Two-end busy supporting leg control system and method based on laser radar

Abstract

The invention discloses a two-end busy supporting leg control system and method based on a laser radar. The two-end busy supporting leg control system comprises a controller module, a laser radar module and an execution module. The controller module is electrically connected with the laser radar module and the execution module. The laser radar module is arranged on the supporting bracket, the laser radar module comprises a first laser ranging radar and a second laser ranging radar, and the first laser ranging radar and the second laser ranging radar are respectively connected with the controller module through a CAN bus and realize interaction with the controller module; the execution module comprises a proportional electromagnetic valve, one end of the proportional electromagnetic valve is connected with the supporting legs, and the other end of the proportional electromagnetic valve is connected with the controller module. According to the invention, the control precision of the supporting legs is improved, the adaptability to complex terrains is enhanced, and the stable and safe operation of equipment in different environments is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery equipment control, and in particular to a laser radar-based two-leg support control system and method. Background Art

[0002] In construction machinery, the control of the support legs of a two-wheeled crane as a multifunctional engineering vehicle is crucial to the stability and safety of the equipment. With the increasing complexity and diversity of engineering construction tasks, higher requirements are placed on the accuracy and adaptability of the control of the support legs of two-wheeled cranes. The study found that in traditional technologies, the control of the support legs of some two-wheeled cranes relies on the experience and manual operation of the operator. The operator manually adjusts the extension length, angle and other parameters of the support legs based on the general observation and judgment of the work site. This method has low accuracy and poor adaptability.

[0003] In order to accurately control the support legs, the existing technology mainly uses visual technology and sensor technology for control. In visual technology control, it is greatly affected by ambient light, and the image quality obtained is poor, which in turn affects the control accuracy; in sensor technology control, such as using a level assisted control or proximity switch assisted control, but there are still many defects. In the level assisted control, the level is used to detect the level of the equipment. When the equipment is tilted, the operator adjusts the support legs according to the instructions of the level. However, the level can only provide the overall level information of the equipment, and cannot accurately reflect the changes in the local terrain around the support legs, resulting in the support legs cannot accurately adapt to the terrain, affecting the stability of the equipment. In the proximity switch assisted control, the proximity switch is usually used to detect the extension limit position of the support leg to prevent the support leg from over-extending or contracting. However, the proximity switch cannot tell the support leg how to adjust according to the actual situation of the equipment, so that the equipment cannot adapt to complex terrain, and thus cannot meet the needs of engineering equipment in complex working environments. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a two-way busy support leg control system and method based on laser radar. The height value is measured by a first laser ranging radar and a second laser ranging radar, and a judgment is made in a controller module. The proportional solenoid valve is controlled according to the result of the judgment, and then the support leg is controlled to extend or contract or maintain the original state. The present invention improves the accuracy of support leg control and enhances the adaptability to complex terrain.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a laser radar-based two-end busy support leg control system, comprising: a support bracket is installed on the two-end busy support leg, including: a controller module, a laser radar module and an execution module; wherein the controller module is electrically connected to the laser radar module and the execution module respectively;

[0007] The laser radar module is arranged on the supporting bracket, and the laser radar module comprises a first laser ranging radar and a second laser ranging radar, and the first laser ranging radar and the second laser ranging radar are respectively connected to the controller module through a CAN bus;

[0008] The execution module comprises a proportional solenoid valve, one end of which is connected to the supporting leg, and the other end of which is connected to the controller module.

[0009] As a further technical solution, the first laser ranging radar and the second laser ranging radar are respectively installed on the support brackets of the left and right supporting legs. The first laser ranging radar is used to measure the height value of the first laser ranging radar, and the second laser ranging radar is used to measure the height value of the second laser ranging radar.

[0010] As a further technical solution, the CAN bus includes a CAN high-speed line and a CAN low-speed line, the CAN high-speed line is used to transmit high-level signals, and the CAN low-speed line is used to transmit low-level signals.

[0011] As a further technical solution, the supporting leg includes a first supporting leg and a second supporting leg, and the proportional solenoid valve includes a first proportional solenoid valve and a second proportional solenoid valve, one end of the first proportional solenoid valve and the second proportional solenoid valve are respectively connected to the first supporting leg and the second supporting leg, for controlling the first supporting leg and the second supporting leg to extend or contract or maintain their original state.

[0012] As a further technical solution, the other ends of the first proportional solenoid valve and the second proportional solenoid valve are connected to the controller module, and a first proportional solenoid valve control module is arranged between the first proportional solenoid valve and the controller module, and a second proportional solenoid valve control module is arranged between the second proportional solenoid valve and the controller module.

[0013] As a further technical solution, the first proportional solenoid valve control module and the second proportional solenoid valve control module both include a protection circuit and a single-pole double-throw switch arranged in parallel, wherein the protection circuit includes a coil and a diode connected in parallel at both ends of the coil.

[0014] In a second aspect, the present invention provides a two-end busy supporting leg control method based on laser radar, which is based on the two-end busy supporting leg control system based on laser radar provided in the first aspect, comprising:

[0015] S1: Preset the installation positioning dimension error of the support brackets of the left and right support legs and the measurement error between the first support leg and the second support leg in the controller module;

[0016] S2: The first laser ranging radar and the second laser ranging radar respectively measure the height values ​​of the first laser ranging radar and the second laser ranging radar, and transmit the measured height values ​​to the controller module through the CAN bus;

[0017] S3: After receiving the height values ​​of the first laser ranging radar and the second laser ranging radar, the controller module makes a judgment and outputs a control instruction to the first proportional solenoid valve and the second proportional solenoid valve;

[0018] S4: After receiving the control instruction, the first proportional solenoid valve and the second proportional solenoid valve control the first supporting leg and the second supporting leg to extend or contract or maintain the original state.

[0019] As a further technical solution, the method for judging in S3 includes:

[0020] When the control module determines (H1-H2±E) based on the height values ​​received from the first laser ranging radar and the second laser ranging radar a ≤E m When , the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, and at this time outputs a control instruction to maintain the original state to the first proportional solenoid valve and the second proportional solenoid valve, thereby controlling the first support leg and the second support leg to maintain the original state; wherein H1 is the height value of the first laser ranging radar, H2 is the height value of the second laser ranging radar, and E a E is the installation positioning size error of the support brackets of the left and right support legs. m is the measurement error between the first supporting leg and the second supporting leg.

[0021] As a further technical solution, the method for judging in S3 further includes: when the control module judges according to the height values ​​received from the first laser ranging radar and the second laser ranging radar that (H1-H2)>E m +E a When the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, the controller outputs a retraction control instruction to the first proportional solenoid valve, thereby controlling the retraction of the first supporting leg until H1-H2)±E is satisfied. a ≤E m or output an extension control command to the second proportional solenoid valve to control the extension of the second support leg until H1-H2)±E is met. a ≤E m Stop when.

[0022] As a further technical solution, the method for judging in S3 further includes: when the control module judges according to the height values ​​received from the first laser ranging radar and the second laser ranging radar that (H1-H2) <-(E m +E a ), the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, and at this time outputs an extension control instruction to the first proportional solenoid valve, thereby controlling the first supporting leg to extend until H1-H2)±E is satisfied. a ≤E m or output a contraction control command to the second proportional solenoid valve to control the contraction of the second supporting leg until H1-H2)±E is met. a ≤E m Stop when.

[0023] One or more technical solutions of the present invention have the following beneficial effects:

[0024] (1) The first laser ranging radar and the second laser ranging radar in the laser ranging radar module of the present invention can respectively measure the height values ​​of the first laser ranging radar and the second laser ranging radar. According to the two height values, the terrain information of the environment in which the engineering equipment is currently located can be roughly understood. After obtaining the height value, the controller module performs judgment and analysis, and outputs corresponding control instructions according to the judgment result and outputs them to the execution module, which can make the control of the supporting legs more precise and improve the stable and safe operation of the equipment in different environments.

[0025] (2) After receiving the height values ​​of the first laser rangefinder and the second laser rangefinder, the controller module of the present invention performs judgment according to the judgment formula to obtain the judgment result, thereby realizing the control of the support legs to extend or contract or maintain the original state according to the terrain information of the engineering equipment at that time. The adaptability to complex terrain is enhanced, and the control instructions are adjusted in real time according to the terrain information (the height values ​​of the first laser rangefinder and the second laser rangefinder), so that the engineering equipment can better adapt to complex terrain, such as slopes, potholes, etc., and improve the working efficiency and safety of the engineering equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0027] Figure 1 It is a structural schematic diagram of a two-end busy support leg control system based on laser radar of the present invention; DETAILED DESCRIPTION

[0028] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0029] Embodiment 1

[0030] In the existing two-way busy equipment, there is a support leg on each side, and a support bracket is installed on each of the left and right support legs. This embodiment provides a two-way busy support leg control system based on laser radar, such as Figure 1 As shown in the structural diagram of the control system, it includes: a controller module, a laser radar module and an execution module; wherein the controller module is electrically connected to the laser radar module and the execution module respectively, and the laser radar module is arranged on the supporting bracket. Specifically: the laser radar module includes a first laser ranging radar and a second laser ranging radar, and the first laser ranging radar and the second laser ranging radar are respectively installed on the supporting brackets of the left and right supporting legs, the first laser ranging radar is used to measure the height value of the first laser ranging radar, and the second laser ranging radar is used to measure the height value of the second laser ranging radar. At the same time, the first laser ranging radar and the second laser ranging radar are respectively connected to the controller module through a CAN bus, wherein the CAN bus includes a CAN high-speed line CAN_H and a CAN low-speed line CAN_L, the CAN high-speed line CAN_H is used to transmit high-level signals, and the CAN low-speed line CAN_L is used to transmit low-level signals.

[0031] The execution module includes a proportional solenoid valve, wherein one end of the proportional solenoid valve is connected to the support leg, and the other end is connected to the controller module. Specifically: the support leg includes a first support leg and a second support leg. In this embodiment, two proportional solenoid valves are provided, including a first proportional solenoid valve and a second proportional solenoid valve. One end of the first proportional solenoid valve and the second proportional solenoid valve are respectively connected to the first support leg and the second support leg, and are used to control the first support leg and the second support leg to extend or contract or maintain the original state; the other ends of the first proportional solenoid valve and the second proportional solenoid valve are both connected to the controller module; and a first proportional solenoid valve control module is provided between the first proportional solenoid valve and the controller module, and a second proportional solenoid valve control module is provided between the second proportional solenoid valve and the controller module. The first proportional solenoid valve control module and the second proportional solenoid valve control module have the same structure, and both include a protection circuit and a single-pole double-throw switch arranged in parallel, wherein the protection circuit includes a coil and a diode connected in parallel at both ends of the coil. The relevant instructions issued by the controller module are transmitted to the first proportional valve and the second proportional solenoid valve through the first proportional solenoid valve control module and the second proportional solenoid valve control module, thereby controlling the working state of the first proportional valve and the second proportional solenoid valve, and then controlling the first support leg and the second support leg to extend or contract or maintain the original state. Specifically: The single-pole double-throw switch is used to switch the control path. For example, in the normal working mode, when the switch is in one position, the control instruction can be smoothly transmitted from the controller module to the proportional valve to realize the normal control of the proportional valve. In the test or fault diagnosis mode, the single-pole double-throw switch can be switched to another position, so that the control instruction is directed to other detection equipment or spare control lines, which are used to check the status of the first proportional solenoid valve control module, the second proportional solenoid valve control module and the proportional valve. The coil and diode in the protection circuit play a key protective role. When the coil is powered off, a reverse electromotive force will be generated. The magnitude of this reverse electromotive force may be very high, causing damage to the coil itself and the circuit components connected to it. The diode connected in parallel at both ends of the coil provides a release path for this reverse electromotive force, so that the reverse current can flow through the diode, avoiding the damage of the reverse electromotive force to the circuit. When the coil is energized, the current passes through the coil. According to Ampere's law, a magnetic field will be generated around the coil. The strength of this magnetic field is related to the magnitude of the current passing through the coil and the number of turns of the coil. If this magnetic field is strong enough, the contacts can be attracted or disconnected to realize the on-off control of the circuit. For example, when the coil is energized to generate a magnetic field, the magnetic field force will cause the armature to move, thereby changing the state of the single-pole double-throw contact. When the coil is de-energized, the current in the coil will decrease rapidly. According to the law of electromagnetic induction, the coil will generate a reverse electromotive force that attempts to maintain the original current. At this time, the parallel diode is forward-biased (because of the unidirectional conductivity of the diode, the direction of the reverse electromotive force at this time makes the diode in a forward biased state), providing a loop for the induced current in the coil.This loop allows the energy in the coil to be slowly released through the diode in the form of current, rather than generating a shock in the circuit in the form of high voltage. This protects the coil and other circuit components, while also allowing the magnetic field to disappear relatively smoothly, ensuring that the control command can be accurately received and executed by the proportional valve.

[0032] In this embodiment, the controller module can be a programmable logic controller PLC, a microcontroller MCU, or an industrial control computer IPC.

[0033] Embodiment 2

[0034] This embodiment provides a two-end busy supporting leg control method based on laser radar, which is based on the two-end busy supporting leg control system based on laser radar provided in embodiment 1 and specifically includes the following steps:

[0035] S1: Preset the installation positioning dimension error of the support brackets of the left and right support legs and the measurement error between the first support leg and the second support leg in the controller module;

[0036] S2: The first laser ranging radar and the second laser ranging radar respectively measure the height values ​​of the first laser ranging radar and the second laser ranging radar, and transmit the measured height values ​​to the controller module through the CAN bus;

[0037] S3: After receiving the height values ​​of the first laser ranging radar and the second laser ranging radar, the controller module makes a judgment and outputs a control instruction to the first proportional solenoid valve and the second proportional solenoid valve;

[0038] S4: After receiving the control instruction, the first proportional solenoid valve and the second proportional solenoid valve control the first supporting leg and the second supporting leg to extend or contract or maintain the original state.

[0039] In this embodiment, the determination method in S3 includes: if the control module determines (H1-H2)±E according to the height values ​​received from the first laser ranging radar and the second laser ranging radar, a ≤E m When , the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, and at this time outputs a control instruction to maintain the original state to the first proportional solenoid valve and the second proportional solenoid valve, thereby controlling the first support leg and the second support leg to maintain the original state; wherein H1 is the height value of the first laser ranging radar, H2 is the height value of the second laser ranging radar, and E a E is the installation positioning size error of the support brackets of the left and right support legs. m is the measurement error between the first supporting leg and the second supporting leg.

[0040] If the control module determines that (H1-H2)>E according to the height values ​​received from the first laser ranging radar and the second laser ranging radar m +E a When the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, the controller outputs a retraction control instruction to the first proportional solenoid valve, thereby controlling the retraction of the first supporting leg until H1-H2)±E is satisfied. a ≤E m or output an extension control command to the second proportional solenoid valve to control the extension of the second support leg until H1-H2)±E is met. a ≤E m Stop when.

[0041] If the control module determines according to the height values ​​received from the first laser ranging radar and the second laser ranging radar that (H1-H2) <-(E m +E a ), the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, and at this time outputs an extension control instruction to the first proportional solenoid valve, thereby controlling the first supporting leg to extend until H1-H2)±E is satisfied. a ≤E m or output a contraction control command to the second proportional solenoid valve to control the contraction of the second supporting leg until H1-H2)±E is met. a ≤E m Stop when.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser radar-based two-end busy support leg control system, wherein a support bracket is installed on the two-end busy support leg, characterized in that: include: Controller module, LiDAR module and execution module; The controller module is electrically connected to the laser radar module and the execution module respectively; The laser radar module is arranged on the supporting bracket, and the laser radar module comprises a first laser ranging radar and a second laser ranging radar, and the first laser ranging radar and the second laser ranging radar are respectively connected to the controller module through a CAN bus; The execution module comprises a proportional solenoid valve, one end of which is connected to the supporting leg, and the other end of which is connected to the controller module.

2. The laser radar-based two-leg support control system according to claim 1, characterized in that: The first laser ranging radar and the second laser ranging radar are respectively installed on the support brackets of the left and right support legs. The first laser ranging radar is used to measure the height value of the first laser ranging radar, and the second laser ranging radar is used to measure the height value of the second laser ranging radar.

3. The laser radar-based two-leg support control system according to claim 1, characterized in that: The CAN bus includes a CAN high-speed line and a CAN low-speed line, the CAN high-speed line is used to transmit high-level signals, and the CAN low-speed line is used to transmit low-level signals.

4. The laser radar-based two-leg support control system according to claim 1, characterized in that: The supporting legs include a first supporting leg and a second supporting leg, and the proportional solenoid valve includes a first proportional solenoid valve and a second proportional solenoid valve. One end of the first proportional solenoid valve and the second proportional solenoid valve are respectively connected to the first supporting leg and the second supporting leg, for controlling the first supporting leg and the second supporting leg to extend or contract or maintain their original state.

5. The laser radar-based two-leg support control system according to claim 4, characterized in that: The other ends of the first proportional solenoid valve and the second proportional solenoid valve are both connected to the controller module, and a first proportional solenoid valve control module is arranged between the first proportional solenoid valve and the controller module, and a second proportional solenoid valve control module is arranged between the second proportional solenoid valve and the controller module.

6. The laser radar-based two-legged support control system according to claim 5, characterized in that: The first proportional solenoid valve control module and the second proportional solenoid valve control module both include a protection circuit and a single-pole double-throw switch arranged in parallel, wherein the protection circuit includes a coil and a diode connected in parallel at both ends of the coil.

7. The laser radar-based two-end busy supporting leg control method is based on the laser radar-based two-end busy supporting leg control system according to any one of claims 1 to 9, characterized in that: include: S1: Preset the installation positioning dimension error of the support brackets of the left and right support legs and the measurement error between the first support leg and the second support leg in the controller module; S2: The first laser ranging radar and the second laser ranging radar respectively measure the height values ​​of the first laser ranging radar and the second laser ranging radar, and transmit the measured height values ​​to the controller module through the CAN bus; S3: After receiving the height values ​​of the first laser ranging radar and the second laser ranging radar, the controller module makes a judgment and outputs a control instruction to the first proportional solenoid valve and the second proportional solenoid valve; S4: After receiving the control instruction, the first proportional solenoid valve and the second proportional solenoid valve control the first supporting leg and the second supporting leg to extend or contract or maintain the original state.

8. The laser radar-based two-leg control method according to claim 7, characterized in that: The method for judging in S3 includes: When the control module determines (H1-H2±E) based on the height values ​​received from the first laser ranging radar and the second laser ranging radar a ≤E m When , the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, and at this time outputs a control instruction to maintain the original state to the first proportional solenoid valve and the second proportional solenoid valve, thereby controlling the first support leg and the second support leg to maintain the original state; wherein H1 is the height value of the first laser ranging radar, H2 is the height value of the second laser ranging radar, and E a E is the installation positioning size error of the support brackets of the left and right support legs. m is the measurement error between the first supporting leg and the second supporting leg.

9. The laser radar-based two-leg control method according to claim 7, characterized in that: The method for judging in S3 further includes: when the control module judges (H1-H2)>E according to the height values ​​received from the first laser ranging radar and the second laser ranging radar m +E a When the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, the controller outputs a retraction control instruction to the first proportional solenoid valve, thereby controlling the retraction of the first supporting leg until H1-H2)±E is satisfied. a ≤E m or output an extension control command to the second proportional solenoid valve to control the extension of the second support leg until H1-H2)±E is met. a ≤E m Stop when.

10. The laser radar-based two-end busy support leg control method according to claim 7, characterized in that: The method for judging in S3 also includes: when the control module judges (H1-H2)<-(E m +E a ), the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, and at this time outputs an extension control instruction to the first proportional solenoid valve, thereby controlling the first supporting leg to extend until H1-H2)±E is satisfied. a ≤E m or output a contraction control command to the second proportional solenoid valve to control the contraction of the second supporting leg until H1-H2)±E is met. a ≤E m Stop when.

Images