A method and system for swing protection of a closed swing system of an excavator

Abstract

The present application relates to the technical field of excavator control, and provides a rotation protection method and system for a closed rotation system of an excavator. The method comprises: during rotation of the excavator, selecting a corresponding control scheme according to an IMU fault type; if there is an IMU data abnormality fault, selecting a double-IMU differential comparison scheme; wherein the double-IMU differential comparison scheme comprises: obtaining data collected by an IMU on a vehicle body to obtain a first angular velocity of a rotation plane; obtaining data collected by an IMU on a boom to obtain a second angular velocity of the rotation plane; performing differential processing on the first angular velocity and the second angular velocity by using a controller to obtain a differential value; and determining whether the differential value exceeds a set threshold range, if yes, prohibiting the rotation from continuing to act, and if not, continuing to act.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to a method and system for protecting the slewing of a closed-loop slewing system in an excavator. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Excavators weighing over 100 tons use closed-loop slewing systems, and the method of controlling the slewing motion using an inclination sensor (IMU) has the following problems:

[0004] 1) During construction, damage to the tilt sensor (IMU) can lead to loss of rotation control and may cause safety accidents.

[0005] 2) The risk of failure of a single IMU sensor is high, which will affect the construction progress.

[0006] 3) If IMU damage is not detected in time during construction, continuing construction poses a significant safety hazard. Summary of the Invention

[0007] In order to solve the technical problems existing in the background art, the present invention provides a method and system for protecting the rotation of the closed slewing system of an excavator. The present invention can comprehensively protect the rotation of the closed slewing system of an excavator.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] The first aspect of the present invention provides a method for slewing protection of a closed slewing system of an excavator.

[0010] A method for protecting the slewing of a closed-loop slewing system of an excavator, comprising:

[0011] During the excavator's rotation, the appropriate control scheme is selected based on the IMU fault type;

[0012] If the IMU data is abnormal or malfunctioning, select the dual IMU differential comparison scheme;

[0013] The dual IMU differential comparison scheme includes: acquiring data collected by the IMU on the vehicle body to obtain the first angular velocity of the slewing plane; acquiring data collected by the IMU on the boom to obtain the second angular velocity of the slewing plane; using a controller to perform differential processing on the first angular velocity and the second angular velocity to obtain a differential value; determining whether the differential value exceeds a set threshold range; if so, prohibiting the slewing operation from continuing; otherwise, allowing the slewing operation to continue.

[0014] Furthermore, after the rotation is prohibited from continuing, the control of the operating handle becomes ineffective.

[0015] Furthermore, if the difference value consistently exceeds the set threshold range within a certain time period, a data anomaly fault will occur.

[0016] Furthermore, after a data anomaly occurs, it is determined whether the IMU on the vehicle body has a data failure. If so, the IMU on the boom is used to replace the IMU on the vehicle body to continue working; otherwise, slewing is prohibited from continuing and an alarm is triggered.

[0017] Furthermore, if the difference value consistently exceeds the set threshold range within a certain time period, an anti-fluctuation algorithm is adopted to locate the faulty IMU based on the IMU's data anomaly fault.

[0018] Furthermore, if the IMU has no data, the automatic IMU failure identification scheme is selected; the automatic IMU failure identification scheme includes: the controller determines whether the IMU on the vehicle body has a no data failure. If so, an alarm is triggered, and the data is automatically switched to the IMU on the boom. Otherwise, the data is collected by the IMU on the vehicle body by default.

[0019] Furthermore, the automatic IMU failure identification scheme also includes: the controller determines whether the IMU on the boom has a no-data fault. If so, it alarms and automatically switches to the IMU on the vehicle body to collect data; otherwise, it defaults to using the IMU on the vehicle body to collect data.

[0020] Furthermore, the automatic IMU failure identification scheme also includes: if both the IMU on the vehicle body and the IMU on the boom experience a data failure, an alarm will be triggered and the slewing operation will be prohibited from continuing.

[0021] A second aspect of the present invention provides a slewing protection system for a closed slewing system of an excavator.

[0022] A slewing protection system for a closed-loop slewing system of an excavator includes: an IMU mounted on the vehicle body, an IMU mounted on the boom, a controller, and an actuator, wherein the controller is connected to the IMU on the vehicle body, the IMU mounted on the boom, and the actuator;

[0023] The IMU on the vehicle body is used to collect the first angular velocity of the vehicle body;

[0024] The IMU on the boom is used to collect the second angular velocity on the boom;

[0025] The controller is used to select the appropriate control scheme according to the IMU fault type; if the IMU data is abnormal, a dual IMU differential comparison scheme is selected; the dual IMU differential comparison scheme includes: acquiring data collected by the IMU on the vehicle body to obtain the first angular velocity of the slewing plane; acquiring data collected by the IMU on the boom to obtain the second angular velocity of the slewing plane; using the controller to perform differential processing on the first angular velocity and the second angular velocity to obtain a differential value; and determining whether the differential value exceeds a set threshold range.

[0026] The actuator is used to prevent the rotation from continuing when the difference value exceeds a set threshold range and persists for a period of time.

[0027] Furthermore, the controller is also configured to select an automatic IMU failure identification scheme when the IMU has no data. The automatic IMU failure identification scheme includes: determining whether the IMU on the vehicle body has a no-data fault; if so, issuing an alarm and automatically switching to the IMU on the boom for data collection; otherwise, using the IMU on the vehicle body for data collection by default. The controller determines whether the IMU on the boom has a no-data fault; if so, issuing an alarm and automatically switching to the IMU on the vehicle body for data collection; otherwise, using the IMU on the vehicle body for data collection by default. If both the IMU on the vehicle body and the IMU on the boom have no-data faults, issuing an alarm and prohibiting the continued slewing operation.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] This invention designs two different control schemes for IMU failure types: a dual IMU differential comparison scheme and an automatic IMU failure identification scheme, which can comprehensively protect the slewing of the excavator's closed slewing system.

[0030] Even if the IMU on the vehicle body or the IMU on the boom shows no fault data, the automatic IMU failure identification scheme can still accurately determine the slewing situation and ensure the construction progress.

[0031] With this invention, before construction, the IMU on the vehicle body, the IMU on the boom, and the controller can be connected to the host computer. During the slewing process, the controller will analyze the results, the IMU on the vehicle body will transmit the first angular velocity data, and the IMU on the boom will transmit the second angular velocity data to the host computer for display. When the alarm sounds, it can be determined in time whether the IMU is damaged, thus reducing the safety hazards in construction. Attached Figure Description

[0032] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0033] Figure 1 This is a flowchart illustrating the slewing protection method of the closed slewing system of an excavator according to the present invention. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of this disclosure. It should be noted that each block in a flowchart or block diagram may represent a module, segment, or portion of code, which may include one or more executable instructions for implementing the logical functions specified in the various embodiments. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, may be implemented using a dedicated hardware-based system that performs the specified functions or operations, or using a combination of dedicated hardware and computer instructions.

[0038] Example 1

[0039] like Figure 1 As shown, this embodiment provides a method for slewing protection of an excavator's closed slewing system, including:

[0040] During the excavator's rotation, the appropriate control scheme is selected based on the IMU fault type;

[0041] If the IMU data is abnormal or malfunctioning, select the dual IMU differential comparison scheme;

[0042] The dual IMU differential comparison scheme includes: acquiring data collected by the IMU on the vehicle body to obtain the first angular velocity of the slewing plane; acquiring data collected by the IMU on the boom to obtain the second angular velocity of the slewing plane; using a controller to perform differential processing on the first angular velocity and the second angular velocity to obtain a differential value; determining whether the differential value exceeds a set threshold range; if so, prohibiting the slewing operation from continuing; otherwise, allowing the slewing operation to continue.

[0043] After the rotation continues, the control of the operating handle becomes ineffective.

[0044] If the difference value consistently exceeds the set threshold range within a certain time period, a data anomaly fault will occur.

[0045] After a data anomaly occurs, determine whether the IMU on the vehicle body has a data loss fault. If so, use the boom IMU to replace the vehicle body IMU to continue working; otherwise, prohibit slewing from continuing and trigger an alarm.

[0046] If the difference value consistently exceeds the set threshold range within a certain time period, an anti-fluctuation algorithm is adopted to locate the faulty IMU based on the abnormal data fault of the IMU.

[0047] If the IMU has no data, the automatic IMU failure identification scheme is selected. The automatic IMU failure identification scheme includes: the controller determines whether the IMU on the vehicle body has a no data failure. If so, an alarm is triggered and the data is automatically switched to the IMU on the boom. Otherwise, the data is collected by the IMU on the vehicle body by default.

[0048] The automatic IMU failure identification scheme also includes: the controller determines whether the IMU on the boom has a no-data fault. If so, it alarms and automatically switches to the IMU on the vehicle body to collect data; otherwise, it defaults to using the IMU on the vehicle body to collect data.

[0049] The automatic IMU failure identification scheme also includes: if both the IMU on the vehicle body and the IMU on the boom fail to generate data, an alarm will be triggered and the slewing operation will be prohibited.

[0050] This invention categorizes IMU failures into two types: the first is IMU data anomaly failure, and the second is IMU no data failure. For the first type, a dual-IMU differential comparison scheme is adopted, while for the second type, an automatic IMU failure identification and automatic switching scheme is adopted.

[0051] This invention employs a dual-IMU differential comparison scheme to ensure safe rotation.

[0052] During the excavator's slewing process, data is collected by the IMU on the machine body, and the velocity of the slewing plane is decomposed. If the IMU on the machine body malfunctions at this time, it will cause the slewing to become uncontrollable. By adding an IMU on the boom, the two IMUs collect data simultaneously and decompose the angular velocity of the slewing plane. Then the machine controller (MCU) differentiates the two angular velocities to obtain the differential value. Since the boom and the machine body are rigidly connected on the slewing plane, the differential value should theoretically be 0. If the value of the differential angular velocity is too large (for example, exceeding the error range of 1 rad / s of a certain IMU), the slewing operation is immediately prohibited, and even if the handle is operated again, the slewing cannot be reversed until the differential value returns to the error range (when the slewing is stationary, the IMU will reset, and the first and second angular velocities will return to their default values, and the differential value will return to the error range), to ensure slewing safety, and the display will alarm. When an IMU data anomaly occurs and the differential value is too large, an anti-fluctuation algorithm can be added to the whole machine controller to determine whether the IMU's angular velocity change rate exceeds the maximum angular velocity change rate threshold measured. If so, the IMU is damaged. Otherwise, it is determined whether the IMU's angular velocity is 0 or within the error range of 2% when rotating to a standstill. If so, the IMU is damaged; otherwise, the IMU is normal.

[0053] This invention employs an automatic IMU failure identification scheme, enabling the entire system to automatically switch to a normally functioning IMU scheme, thus ensuring construction progress.

[0054] If the MCU detects that the IMU data on the vehicle body or boom has been zero for 5 consecutive seconds, it will disable that IMU data and will not trigger the differential alarm strategy. It will then automatically use data from another IMU for slewing control, while simultaneously displaying an alarm to remind users to check the faulty IMU and related circuits. If both IMUs are detected to be faulty simultaneously, slewing will be prohibited, and an alarm will be triggered.

[0055] Example 2

[0056] This embodiment provides a slewing protection system for a closed slewing system of an excavator, including: an IMU installed on the vehicle body, an IMU installed on the boom, a controller, and an actuator, wherein the controller is connected to the IMU on the vehicle body, the IMU installed on the boom, and the actuator;

[0057] The IMU on the vehicle body is used to collect the first angular velocity of the vehicle body;

[0058] The IMU on the boom is used to collect the second angular velocity on the boom;

[0059] The controller is used to select the appropriate control scheme according to the IMU fault type; if the IMU data is abnormal, a dual IMU differential comparison scheme is selected; the dual IMU differential comparison scheme includes: acquiring data collected by the IMU on the vehicle body to obtain the first angular velocity of the slewing plane; acquiring data collected by the IMU on the boom to obtain the second angular velocity of the slewing plane; using the controller to perform differential processing on the first angular velocity and the second angular velocity to obtain a differential value; and determining whether the differential value exceeds a set threshold range.

[0060] The actuator is used to prevent the rotation from continuing when the difference value exceeds a set threshold range and persists for a period of time.

[0061] The controller is also used to select an automatic IMU failure identification scheme when the IMU has no data. The automatic IMU failure identification scheme includes: determining whether the IMU on the vehicle body has a no-data fault; if so, issuing an alarm and automatically switching to the IMU on the boom for data collection; otherwise, using the IMU on the vehicle body for data collection by default. The controller determines whether the IMU on the boom has a no-data fault; if so, issuing an alarm and automatically switching to the IMU on the vehicle body for data collection; otherwise, using the IMU on the vehicle body for data collection by default. If both the IMU on the vehicle body and the IMU on the boom have no-data faults, issuing an alarm and prohibiting the continued slewing operation.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for protecting the slewing rotation of a closed-loop slewing system of an excavator, characterized in that, include: During the excavator's rotation, the appropriate control scheme is selected based on the IMU fault type; If the IMU data is abnormal or malfunctioning, select the dual IMU differential comparison scheme; The dual IMU differential comparison scheme includes: acquiring data collected by the IMU on the vehicle body to obtain the first angular velocity of the slewing plane; acquiring data collected by the IMU on the boom to obtain the second angular velocity of the slewing plane; using a controller to differentially process the first and second angular velocities to obtain a differential value; determining whether the differential value exceeds a set threshold range; if so, determining whether the IMU on the vehicle body has a data failure; if so, using the boom's IMU to replace the vehicle body's IMU to continue working; otherwise, prohibiting the slewing operation and triggering an alarm. If the IMU has no data, the automatic IMU failure identification scheme is selected. The automatic IMU failure identification scheme includes: the controller determines whether the IMU on the vehicle body has a no data failure. If so, an alarm is triggered and the data is automatically switched to the IMU on the boom. Otherwise, the data is collected by the IMU on the vehicle body by default.

2. The method for protecting the slewing system of an excavator according to claim 1, characterized in that, After the rotation continues, the control of the operating handle becomes ineffective.

3. The method for protecting the slewing of a closed-loop slewing system of an excavator according to claim 1, characterized in that, If the difference value consistently exceeds the set threshold range within a certain time period, a data anomaly fault will occur.

4. The slewing protection method for a closed-loop slewing system of an excavator according to claim 1, characterized in that, If the difference value consistently exceeds the set threshold range within a certain time period, an anti-fluctuation algorithm is adopted to locate the faulty IMU based on the abnormal data fault of the IMU.

5. The method for protecting the slewing of a closed-loop slewing system of an excavator according to claim 1, characterized in that, The automatic IMU failure identification scheme also includes: the controller determines whether the IMU on the boom has a no-data fault. If so, it alarms and automatically switches to the IMU on the vehicle body to collect data; otherwise, it defaults to using the IMU on the vehicle body to collect data.

6. The method for protecting the slewing of a closed-loop slewing system of an excavator according to claim 5, characterized in that, The automatic IMU failure identification scheme also includes: if both the IMU on the vehicle body and the IMU on the boom fail to generate data, an alarm will be triggered and the slewing operation will be prohibited from continuing.

7. A slewing protection system for a closed-loop slewing system of an excavator, characterized in that, include: An IMU mounted on the vehicle body, an IMU mounted on the boom, a controller, and an actuator, wherein the controller is connected to the IMU on the vehicle body, the IMU mounted on the boom, and the actuator; The IMU on the vehicle body is used to collect the first angular velocity of the vehicle body; The IMU on the boom is used to collect the second angular velocity on the boom; The controller is used to select the appropriate control scheme according to the IMU fault type; If the IMU data is abnormal or malfunctioning, select the dual IMU differential comparison scheme; The dual IMU differential comparison scheme includes: acquiring data collected by the IMU on the vehicle body to obtain the first angular velocity of the slewing plane; acquiring data collected by the IMU on the boom to obtain the second angular velocity of the slewing plane; using a controller to differentially process the first and second angular velocities to obtain a differential value; determining whether the differential value exceeds a set threshold range; if so, determining whether the IMU on the vehicle body has a data failure; if so, using the boom's IMU to replace the vehicle body's IMU to continue working; otherwise, prohibiting the slewing operation and triggering an alarm. If the IMU has no data, the automatic IMU failure identification scheme is selected. The automatic IMU failure identification scheme includes: the controller determines whether the IMU on the vehicle body has a no data failure. If so, an alarm is triggered and the data is automatically switched to the IMU on the boom. Otherwise, the data is collected by the IMU on the vehicle body by default. The actuator is used to prevent the rotation from continuing when the difference value exceeds a set threshold range and continues for a period of time.

8. The slewing protection system of the excavator closed slewing system according to claim 7, characterized in that, The controller is also used to select an automatic IMU failure identification scheme when the IMU has no data. The automatic IMU failure identification scheme includes: the controller determines whether the IMU on the boom has a no-data fault. If so, an alarm is triggered and the data is automatically switched to the IMU on the vehicle body. Otherwise, the data is collected by the IMU on the vehicle body by default. If both the IMU on the vehicle body and the IMU on the boom have no-data faults, an alarm is triggered and the slewing operation is prohibited.

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