[0054] The vertical working area of ​​the tower crane is Figure 3 Or the rectangular area corresponding to the tower crane shown in Figure 4. Here, the horizontal distance from the slewing center to the end of the boom (i.e., the horizontal projected length of the boom; the tower crane's boom is shorter than the crane's boom, such as...) Figure 3 As shown), or the horizontal distance from the center of rotation to the outer side of the luffing trolley (the tower crane's boom is higher than the end of the crane's boom, such as...). Figure 4A or Figure 4B (As shown) is the length; the vertical distance from the top of the boom to the end of the hook is the width.

[0055] Step S101: Based on the motion poses of the first joint of the first device and the second joint of the second device, predict the relative motion trend between the first joint and the second joint.

[0056] The following section introduces the relevant content of motion trend prediction based on joint status. Motion trend prediction based on joint status is performed using actual sensor data and can determine the approach trend between different joints from both horizontal and vertical perspectives.

[0057] First, the joint sensor data is processed. A variable-range mean filtering method is used to eliminate the influence of occasional fluctuations in the sensor data and ensure the real-time nature of the data.

[0058] When both the first joint and the second joint are rotary joints, for step S101, predicting the relative motion trend between the first joint and the second joint may include: determining that the first joint and the second joint have a tendency to approach each other in the horizontal direction when the rotary joints of the first device and the rotary joints of the second device meet the horizontal proximity condition.

[0059] The horizontal approach conditions may include at least one of the following: the slewing joints of the first device and the second device enter a defined joint collision region; the slewing joints of the first device and the second device simultaneously enter their respective critical collision risk regions; the slewing joint of the first device enters the defined joint collision region of the first device and the slewing joint of the second device enters the critical collision risk region of the second device; the slewing joint of the second device enters the defined joint collision region of the second device and the slewing joint of the first device enters the critical collision risk region of the first device; the slewing joints of the first device and the slewing joint of the second device rotate in the same direction in multiple consecutive cycles.

[0060] The first critical collision point and the second critical collision point are the intersection points of the outlines of the horizontal working area of ​​the first device and the horizontal working area of ​​the second device.

[0061] Next, based on the rules for dividing horizontal work areas, the trend of horizontal proximity is predicted.

[0062] The first step is to describe the horizontal working area in two scenarios: the second equipment is a tower crane and the horizontal boom of the tower crane is higher than the end of the boom of the first equipment (Scenario 1) and the other scenario (Scenario 2).

[0063] For example, in the case where the second equipment is a tower crane and its horizontal boom is higher than the boom end of the first equipment (e.g., a crane) (Scenario 1), the horizontal working area of ​​the second equipment is Figure 2 The smaller circle corresponding to the tower crane shown (i.e., with the slewing center as the center and the horizontal distance from the slewing center to the luffing trolley as the radius), and the horizontal working area of ​​the first equipment are shown. Figure 2The circle corresponding to the crane shown is (i.e., a circle with the slewing center as the center and the horizontal projected length of the boom as the radius). For the remaining cases, the horizontal working area of ​​the first and second devices is defined the same way: a circular area with its respective slewing center as the center and the horizontal length of its respective boom as the radius (e.g., the horizontal working area of ​​a tower crane is...). Figure 2 The larger circle shown indicates that the crane's horizontal working area remains [missing information]. Figure 2 (The circle corresponding to the crane shown).

[0064] The second step is to determine whether there is any overlap between the two horizontal working areas identified in the first step. If so (the distance between the rotation centers of the two devices is less than the sum of the radii of the two horizontal working areas), then determine their intersection points (i.e., the first critical collision point A and the second critical collision point B) based on the outlines of the two horizontal working areas. Figure 2 As shown), for example, determine as follows Figure 2 The quadrilateral region formed by the rotation center O1 of the first device, the first critical collision point A, the rotation center O2 of the second device, and the second critical collision point B is a shared, defined joint collision region. Next, based on the current speed of the rotation joint of the first device, the angle region through which the rotation joint rotates when it smoothly stops and just enters the defined joint collision region is determined (e.g., ...). Figure 2 The sector regions O1CA and O1C'B shown are the critical collision risk areas for the first device. Similarly, based on the current speed of the rotary joint of the second device, the angle region through which the rotary joint rotates when it comes to a smooth stop and just enters the defined joint collision area is determined (e.g., Figure 2 The sector regions O2DA and O2D'B shown are the critical collision risk areas of the second device.

[0065] The third step is to determine whether the rotary joints of the first device and the second device meet the horizontal proximity condition based on the rotation angle of their rotary joints. If they do, then the rotary joints of the two devices have a tendency to approach each other.

[0066] Then, based on the rules for dividing the vertical work area, the vertical convergence trend is predicted (when rectangles overlap, it is assumed that there is already spatial overlap in the vertical direction; this prediction is performed before the rectangles overlap). For the vertical convergence trend, it can be... Figure 3 and Figure 4A (or Figure 4B We will analyze the two working conditions.

[0067] When the end of the luffing joint of the first device is higher than the upper side of the slewing joint of the second device, and the first joint is a luffing joint and the second joint is a slewing joint, for step S101, predicting the relative motion trend between the first joint and the second joint may include: determining the vertical working area of ​​the first device and the vertical working area of ​​the second device; and when the vertical working area of ​​the first device and the vertical working area of ​​the second device satisfy the first vertical proximity condition, determining that the first joint and the second joint have a tendency to approach each other in the vertical direction.

[0068] The vertical working area of ​​the first device is a rectangular area with the horizontal projection length of the luffing joint of the first device as its length and the vertical distance from the end of the luffing joint of the first device to the lower side of the luffing joint of the second device as its width; and the vertical working area of ​​the second device is a rectangular area with the horizontal projection length of the slewing joint of the second device as its length and the vertical distance from the end of the slewing joint of the second device to the end of the hoisting joint of the second device as its width.

[0069] The first vertical proximity condition may include: the horizontal distance between the vertical working area of ​​the first device and the vertical working area of ​​the second device decreases over multiple consecutive periods.

[0070] In one embodiment, the process of specifically determining the vertical working area is detailed above. If the first device is a crane and the second device is a tower crane, then the rectangular area corresponding to the crane (with the horizontal projection length of the crane's boom as its length and the vertical distance from the end of the crane's boom to the lower side of the tower crane's luffing trolley / horizontal boom as its width) is its vertical working area; the rectangular area corresponding to the tower crane (with the length of the tower crane's horizontal boom as its length and the vertical distance from the end of the tower crane's horizontal boom to the end of its hook as its width) is its vertical working area, such as... Figure 3 As shown. If the first device is a crane and the second device is a pumping device (e.g., a concrete pump truck), the vertical working area of ​​the crane remains unchanged, but the vertical working area of ​​the concrete pump truck is a rectangular area with the horizontal projection length of the boom as its length and the vertical distance from the end of the boom to the end of the placing boom (i.e., the length of the placing boom) as its width. Given the vertical working areas of the two devices, based on the vertical working areas of the first and second devices, it is determined whether the crane's boom and the tower crane's horizontal boom (or boom tip) satisfy the first vertical proximity condition. If so, it is considered that the crane's boom and the tower crane's horizontal boom (or boom tip) have a tendency to approach each other.

[0071] When the end of the luffing joint of the first device is lower than the lower side of the slewing joint of the second device, and the first joint is a luffing joint and the second joint is a luffing joint or a lifting joint, for step S101, predicting the relative motion trend between the first joint and the second joint may include: determining the vertical working area of ​​the first device and the vertical working area of ​​the second device; and when the vertical working area of ​​the first device and the vertical working area of ​​the second device meet the second vertical proximity condition, determining that the first joint and the second joint have a tendency to approach each other in the vertical direction.

[0072] The vertical working area of ​​the first device is a rectangular area with the horizontal projection length of the luffing joint of the first device as its length and the vertical distance from the end of the luffing joint of the first device to the end of the hoisting joint of the first device as its width; and the vertical working area of ​​the second device is a rectangular area with the horizontal distance from the rotation center of the second device to the outer side of the luffing joint as its length and the vertical distance from the luffing joint of the second device to the end of the hoisting joint of the second device as its width.

[0073] The second vertical proximity condition may include: the vertical working area of ​​the first device and the vertical working area of ​​the second device overlap in the vertical direction but do not overlap in the horizontal direction (e.g., ...). Figure 4A (as shown), and the horizontal distance between the vertical working area of ​​the first device and the vertical working area of ​​the second device decreases over multiple consecutive cycles; or the vertical working areas of the first device and the vertical working areas of the second device overlap in the horizontal direction but not in the vertical direction (e.g. Figure 4B As shown in the figure, the vertical distance between the vertical working area of ​​the first device and the vertical working area of ​​the second device decreases over multiple consecutive cycles.

[0074] In one embodiment, the process of determining the vertical working area is detailed above. If the first device is a crane and the second device is a tower crane, then the rectangular area corresponding to the crane is its vertical working area; the rectangular area corresponding to the tower crane is its vertical working area, such as... Figure 4A or Figure 4B As shown. Accordingly, the second vertical proximity condition specifically includes: the vertical working area of ​​the crane and the vertical working area of ​​the tower crane overlap in the vertical direction but not in the horizontal direction, and the horizontal distance from the end of the hook of the tower crane to the end of the boom of the crane decreases in multiple consecutive cycles; or the vertical working area of ​​the crane and the vertical working area of ​​the tower crane overlap in the horizontal direction but not in the vertical direction; and the vertical distance from the end of the hook of the tower crane to the end of the boom of the crane decreases in multiple consecutive cycles.

[0075] If the first device is a crane and the second device is a pumping device (e.g., a pump truck), the crane's vertical working area remains unchanged, but the pump truck's vertical working area is a rectangular area with the horizontal projection length of the boom as its length and the vertical distance from the boom end to the end of the placing boom (i.e., the length of the placing boom) as its width. Accordingly, the second vertical proximity condition specifically includes: the vertical working areas of the crane and the pump truck overlap in the vertical direction but not in the horizontal direction, and the horizontal distance from the end of the pump truck's hook to the end of the crane's boom decreases over multiple consecutive cycles; or the vertical working areas of the crane and the pump truck overlap in the horizontal direction but not in the vertical direction; and the vertical distance from the end of the pump truck's hook to the end of the crane's boom decreases over multiple consecutive cycles.

[0076] Given the vertical working areas of the two devices, based on the vertical working areas of the first device and the second device, determine whether the boom of the crane and the luffing trolley or hook of the tower crane meet the second vertical proximity condition. If so, it is considered that the boom of the crane and the luffing trolley or hook of the tower crane have a tendency to approach each other.

[0077] Step S102: If the relative motion trend indicates that the first joint and the second joint are approaching each other, a control strategy for the first joint and the second joint is determined based on the speed of the first joint, the speed of the second joint, and the relative distance between the first joint and the second joint.

[0078] The relative distance between the joints may include: the displacement of the joint during operation (e.g., the displacement of the hoisting joint during operation), or the linear displacement corresponding to the angle of the joint during operation (e.g., the linear displacement corresponding to the angle of the slewing joint during operation).

[0079] The control strategy may include a deceleration strategy, an avoidance strategy, an emergency stop strategy, and / or a normal operation strategy. Specifically, the deceleration strategy means that the device's operating path remains unchanged, but the operating speed of each joint of the device is lower than its current speed. For example, if the current gear is first gear, the operating speed of each joint is limited to second gear or a higher gear. The avoidance strategy means that a joint of the device moves in the opposite direction of the current movement trend, while the operating speed of each joint is lower than its current speed. The emergency stop strategy means that each joint of the device stops operating. The normal operation strategy means that each joint of the device runs along the current operating path at its current speed.

[0080] For step 102, determining the control strategy for the first joint and the second joint may include: determining a control timing threshold based on the speeds of the first joint and the second joint, the total inertial parameters of the first device and the second device, and a first correspondence, wherein the first correspondence is the correspondence between the speeds of the first joint, the speeds of the second joint, the control timing, and the inertial parameters; and determining the control strategy based on the control timing threshold and the relative joint distance between the first joint and the second joint.

[0081] Based on the motion performance test data of the first and second devices, a corresponding list of the first joint speed, second joint speed, inertial parameters, and control timing (safety threshold) can be generated. During control, the control timing threshold can be dynamically adjusted by looking up the table, combining the measured speeds of the first and second joints and the total inertial parameters of the first and second devices. Alternatively, in another embodiment, based on the motion performance test data of the first and second devices, a functional relationship between the first joint speed, second joint speed, inertial parameters, and control timing (safety threshold) can be generated. During control, the control timing threshold can be dynamically adjusted by combining the (measured) speeds of the first and second joints and the total inertial parameters of the first and second devices through this functional relationship.

[0082] The speed of the first joint or the second joint can be directly detected by a sensor, indirectly obtained by processing sensor data, or directly given by a controller that controls the movement of the device.

[0083] When the control timing threshold may include a first threshold, a second threshold, and a third threshold, determining the control strategy may include: when the relative joint distance between the first joint and the second joint is less than the first threshold and greater than or equal to the second threshold, determining a deceleration strategy and an avoidance strategy for one of the first joint and the second joint as the first sub-control strategy, and determining a normal operation strategy for the other joint as the second sub-control strategy; when the relative joint distance between the first joint and the second joint is less than the second threshold and greater than or equal to the third threshold, determining a deceleration strategy and an avoidance strategy for one of the first joint and the second joint as the first sub-control strategy, and determining a deceleration strategy for the other joint as the second sub-control strategy; or when the relative joint distance between the first joint and the second joint is less than the third threshold, determining an emergency stop strategy and an avoidance strategy for one of the first joint and the second joint as the first sub-control strategy, and determining an emergency stop strategy for the other joint as the second sub-control strategy.

[0084] Wherein, the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold.

[0085] Specifically, the first threshold is the relative distance between the first joint and the second joint when they operate at a speed threshold for a first preset time without colliding. For example, the safety threshold 1 for two specific joints refers to the relative distance between the two specific joints that have a tendency to approach each other when they move at a low speed for a first specific time (e.g., 15s) without colliding.

[0086] The second threshold is the relative distance between the first joint and the second joint when they operate at the speed threshold for a second preset time without colliding. The second preset time is less than the first preset time. For example, the safety threshold 2 for two specific joints refers to the relative distance between the two specific joints that have a tendency to approach each other, when they move at a low speed for a second specific time (e.g., 10 seconds) without colliding. The second specific time can be less than the first specific time.

[0087] The third threshold is the relative distance between the first joint and the second joint when they decelerate and stop at their respective current speeds without colliding. The speed threshold is less than the smaller of the speeds of the first joint and the second joint. For example, the safety threshold 3 for two specific joints refers to the relative distance between the two specific joints that have a tendency to approach each other, when they stop smoothly from their respective current speeds (e.g., with the same deceleration or a small change in deceleration) to ensure that the hook does not sway within a preset range and does not collide.

[0088] The three safety thresholds mentioned above vary with the (current operating) speed of the two joints and the joint characteristics of the equipment itself.

[0089] As described above, the joint angle or relative distance between two joints determines the need for different collision avoidance measures. When the joint angle or relative distance between two joints is greater than or equal to the first threshold, the risk of collision can be reduced by having one joint decelerate and avoid the collision while the other joint continues to operate normally. When the joint angle or relative distance between two joints is less than the first threshold but greater than or equal to the second threshold, the risk of collision can be reduced by having one joint decelerate and avoid the collision while the other joint decelerates. When the joint angle or relative distance between two joints is less than the second threshold but greater than or equal to the third threshold, the risk of collision can be reduced by having one joint stop abruptly and avoid the collision while the other joint stops abruptly.

[0090] The above-described three safety thresholds determine the timing of control for two joints with similar trends and the overall control strategy for those two joints (i.e., the control strategy includes a first sub-control strategy and a second sub-control strategy). However, it is unclear which joint should implement the first sub-control strategy and which should implement the second sub-control strategy, which can be determined as follows.

[0091] Step S103: According to the construction method avoidance principle, control the first joint to execute the first sub-control strategy in the control strategy and the second joint to execute the second sub-control strategy in the control strategy to prevent the first device from colliding with the second device.

[0092] For step S103, controlling the first joint to execute the first sub-control strategy in the control strategy and the second joint to execute the second sub-control strategy in the control strategy may include: according to the construction method avoidance principle, controlling the first joint of the first device to execute the first sub-control strategy and the second joint of the second device to execute the second sub-control strategy.

[0093] Wherein, the first device is an unloaded device and the second device is a heavy-load device; the first device is a low-speed device and the second device is a high-speed device; or the first device is a hoisting device and the second device is a pumping device.

[0094] In this embodiment, since the spatial position and motion characteristics of the equipment will change during operation (for example, during hoisting operations, the hoisted object will also occupy part of the working space), and due to the flexibility of the hoisting rope, the swaying of the hoisted object makes stable control difficult, it is necessary to specify which equipment should execute the corresponding sub-control strategy in combination with the construction method avoidance principle.

[0095] The construction method avoidance principles include: based on the flexibility of equipment operation, unloaded equipment should avoid heavy-loaded equipment; based on the stability of equipment operation, low-speed equipment should avoid high-speed equipment; and / or based on the timeliness of equipment operation, hoisting equipment should avoid pumping equipment. Here, "avoidance" can be interpreted as "priority," not "avoidance strategy." For example, "unloaded equipment avoids heavy-loaded equipment" can be understood as "unloaded equipment has a lower priority than heavy-loaded equipment," "low-speed equipment avoids high-speed equipment" can be understood as "low-speed equipment has a lower priority than high-speed equipment," and "hoisting equipment avoids pumping equipment" can be understood as "hoisting equipment has a lower priority than pumping equipment."

[0096] When the joint angle or relative distance between two joints is less than the first threshold but greater than or equal to the second threshold, the risk of collision can be reduced by using the joints of the unloaded equipment (or low-speed equipment, or hoisting equipment) to decelerate and avoid collisions, and by using the joints of the heavy-loaded equipment (or high-speed equipment, or pumping equipment) to operate normally. When the joint angle or relative distance between two joints is less than the second threshold but greater than or equal to the third threshold, the risk of collision can be reduced by using the joints of the unloaded equipment (or low-speed equipment, or hoisting equipment) to decelerate and avoid collisions, and by using the joints of the heavy-loaded equipment (or high-speed equipment, or pumping equipment) to decelerate. When the joint angle or relative distance between two joints is less than the third threshold, the risk of collision can be reduced by using the joints of the unloaded equipment (or low-speed equipment, or hoisting equipment) to perform emergency stops and avoid collisions, and by using the joints of the heavy-loaded equipment (or high-speed equipment, or pumping equipment) to perform emergency stops.

[0097] Furthermore, the first priority is given to hoisting / pumping conditions, followed by loaded conditions (unloaded, heavily loaded), and finally speed (high speed, low speed). This is the default consideration, but it can be adjusted according to the specific site conditions.

[0098] In cases where the above principles cannot determine the outcome, the joint of the equipment entering the restricted joint collision zone later will decelerate and avoid the collision, while the joint of the other equipment will operate normally. In other areas, all equipment will operate normally towards the target area.

[0099] In one embodiment, when the slewing joints of the first device and the second device respectively enter their respective critical collision risk zones, the cooperative control method may further include: when the coordinates of the bounding box corresponding to the slewing joint of the first device and the bounding box corresponding to the slewing joint of the second device indicate that the horizontal working areas of the first device and the second device overlap, based on the center coordinates of the chassis of the first device, the center coordinates of the chassis of the second device, the coordinates of multiple feature points of the bounding boxes corresponding to each joint of the first device, and the coordinates of multiple feature points of the bounding boxes corresponding to each joint of the second device, calculating the distance between any one of the multiple feature points of the bounding box corresponding to any joint of the first device and any one of the multiple feature points of the bounding box corresponding to any joint of the second device; when the distance between the two closest feature points on the bounding box corresponding to the first joint of the first device and the bounding box corresponding to the second joint of the second device is the smallest and the minimum distance is less than a preset distance, determining the approach speed of the first joint and the second joint according to the minimum distance, wherein the approach speed is the rate of change of the minimum distance over time; and when the approach speed is less than 0, controlling the first joint and the second joint to execute an emergency stop strategy.

[0100] Specifically, in this embodiment, motion trends are predicted based on joint space distance calculation (based on the device model and joint parameters, the distance between device joints is quickly detected, and the joint number and distance of the nearest joint are output), and an emergency stop strategy is used to control joint operation when the minimum distance between two joints is very close and there is a tendency for them to approach each other.

[0101] like Figure 5 As shown, the process of predicting motion trends based on joint spatial distance calculation may include the following steps S501-S506.

[0102] Step S501: Determine the composition and parameters of the equipment group.

[0103] Commonly used equipment on construction sites includes tower cranes, cranes, and pump trucks. These equipment are characterized by large operating range, high potential for overlapping operating spaces, variable boom structures, complex motion states, and large motion inertia. Before the group of machines begins construction, it is easy to obtain information such as the model of the current equipment and the corresponding number and size of the boom, which can be used to establish an equipment enclosure list.

[0104] Tower crane: base position (x, y, z), standard section size, number of standard sections, boom size, hoisting wire rope length, hook size.

[0105] Crane: chassis position (x, y, z), chassis dimensions, number of booms, boom dimensions, hoisting wire rope length, hook dimensions.

[0106] Pump truck: chassis position (x, y, z), chassis dimensions, number of booms, boom dimensions, and placing boom dimensions.

[0107] In this embodiment, the equipment group is determined to consist of one device (e.g., device A) and another device (e.g., device B) and the corresponding parameters described above.

[0108] Step S502: Abstract each type of device into multiple three-dimensional bounding boxes according to specific rules.

[0109] The aforementioned three-dimensional bounding boxes include cubic bounding boxes and cylindrical bounding boxes.

[0110] Based on the motion and structural characteristics of different types of equipment, a set of bounding box abstraction rules can be established to ensure the safe operation of the equipment and reduce the occupation of space resources.

[0111] (1) Tower crane

[0112] The actual components include the foundation, tower body, jacking, slewing, hoisting, counterweight boom, boom, luffing trolley, tower top, and operator's cab. The abstract components include: a vertical ground enclosure, a horizontal ground enclosure, a rope enclosure, and a load enclosure, such as... Figure 6 As shown.

[0113] Vertical ground bounding box: A rectangular bounding box is established from the ground to a height H above the tower top, enclosing the foundation, tower body, jacking, slewing, and the maximum projected area of ​​the tower top. This part is not fixed within the bounding box and will not send movement during tower crane operation.

[0114] Parallel ground enclosure box: Establish a rectangular enclosure box of length L from the tail of the counterbalance boom to the end of the boom, which encloses the counterbalance boom, boom, luffing trolley, and driver's cab. This enclosure box is a rotatable part. In actual operation, the rectangular enclosure box is equivalent to rotating parallel to the ground with the center of rotation as the rotation point.

[0115] Rope Enclosure: Construct a cylindrical enclosure from the luffing trolley to the bottom of the hook at a height h, surrounding the wire rope and the ground projection of the hook. Considering the swing characteristics of the hook, a conical enclosure can also be constructed.

[0116] Suspended object enclosure: Based on the dimensions of the suspended object and considering its rotation characteristics, a cylindrical enclosure is constructed.

[0117] (2) Crane

[0118] The actual components consist of two main parts: the undercarriage and the upper carriage. The upper carriage is further composed of slewing, luffing, hoisting, and telescopic mechanisms. In a more abstract sense, the components include: the undercarriage enclosure, the boom enclosure, the rope and hook enclosure, and the load enclosure, such as... Figure 7 As shown.

[0119] Undercarriage enclosure box: With the outriggers fully extended, construct a rectangular enclosure box from the ground to a height h above the slewing platform, surrounding the vehicle chassis, driver's cab, and outrigger projection surfaces.

[0120] Boom Enclosure Box: A rectangular enclosure box is established to surround the main boom and auxiliary boom. This enclosure box is a rotatable part. In actual operation, the rectangular enclosure box is equivalent to rotating around the center of the slewing platform and can extend outward along the boom direction. The rotation angle is determined by the slewing angle and the luffing angle, and the length of the rectangle is determined by the length of the main boom and the extension length of the auxiliary boom.

[0121] Rope Enclosure Box: Construct a cylindrical enclosure box at a height h from the end of the boom to the bottom of the hook, surrounding the wire rope and the ground projection of the hook. Considering the swing characteristics of the hook, a conical enclosure box can also be constructed.

[0122] Suspended object enclosure: Based on the dimensions of the suspended object and considering its rotation characteristics, a cylindrical enclosure is constructed.

[0123] (3) Pump truck

[0124] The actual components consist of two main parts: the undercarriage and the uppercarriage. The uppercarriage is further composed of a slewing mechanism, a multi-joint boom, and a placing boom. The abstract components include: the undercarriage enclosure, the boom 1 enclosure, the boom 2 enclosure, ..., the boom N enclosure, and the placing boom enclosure, as shown below. Figure 8 As shown.

[0125] Undercarriage enclosure box: With the outriggers fully extended, construct a rectangular enclosure box from the ground to a height h above the slewing platform, surrounding the vehicle chassis, driver's cab, and outrigger projection surfaces.

[0126] Boom Enclosure Box: Each boom section is abstracted as an enclosure box. The size of the enclosure box is fixed, but it can rotate up and down around the end of the previous boom section, rotate left and right around the slewing center, and move with the end of the previous boom section. The first boom section enclosure box rotates left and right and up and down around the slewing center.

[0127] Fabric tube enclosure: Construct a cylindrical enclosure that runs vertically to the ground, starting from the end of the last boom section.

[0128] Step S503: Create a bounding box list in real time.

[0129] The bounding box list includes size, position, and orientation information. This section focuses on explaining the coordinate points required to determine the size, position, and orientation of different bounding boxes, and how the rotation and scaling of the bounding volume are converted into the rotation and scaling of the corresponding coordinate points.

[0130] Each device contains a set of bounding boxes, the relevant information of which can be obtained from the coordinate information of multiple feature points of the bounding box. For example, a cube bounding box can be used... Figure 9 The four feature points shown are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and (x4, y4, z4). A cylindrical bounding box can be used... Figure 9 The three feature points shown are (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3). In other words, the size, position, and orientation information of the bounding box can be accurately characterized by multiple feature points of the bounding box.

[0131] The system acquires the position and attitude information of the equipment chassis and each joint in real time, and converts it into the corresponding bounding box size, position, and attitude information, that is, into the coordinate values ​​of multiple feature points of the bounding box.

[0132] Step S504: Determine whether there is a possibility of overlap between the horizontal working areas of the equipment. If so, proceed to step S505; otherwise, proceed to step S503.

[0133] The calculation determines whether the horizontal working areas overlap, and only performs subsequent collision detection procedures on devices with overlapping working areas, minimizing computational complexity.

[0134] Step S505: Calculate the minimum distance between the two devices based on the bounding box list.

[0135] Device A has four equivalent bounding boxes a1, a2, a3, a4; Device B has four equivalent bounding boxes b1, b2, b3, b4; the distance between bounding box a1 and bounding box b1 is denoted as D. a1-b1 .

[0136] According to calculations, bounding box a i With bounding box b j If the distance between the two closest feature points on any two bounding boxes is the minimum distance (among the distances between the two closest feature points on any two bounding boxes), then the shortest distance between devices A and B is expressed as min. i，j D ai-bj .

[0137] In other words, the distance between each bounding box of device A and all bounding boxes of device B is calculated sequentially. The minimum distance between the equivalent bounding boxes of the two devices is the actual minimum distance between the two devices, and the two bounding boxes with the smallest distance are the joints that may collide.

[0138] Distance calculation between commonly used cubes and cylindrical bounding boxes takes only 1 millisecond. The equivalent bounding box number for tower cranes and cranes is generally 4, and the equivalent bounding box number for seven-joint pump trucks is generally 8. To perform a collision detection between the three, 4*4+4*8+4*8=80 calculations are required, and the time can be controlled within 100 milliseconds.

[0139] Step S506: Analyze the relative motion trend between the devices.

[0140] When the minimum distance between devices is less than a preset distance (e.g., 10 meters), the minimum distance between devices is differentiated to obtain the device approach speed, V. AB =d(min) i，j D ai-bj When the approach speed is less than 0, it is considered that the distance between the devices is decreasing, that is, the joints corresponding to the bounding box are approaching, and the corresponding risk joints are recorded.

[0141] The following is a summary and explanation of the collaborative control process (avoidance strategy based on the relative spatial state between devices).

[0142] After entering the critical collision risk zone, the two devices are controlled to work together in the shared area based on the area they are in and the movement trends of each joint. This is mainly achieved through a combination of four states: deceleration, avoidance, emergency stop, and normal operation.

[0143] For long-boom, multi-joint construction machinery, the movement of each joint is a process of gradual acceleration, smooth operation, and gradual deceleration. Therefore, when the equipment is in a critical collision risk zone, it is necessary to predict the relative movement trends of the two joints from two different pieces of equipment. If a tendency to approach is determined, the corresponding safety threshold is calculated based on the movement speed of that joint. When both pieces of equipment enter the corresponding threshold range, the joint posture of the corresponding equipment is adjusted according to the construction method avoidance principle to avoid collision in the opposite direction of the current movement trend, ensuring that no collision occurs when the equipment enters the limited joint collision zone.

[0144] therefore, Figure 10 The collaborative control platform shown employs the collision avoidance collaborative control process described in the above embodiments, based on a multi-machine finite state decision-making process using a decision tree model. This process is based on spatial location avoidance principles (including equipment spatial state classification based on dynamic shared space, dynamic safety threshold calculation of equipment joint motion states, and equipment joint motion trend prediction) and on-site construction method avoidance principles and methods. It automatically controls equipment to work collaboratively (i.e., controls each piece of equipment to "perform tasks" or perform actions such as "deceleration, detour, avoidance, and emergency stop"), ensuring that engineering machinery with high inertia can detect collision risks in a timely manner and take safe avoidance measures. Furthermore, the computational complexity of the above embodiments is low.

[0145] In summary, this invention creatively predicts the relative motion trend between the first joint of the first device and the second joint of the second device. Then, when the relative motion trend indicates that the first joint and the second joint are approaching each other, a control strategy for the first joint and the second joint is determined based on their speeds and the relative distance between them. Finally, according to construction method avoidance principles, the first joint is controlled to execute the first sub-control strategy of the control strategy, and the second joint is controlled to execute the second sub-control strategy of the control strategy to prevent collisions between the first and second devices. Therefore, this invention, based on the prediction of device joint motion trends, the calculation of dynamic safety thresholds for the motion states of each joint, and the principles and methods of on-site construction method avoidance, automatically controls the coordinated operation of equipment, ensuring that construction machinery with large inertia can detect collision risks in a timely manner and take safe avoidance measures.

[0146] An embodiment of the present invention also provides a collaborative control system, the collaborative control system comprising: a trend prediction device for predicting the relative motion trend between a first joint of a first device and a second joint of a second device; a strategy determination device for determining a control strategy for the first joint and the second joint based on the speeds of the first joint and the second joint and the relative distance between the first joint and the second joint, wherein the control strategy includes a deceleration strategy, an avoidance strategy, an emergency stop strategy, and / or a normal operation strategy, when the relative motion trend indicates that the first joint and the second joint have a tendency to approach each other; and a control device for controlling the first joint to execute a first sub-control strategy of the control strategy and the second joint to execute a second sub-control strategy of the control strategy, according to the avoidance principle of construction methods, to prevent the first device and the second device from colliding.

[0147] For specific details and benefits of the cooperative control system provided by this invention, please refer to the above description of the cooperative control method, which will not be repeated here.

[0148] An embodiment of the present invention also provides a group of engineering machinery, the group of engineering machinery including: a first device; a second device; and a collaborative control system for controlling the operation of the first device and the second device according to the collaborative control method.

[0149] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0150] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0151] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A cooperative control method, characterized in that, The collaborative control method includes: Based on the motion postures of the first joint of the first device and the second joint of the second device, the relative motion trend between the first joint and the second joint is predicted; When the relative motion trend indicates that the first joint and the second joint are approaching each other, a control strategy for the first joint and the second joint is determined based on the velocities of the first joint and the second joint, and the relative distance between the first joint and the second joint. This control strategy includes a deceleration strategy, an avoidance strategy, an emergency stop strategy, and / or a normal operation strategy. Based on the construction method's collision avoidance principle, the first joint is controlled to execute the first sub-control strategy of the control strategy, and the second joint is controlled to execute the second sub-control strategy of the control strategy, in order to prevent the first device from colliding with the second device. The determination of the control strategy for the first joint and the second joint includes: The control strategy is determined based on the control timing threshold and the relative distance between the first and second joints. Wherein, when the control timing threshold includes a first threshold, a second threshold, and a third threshold, determining the control strategy includes: When the relative distance between the first joint and the second joint is less than the first threshold and greater than or equal to the second threshold, the deceleration strategy and avoidance strategy for one of the first joint and the second joint are determined as the first sub-control strategy, and the normal operation strategy for the other joint is determined as the second sub-control strategy. When the relative distance between the first joint and the second joint is less than the second threshold and greater than or equal to the third threshold, the deceleration strategy and avoidance strategy for one of the first joint and the second joint are determined as the first sub-control strategy, and the deceleration strategy for the other joint is determined as the second sub-control strategy; or If the relative distance between the first joint and the second joint is less than the third threshold, the emergency stop strategy and avoidance strategy for one of the first joint and the second joint are determined as the first sub-control strategy, and the emergency stop strategy for the other joint is determined as the second sub-control strategy. Wherein, the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold.

2. The collaborative control method according to claim 1, characterized in that, The collaborative control method further includes: Determine the horizontal working area of ​​the first equipment and the horizontal working area of ​​the second equipment; When the horizontal working areas of the first device and the second device overlap, determine the shared limited joint collision area between the first device and the second device, and the respective critical collision risk areas for the first device and the second device; and When the slewing joints of the first device and the second device enter their respective critical collision risk zones, the step of predicting the relative motion trend between the first joint and the second joint is performed. The defined joint collision area is a quadrilateral area formed by the rotation center of the first device, the first critical collision point, the rotation center of the second device, and the second critical collision point; the critical collision risk area of ​​the first device is the angle area through which the rotation joint of the first device rotates when it comes to a smooth stop at the current speed and just enters the defined joint collision area; and the critical collision risk area of ​​the second device is the angle area through which the rotation joint of the second device rotates when it comes to a smooth stop at the current speed and just enters the defined joint collision area.

3. The cooperative control method according to claim 2, characterized in that, When both the first joint and the second joint are rotary joints, the prediction of the relative motion trend between the first joint and the second joint includes: If the rotary joints of the first device and the second device meet a horizontal proximity condition, it is determined that the first joint and the second joint have a tendency to approach each other in the horizontal direction, wherein the horizontal proximity condition includes at least one of the following: The rotary joints of the first device and the second device enter the defined joint collision area; The rotary joints of the first device and the second device simultaneously enter their respective critical collision risk zones; The rotary joint of the first device enters the defined joint collision area of ​​the first device and the rotary joint of the second device enters the critical collision risk area of ​​the second device. The rotary joint of the second device enters the defined joint collision area of ​​the second device and the rotary joint of the first device enters the critical collision risk area of ​​the first device. The rotary joints of the first device and the second device rotate in the same direction in multiple consecutive cycles.

4. The collaborative control method according to claim 3, characterized in that, The first critical collision point and the second critical collision point are the intersections of the outlines of the horizontal working area of ​​the first device and the horizontal working area of ​​the second device.

5. The collaborative control method according to claim 1 or 2, characterized in that, When the end of the luffing joint of the first device is higher than the upper side of the slewing joint of the second device, and the first joint is a luffing joint and the second joint is a slewing joint, the prediction of the relative motion trend between the first joint and the second joint includes: Determine the vertical working area of ​​the first device and the vertical working area of ​​the second device; and If the vertical working areas of the first device and the second device satisfy the first vertical proximity condition, it is determined that the first joint and the second joint have a tendency to approach each other in the vertical direction. The vertical working area of ​​the first device is a rectangular area with the horizontal projection length of the luffing joint of the first device as its length and the vertical distance from the end of the luffing joint of the first device to the lower side of the luffing joint of the second device as its width; and the vertical working area of ​​the second device is a rectangular area with the horizontal projection length of the slewing joint of the second device as its length and the vertical distance from the end of the slewing joint of the second device to the end of the hoisting joint of the second device as its width.

6. The cooperative control method according to claim 5, characterized in that, The first vertical proximity condition includes: The horizontal distance between the vertical working area of ​​the first device and the vertical working area of ​​the second device decreases over multiple consecutive cycles.

7. The cooperative control method according to claim 1 or 2, characterized in that, When the end of the luffing joint of the first device is lower than the lower side of the slewing joint of the second device, and the first joint is a luffing joint and the second joint is a luffing joint or a hoisting joint, the prediction of the relative motion trend between the first joint and the second joint includes: Determine the vertical working area of ​​the first device and the vertical working area of ​​the second device; and If the vertical working areas of the first device and the second device satisfy the second vertical proximity condition, it is determined that the first joint and the second joint have a tendency to approach each other in the vertical direction. The vertical working area of ​​the first device is a rectangular area with the horizontal projection length of the luffing joint of the first device as its length and the vertical distance from the end of the luffing joint of the first device to the end of the hoisting joint of the first device as its width; and the vertical working area of ​​the second device is a rectangular area with the horizontal distance from the rotation center of the second device to the outer side of the luffing joint as its length and the vertical distance from the luffing joint of the second device to the end of the hoisting joint of the second device as its width.

8. The cooperative control method according to claim 7, characterized in that, The second vertical approach condition includes: The vertical working areas of the first device and the second device overlap in the vertical direction but not in the horizontal direction, and the horizontal distance between the vertical working areas of the first device and the second device decreases over multiple consecutive cycles; or The vertical working area of ​​the first device and the vertical working area of ​​the second device overlap in the horizontal direction but do not overlap in the vertical direction, and the vertical distance between the vertical working areas of the first device and the vertical working areas of the second device decreases in multiple consecutive cycles.

9. The cooperative control method according to claim 1, characterized in that, The control timing threshold is determined based on the speeds of the first joint and the second joint, the total inertial parameters of the first device and the second device, and a first correspondence relationship, wherein the first correspondence relationship is the correspondence between the speeds of the first joint, the speeds of the second joint, the control timing, and the inertial parameters.

10. The cooperative control method according to claim 1, characterized in that, The first threshold is the relative distance between the first joint and the second joint when they operate at a speed threshold for a first preset time without colliding. The second threshold is the relative distance between the first joint and the second joint if they operate at the speed threshold for a second preset time without colliding, wherein the second preset time is less than the first preset time. The third threshold is the relative distance between the first joint and the second joint if they decelerate and stop at their respective current speeds without colliding. Wherein, the speed threshold is less than the smaller of the speed of the first joint and the speed of the second joint.

11. The cooperative control method according to claim 1, characterized in that, The control of the first joint to execute the first sub-control strategy of the control strategy and the control of the second joint to execute the second sub-control strategy of the control strategy include: Based on the construction method avoidance principle, the first joint of the first equipment is controlled to execute the first sub-control strategy, and the second joint of the second equipment is controlled to execute the second sub-control strategy. Wherein, the first device is an unloaded device and the second device is a heavy-load device; the first device is a low-speed device and the second device is a high-speed device; or the first device is a hoisting device and the second device is a pumping device.

12. The cooperative control method according to claim 2, characterized in that, When the slewing joints of the first device and the second device respectively enter their respective critical collision risk zones, the cooperative control method further includes: If the coordinates of the bounding box corresponding to the slewing joint of the first device and the bounding box corresponding to the slewing joint of the second device indicate that the horizontal working area of ​​the first device and the horizontal working area of ​​the second device overlap, then based on the center coordinates of the chassis of the first device, the center coordinates of the chassis of the second device, the coordinates of multiple feature points of the bounding box corresponding to each joint of the first device, and the coordinates of multiple feature points of the bounding box corresponding to each joint of the second device, the distance between any one of the multiple feature points of the bounding box corresponding to any joint of the first device and any one of the multiple feature points of the bounding box corresponding to any joint of the second device is calculated. When the distance between the two closest feature points on the bounding box corresponding to the first joint of the first device and the bounding box corresponding to the second joint of the second device is minimized and the minimum distance is less than a preset distance, the approach speed between the first joint and the second joint is determined based on the minimum distance, wherein the approach speed is the rate of change of the minimum distance over time; and When the approach speed is less than 0, the first joint and the second joint are controlled to perform an emergency stop strategy.

13. The collaborative control method according to claim 2 or 12, characterized in that, When the end of the luffing joint of the first device is higher than the upper side of the slewing joint of the second device, the horizontal working area of ​​the first device is a circular area with the slewing center of the first device as the center and the horizontal projected length of the luffing joint as the radius, and the horizontal working area of ​​the second device is a circular area with the slewing center of the second device as the center and the horizontal distance from the slewing center to the end of the boom as the radius; or When the end of the luffing joint of the first device is lower than the lower side of the slewing joint of the second device, the horizontal working area of ​​the first device is a circular area with the slewing center of the first device as the center and the horizontal projected length of the boom as the radius, and the horizontal working area of ​​the second device is a circular area with the slewing center of the second device as the center and the horizontal distance from the slewing center to the outside of the luffing joint as the radius.

14. A cooperative control system, characterized in that, The collaborative control system includes: A trend prediction device is used to predict the relative motion trend between the first joint of the first device and the second joint of the second device; A strategy determination device is configured to, when the relative motion trend indicates that the first joint and the second joint have a tendency to approach each other, determine a control strategy for the first joint and the second joint based on the speeds of the first joint and the second joint and the relative distance between the first joint and the second joint, wherein the control strategy includes a deceleration strategy, an avoidance strategy, an emergency stop strategy, and / or a normal operation strategy; and The control device is used to control the first joint to execute the first sub-control strategy of the control strategy and the second joint to execute the second sub-control strategy of the control strategy, according to the construction method avoidance principle, so as to prevent the first device from colliding with the second device. The strategy determination device is further configured to: determine the control strategy based on a control timing threshold and the relative joint distance between the first joint and the second joint. Wherein, when the control timing threshold includes a first threshold, a second threshold, and a third threshold, the strategy determination device is further configured to: When the relative distance between the first joint and the second joint is less than the first threshold and greater than or equal to the second threshold, the deceleration strategy and avoidance strategy for one of the first joint and the second joint are determined as the first sub-control strategy, and the normal operation strategy for the other joint is determined as the second sub-control strategy. When the relative distance between the first joint and the second joint is less than the second threshold and greater than or equal to the third threshold, the deceleration strategy and avoidance strategy for one of the first joint and the second joint are determined as the first sub-control strategy, and the deceleration strategy for the other joint is determined as the second sub-control strategy; or If the relative distance between the first joint and the second joint is less than the third threshold, the emergency stop strategy and avoidance strategy for one of the first joint and the second joint are determined as the first sub-control strategy, and the emergency stop strategy for the other joint is determined as the second sub-control strategy. Wherein, the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold.

15. A group of engineering machinery, characterized in that, The group of engineering machinery includes: First equipment; Second equipment; and A collaborative control system for controlling the operation of the first device and the second device using the collaborative control method according to any one of claims 1-13.

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