Lidar-based two busy support leg control system and method

Abstract

The application discloses a laser radar-based two-end busy support leg control system and method, which comprises a controller module, a laser radar module and an execution module; wherein the controller module is electrically connected with the laser radar module and the execution module; the laser radar module is arranged on the support bracket, and the laser radar module comprises a first laser ranging radar and a second laser ranging radar; the first laser ranging radar and the second laser ranging radar are connected with the controller module through CAN buses and realize interaction; the execution module comprises a proportional electromagnetic valve, one end of the proportional electromagnetic valve is connected with the support leg, and the other end of the proportional electromagnetic valve is connected with the controller module. The application improves the precision of support leg control, enhances the adaptability to complex terrains and improves the stable and safe operation of the equipment in different environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery equipment control, and in particular to a two-end busy support leg control system and method based on a laser radar. BACKGROUND

[0002] In engineering machinery equipment, two-end busy is a kind of multifunctional engineering vehicle, and the control of its support legs is crucial for the stability and safety of the equipment. With the increasing complexity and diversity of engineering construction tasks, higher requirements are placed on the precision and adaptability of two-end busy support leg control. It is found in research that in traditional technology, the control of the support legs of some two-end busy equipment relies on the experience and manual operation of the operator, who manually adjusts the extension length, angle, etc. of the support legs according to the rough observation and judgment of the work site. This method has low precision and poor adaptability.

[0003] In order to accurately control the support legs, existing technologies mainly use visual technology and sensor technology for control. In visual technology control, the quality of the acquired images is poor due to the influence of environmental light, which in turn affects the control precision. In sensor technology control, such as the use of a level gauge for auxiliary control or a proximity switch for auxiliary control, but there are still many defects. In level gauge auxiliary control, the level gauge is used to detect the levelness of the equipment, and the operator adjusts the support legs according to the indication of the level gauge when the equipment tilts. However, the level gauge 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 inability of the support legs to accurately adapt to the terrain and affecting the stability of the equipment. In proximity switch auxiliary control, the proximity switch is usually used to detect the extension limit position of the support legs to prevent the support legs from overextending or contracting. However, the proximity switch cannot tell the support legs how to adjust according to the actual situation of the equipment, making it impossible for the equipment to adapt to complex terrain and thus unable to meet the needs of engineering equipment in complex work environments. SUMMARY

[0004] In view of the deficiencies of existing technologies, the present application provides a two-end busy support leg control system and method based on a laser radar, which measures the height value through a first laser ranging radar and a second laser ranging radar and judges in a controller module, controls the proportional electromagnetic valve according to the judgment result, and then controls the support legs to extend or contract or remain in the original state. The present application improves the precision of support leg control and enhances the adaptability to complex terrain.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution:

[0006] In a first aspect, the application provides a laser radar-based two-end busy support leg control system, comprising: a support bracket mounted 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 with the laser radar module and the execution module respectively;

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

[0008] The execution module comprises a proportional electromagnetic valve, one end of which is connected with the support leg, and the other end of which is connected with the controller module.

[0009] As a further technical solution, the first laser ranging radar and the second laser ranging radar are respectively mounted 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.

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

[0011] As a further technical solution, the support leg comprises a first support leg and a second support leg, the proportional electromagnetic valve comprises a first proportional electromagnetic valve and a second proportional electromagnetic valve, one end of the first proportional electromagnetic valve and the second proportional electromagnetic valve is respectively connected with the first support leg and the second support leg, and is used to control the first support leg and the second support leg to stretch or shrink or keep the original state.

[0012] As a further technical solution, the other end of the first proportional electromagnetic valve and the second proportional electromagnetic valve is connected with the controller module, and a first proportional electromagnetic valve control module is arranged between the first proportional electromagnetic valve and the controller module, and a second proportional electromagnetic valve control module is arranged between the second proportional electromagnetic valve and the controller module.

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

[0014] In a second aspect, the application provides a laser radar-based two-end busy support leg control method, which is based on the laser radar-based two-end busy support leg control system provided in the first aspect, and comprises:

[0015] S1: presetting installation positioning size error of support brackets of left and right support legs and 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 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 a CAN bus;

[0017] S3: after the controller module receives the height values of the first laser ranging radar and the second laser ranging radar, the controller module judges and outputs control instructions to the first proportional electromagnetic valve and the second proportional electromagnetic valve;

[0018] S4: after the first proportional electromagnetic valve and the second proportional electromagnetic valve receive the control instructions, the first support leg and the second support leg are controlled to stretch, shrink or remain in the original state.

[0019] As a further technical solution, the method of judging in S3 comprises:

[0020] When the controller module judges (H1-H2)±E a ≤E m according to the received height values of the first laser ranging radar and the second laser ranging radar, the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, at this time, the controller outputs a control instruction to keep the original state to the first proportional electromagnetic valve and the second proportional electromagnetic valve, and then controls the first support leg and the second support leg to keep 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, E a is the installation positioning size error of the support brackets of the left and right support legs, and E m is the measurement error between the first support leg and the second support leg.

[0021] As a further technical solution, the method of judging in S3 further comprises: when the controller module judges (H1-H2)>E m +E a according to the received height values of the first laser ranging radar and the second laser ranging radar, the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, at this time, the controller outputs a shrink control instruction to the first proportional electromagnetic valve, and then controls the first support leg to shrink until (H1-H2)±E a ≤E m is met, or the controller outputs an expansion control instruction to the second proportional electromagnetic valve, and then controls the second support leg to expand until (H1-H2)±E a ≤E m is met.

[0022] As a further technical solution, the method of judging in the S3 further comprises: when the control module judges (H1-H2)<-(E m +E a ) according to the received height values of the first laser ranging radar and the second laser ranging radar, the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, at this time, an extension control instruction is output to the first proportional electromagnetic valve, and then the first support leg is controlled to extend until H1-H2)±E a ≤E m is met and stop; or a contraction control instruction is output to the second proportional electromagnetic valve, and then the second support leg is controlled to contract until H1-H2)±E a ≤E m is met and stop.

[0023] The one or more technical solutions of the present application have the following beneficial effects:

[0024] (1) The first laser ranging radar and the second laser ranging radar in the laser radar module can measure the height values of the first laser ranging radar and the second laser ranging radar respectively, and the environmental topographic information of the engineering equipment at present can be roughly understood according to the two height values. The controller module obtains the height values and judges and analyzes according to the judgment result, outputs the corresponding control instruction to the execution module, and can control the support leg more accurately, and improves the stable and safe operation of the equipment in different environments.

[0025] (2) After the controller module receives the height values of the first laser ranging radar and the second laser ranging radar, the judgment result is obtained by judging according to the judgment formula, which realizes the control of the support leg extension or contraction or keeping the original state according to the topographic information of the engineering equipment at present. The adaptability to complex terrain is enhanced, the control instruction is adjusted in real time according to the topographic information (the height values of the first laser ranging radar and the second laser ranging radar), so that the engineering equipment can better adapt to complex terrain such as slope and pit, and the working efficiency and safety of the engineering equipment are improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] The drawings accompanying the specification of the present application form a part of the present application and serve to provide further understanding of the present application, and the illustrative embodiments of the present application and their descriptions serve to explain the present application, and do not constitute improper limitations on the present application.

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

[0028] It should be noted that the following detailed description is illustrative only, and is intended to provide further description of the application. Unless otherwise defined, 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 application belongs.

[0029] Example one

[0030] The existing two busy equipment, each has a support leg, and each of the left and right support leg is installed with a support bracket, the embodiment provides a two busy support leg control system based on laser radar, such as Figure 1 The structure diagram of the control system is shown, including: controller module, laser radar module and execution module; wherein the controller module is respectively connected with the laser radar module and the execution module, the laser radar module is arranged on the support bracket, specifically: the laser radar module includes first laser ranging radar and second laser ranging radar, and the first laser ranging radar and the second laser ranging radar are respectively installed on the support bracket 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, the second laser ranging radar is used to measure the height value of the second laser ranging radar, and the first laser ranging radar and the second laser ranging radar are respectively connected with the controller module through 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 signal, and the CAN low-speed line CAN_L is used to transmit low-level signal.

[0031] The execution module includes a proportional electromagnetic valve, one end of which is connected with the support leg, and the other end of which is connected with the controller module. Specifically, the support leg includes a first support leg and a second support leg, and two proportional electromagnetic valves are arranged in the embodiment, including a first proportional electromagnetic valve and a second proportional electromagnetic valve, one end of each of the first proportional electromagnetic valve and the second proportional electromagnetic valve is connected with the first support leg and the second support leg respectively, for controlling the first support leg and the second support leg to stretch or contract or remain in the original state, and the other end of each of the first proportional electromagnetic valve and the second proportional electromagnetic valve is connected with the controller module. A first proportional electromagnetic valve control module is arranged between the first proportional electromagnetic valve and the controller module, and a second proportional electromagnetic valve control module is arranged between the second proportional electromagnetic valve and the controller module. The first proportional electromagnetic valve control module and the second proportional electromagnetic valve control module have the same structure, and each includes 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 sent by the controller module are transmitted to the first proportional valve and the second proportional electromagnetic valve through the first proportional electromagnetic valve control module and the second proportional electromagnetic valve control module, so as to control the working state of the first proportional valve and the second proportional electromagnetic valve, and further control the first support leg and the second support leg to stretch or contract or remain in the original state. Specifically, the single-pole double-throw switch is used for switching the control path. For example, in the normal working mode, when the switch is in a position, the control instructions can be smoothly transmitted from the controller module to the proportional valve, so as to realize 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 instructions are guided to other detection devices or standby control lines, for checking the state of the first proportional electromagnetic valve control module, the second proportional electromagnetic valve control module and the proportional valve. The coil and the diode in the protection circuit play a key protection role. When the coil is powered off, a reverse electromotive force is generated. The size of the reverse electromotive force can be high, which can cause damage to the coil itself and the circuit elements connected therewith. The diode connected in parallel at both ends of the coil provides a release path for the reverse electromotive force, so that the reverse current can flow through the diode, avoiding damage to the circuit by the reverse electromotive force. When the coil is powered on, the current flows through the coil, and according to the Ampere rule, a magnetic field is generated around the coil. The strength of the magnetic field is related to the size of the current flowing through the coil and the number of turns of the coil. If the magnetic field is strong enough, it can attract or break the contact, realizing the on-off control of the circuit. For example, when the coil is powered on to generate a magnetic field, the magnetic field force can make the armature move, thereby changing the state of the single-pole double-throw contact. When the coil is powered off, the current in the coil decreases rapidly. According to the electromagnetic induction law, the coil generates a reverse electromotive force trying to maintain the original current. At this time, the parallel diode is forward biased (because of the unidirectional conductivity of the diode, at this time the direction of the reverse electromotive force makes the diode in a forward bias state), which provides a return path for the induced current in the coil.This circuit allows the energy in the coil to be released slowly in the form of current through the diode, rather than in the form of a high voltage surge in the circuit. This protects the coil and other circuit components, and also allows the magnetic field to dissipate relatively smoothly. Ensures that the control command can be accurately received and executed by the proportional valve.

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

[0033] Embodiment Two

[0034] The laser radar-based two-end-bus support leg control method provided in this embodiment is based on the laser radar-based two-end-bus support leg control system provided in Embodiment One, and specifically includes the following steps:

[0035] S1: In the controller module, preset the installation positioning dimensional 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;

[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 the controller module receives the height values of the first laser ranging radar and the second laser ranging radar, it judges and outputs control commands to the first proportional electromagnetic valve and the second proportional electromagnetic valve;

[0038] S4: After the first proportional electromagnetic valve and the second proportional electromagnetic valve receive the control commands, they control the first support leg and the second support leg to extend or retract or remain in the original state.

[0039] In this embodiment, the method of judging in S3 includes: if the controller module determines that (H1-H2)±E a ≤E m when receiving the height values of the first laser ranging radar and the second laser ranging radar, it is determined that the heights of the first laser ranging radar and the second laser ranging radar are consistent, at which time the controller outputs a control command to the first proportional electromagnetic valve and the second proportional electromagnetic valve to maintain the original state, and further controls 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, E a is the installation positioning dimensional error of the support brackets of the left and right support legs, and E m is the measurement error between the first support leg and the second support leg.

[0040] If the control module judges (H1-H2) > E according to the height values of the first laser ranging radar and the second laser ranging radar received m +E a , the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, at this time, a contraction control command is output to the first proportional electromagnetic valve, and then the first supporting leg is controlled to contract until (H1-H2) ± E a ≤E m , the contraction is stopped; or an expansion control command is output to the second proportional electromagnetic valve, and then the second supporting leg is controlled to expand until (H1-H2) ± E a ≤E m , the expansion is stopped.

[0041] If the control module judges (H1-H2) < -(E m +E a ) according to the height values of the first laser ranging radar and the second laser ranging radar received, the controller determines that the heights of the first laser ranging radar and the second laser ranging radar are consistent, at this time, an expansion control command is output to the first proportional electromagnetic valve, and then the first supporting leg is controlled to expand until (H1-H2) ± E a ≤E m , the expansion is stopped; or a contraction control command is output to the second proportional electromagnetic valve, and then the second supporting leg is controlled to contract until (H1-H2) ± E a ≤E m , the contraction is stopped.

[0042] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a double-ended support leg based on lidar, applied to a lidar-based double-ended support leg control system, wherein the double-ended support leg is equipped with a support bracket, comprising: Controller module, LiDAR module, and execution module; The controller module is electrically connected to both the lidar module and the execution module. The lidar module is mounted on the support bracket, and the lidar module includes a first lidar and a second lidar. The first lidar and the second lidar are respectively connected to the controller module via a CAN bus. The execution module includes a proportional solenoid valve, one end of which is connected to the support leg and the other end of which is connected to the controller module; The method is characterized by comprising: 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 measure the height values ​​of the first laser ranging radar and the second laser ranging radar respectively, 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 control commands to the first proportional solenoid valve and the second proportional solenoid valve. S4: After receiving the control command, the first proportional solenoid valve and the second proportional solenoid valve control the first support leg and the second support leg to extend or retract or maintain their original state. The method for determining S3 includes: when the control module determines based on the height values ​​received from the first laser ranging radar and the second laser ranging radar ( - )± ≤ When the controller determines that the heights of the first and second laser ranging radars are the same, it outputs a control command to the first and second proportional solenoid valves to maintain the original state, thereby controlling the first and second support legs to maintain their original state; wherein, The altitude value of the first laser ranging radar. This represents the height of the second laser ranging radar. The installation and positioning dimensional error of the support brackets for the left and right support legs. This refers to the measurement error between the first and second support legs. The method for determining S3 further includes: when the control module determines based on the height values ​​received from the first laser ranging radar and the second laser ranging radar ( - ) + When the controller determines that the heights of the first and second laser ranging radars are the same, it outputs a retraction control command to the first proportional solenoid valve, thereby controlling the first support leg to retract until the desired height is achieved. - )± ≤ Stop at the specified time; or output an extension control command to the second proportional solenoid valve, thereby controlling the extension of the second support leg until the desired condition is met. - )± ≤ Stop when the time comes.

2. The control method for the two-end busy support legs based on lidar as described in claim 1, characterized in that, The method for determining S3 further includes: when the control module determines based on the height values ​​received from the first laser ranging radar and the second laser ranging radar ( - )<-( + When the controller determines that the heights of the first and second laser ranging radars are the same, it outputs an extension control command to the first proportional solenoid valve, thereby controlling the first support leg to extend until the ( ) condition is met. - )± ≤ Stop at the specified time; or output a retraction control command to the second proportional solenoid valve, thereby controlling the retraction of the second support leg until the condition is met. - )± ≤ Stop when the time comes.

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