Control method and device for side ditch cleaning equipment

Abstract

The invention discloses a control method and device for side ditch cleaning equipment, and the method comprises the steps: obtaining a first distance between an operator and the side ditch cleaning equipment based on a second distance and a third distance between the operator and the side ditch cleaning equipment collected by a first distance measurement sensor and a second distance measurement sensor, and a first distance between the first distance measurement sensor and the second distance measurement sensor; calculating the relative distance between the operator and the side ditch cleaning equipment; a connecting line between the first distance measuring sensor and the second distance measuring sensor is parallel to the central axis of the side ditch cleaning equipment; when the relative distance between the operator and the side ditch cleaning equipment is smaller than the safe distance, an instruction for reducing the running speed of the side ditch cleaning equipment is generated, and the side ditch cleaning equipment is controlled to reduce the running speed until the distance between the operator and the side ditch cleaning equipment is larger than the safe distance. The running speed of the equipment is adjusted according to the relation between the set safe distance and the relative distance between the operator and the side ditch cleaning equipment, so that the purposes that the equipment follows the operator and the safe distance is kept are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of ditch cleaning equipment control, and in particular relates to a control method and device for ditch cleaning equipment. Background Art

[0002] The ditch cleaning equipment is mainly used to clean up garbage, weeds and branches in the drainage ditches on both sides of the highway. The shape of the ditch is mainly inverted trapezoidal, and the equipment travels across the ditch to operate. Due to the small space on both sides of the ditch, there are many trees and weeds, and the environment is too complex. The driving function on the vehicle may not be able to control the position relationship between the track and the ditch, which poses a safety hazard. Therefore, the driving function is operated by a remote control. The operator carries a remote control transmitter with him and hangs the transmitter around his neck for operation. Ditch cleaning is a continuous long-term work. The operator needs to operate the remote control to control walking and steering all the time, and also needs to operate the ditch cleaning function. At the same time, the remote control is large in size and heavy in weight. Long-term work will make the operator very tired. Summary of the invention

[0003] In response to the above problems, the present invention proposes a control method and device for ditch cleaning equipment, which adjusts the equipment's travel speed by setting the relationship between a safety distance and the relative distance between an operator and the ditch cleaning equipment, so that the equipment follows the operator and maintains a safe distance.

[0004] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0005] In a first aspect, the present invention provides a method for controlling a ditch cleaning device, comprising:

[0006] The relative distance between the operator and the ditch cleaning device is calculated based on the second distance and the third distance between the operator and the ditch cleaning device collected by the first distance measuring sensor and the second distance measuring sensor, and the first distance between the first distance measuring sensor and the second distance measuring sensor; the connecting line between the first distance measuring sensor and the second distance measuring sensor is parallel to the central axis of the ditch cleaning device;

[0007] When the relative distance between the operator and the ditch cleaning equipment is less than the safe distance, an instruction to reduce the driving speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to reduce the driving speed until the distance between the two is greater than the safe distance.

[0008] In combination with the first aspect, optionally, the first distance measuring sensor and the second distance measuring sensor have the same structure, both comprising a receiver and a transmitter, both receivers are arranged on the ditch cleaning equipment, both transmitters are arranged at the operator, and the distance between the two receivers is the first distance;

[0009] Define the position of the receiver of the first ranging sensor as point a, the position of the receiver of the second ranging sensor as point b, and the position of the transmitter of the first ranging sensor and the second ranging sensor as point c; define the midpoint of the line connecting point a and point b as point d, and the line segment ce intersects the line segment ab perpendicularly at point e, and the length of the line segment ce is h;

[0010] The relative distance between the operator and the gutter cleaning equipment is the length of the line segment cd, which is calculated by the following formula:

[0011] ;

[0012] ;

[0013] = ;

[0014] in, , , The first distance, the second distance and the third distance respectively, The relative distance between the operator and the gutter cleaning equipment.

[0015] In combination with the first aspect, optionally, the control method further includes:

[0016] The moving speed of the operator is calculated based on the position change between the operator and the ditch cleaning equipment in the forward direction and the travel speed of the ditch cleaning equipment per unit time;

[0017] The calculated operator movement speed is compared with the travel speed of the ditch cleaning equipment, and the travel speed of the ditch cleaning equipment and / or the power of the machine in the ditch cleaning equipment is adjusted according to the comparison result until the travel speeds of the two meet the preset requirements.

[0018] In combination with the first aspect, optionally, the control method further includes: the calculation formula of the operator's moving speed is:

[0019] ;

[0020] ;

[0021] in, It is the displacement difference between the operator and the ditch cleaning equipment in the direction of the ditch cleaning equipment per unit time. is the operator moving speed, is the speed at which the gutter cleaning equipment is moving; for The distance between the operator and the gutter cleaning equipment at all times in the direction of the gutter cleaning equipment's advance, for The distance between the operator and the ditch cleaning equipment at all times in the direction of travel of the ditch cleaning equipment.

[0022] In combination with the first aspect, optionally, the control method further includes:

[0023] When the operator's moving speed is consistent with the ditch cleaning equipment's travel speed, the ditch cleaning equipment's travel speed remains unchanged and the machine is set to standard power;

[0024] When the operator's moving speed is greater than the travel speed of the ditch cleaning equipment, an instruction to increase the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to increase the travel speed until it is consistent with the operator's moving speed, and the machine is set to low power;

[0025] When the operator's moving speed is lower than the travel speed of the ditch cleaning equipment, an instruction to reduce the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to reduce the travel speed until it is consistent with the operator's moving speed, and the machine is set to high power.

[0026] In a second aspect, the present invention provides a control device for a ditch cleaning device, comprising: a controller, and a first distance measuring sensor, a second distance measuring sensor, a front wheel driving solenoid valve and a rear wheel driving solenoid valve connected to the controller;

[0027] The first distance measuring sensor and the second distance measuring sensor send the collected second distance and third distance between the operator and the ditch cleaning device to the controller, and the connection line between the first distance measuring sensor and the second distance measuring sensor is parallel to the central axis of the ditch cleaning device;

[0028] The controller calculates the relative distance between the operator and the ditch cleaning device based on the second distance and the third distance between the operator and the ditch cleaning device collected by the first distance measuring sensor and the second distance measuring sensor, and the first distance between the first distance measuring sensor and the second distance measuring sensor; the connection line between the first distance measuring sensor and the second distance measuring sensor is parallel to the central axis of the ditch cleaning device; when the relative distance between the operator and the ditch cleaning device is less than the safety distance, an instruction to reduce the driving speed of the ditch cleaning device is generated and sent to the front wheel driving solenoid valve and the rear wheel driving solenoid valve to control the ditch cleaning device to reduce the driving speed until the distance between the two is greater than the safety distance.

[0029] In combination with the second aspect, optionally, the first distance measuring sensor and the second distance measuring sensor have the same structure, both comprising a receiver and a transmitter, both receivers are arranged on the ditch cleaning equipment, both transmitters are arranged at the operator, and the distance between the two receivers is the first distance;

[0030] Define the position of the receiver of the first ranging sensor as point a, the position of the receiver of the second ranging sensor as point b, and the position of the transmitter of the first ranging sensor and the second ranging sensor as point c; define the midpoint of the line connecting point a and point b as point d, and the line segment ce intersects the line segment ab perpendicularly at point e, and the length of the line segment ce is h;

[0031] The relative distance between the operator and the gutter cleaning equipment is the length of the line segment cd, which is calculated by the following formula:

[0032] ;

[0033] ;

[0034] = ;

[0035] in, , , The first distance, the second distance and the third distance respectively, The relative distance between the operator and the gutter cleaning equipment.

[0036] In combination with the second aspect, optionally, the control device further includes an implement power control valve and a vehicle speed sensor, and the implement power control valve is connected to the controller;

[0037] The controller calculates the operator's moving speed based on the position change between the operator and the ditch cleaning equipment in the forward direction and the driving speed of the ditch cleaning equipment per unit time; compares the calculated operator's moving speed with the driving speed of the ditch cleaning equipment, and controls the front wheel driving solenoid valve, the rear wheel driving solenoid valve and the machine power control valve according to the comparison result, adjusts the driving speed of the ditch cleaning equipment and / or the power of the machine in the ditch cleaning equipment until the driving speeds of the two meet the preset requirements.

[0038] In combination with the second aspect, optionally, the calculation formula of the operator's moving speed is:

[0039] ;

[0040] ;

[0041] in, It is the displacement difference between the operator and the ditch cleaning equipment in the direction of the ditch cleaning equipment per unit time. is the operator moving speed, is the speed at which the gutter cleaning equipment is moving; for The distance between the operator and the gutter cleaning equipment at all times in the direction of the gutter cleaning equipment's advance, for The distance between the operator and the ditch cleaning equipment at all times in the direction of travel of the ditch cleaning equipment.

[0042] In combination with the second aspect, optionally, when the operator's moving speed is consistent with the driving speed of the ditch cleaning equipment, the driving speed of the ditch cleaning equipment remains unchanged, and the machine is set to a standard power;

[0043] When the operator's moving speed is greater than the travel speed of the ditch cleaning equipment, an instruction to increase the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to increase the travel speed until it is consistent with the operator's moving speed, and the machine is set to low power;

[0044] When the operator's moving speed is lower than the travel speed of the ditch cleaning equipment, an instruction to reduce the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to reduce the travel speed until it is consistent with the operator's moving speed, and the machine is set to high power.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The present invention designs a control method and device for ditch cleaning equipment according to the working scenario and operation mode of the ditch cleaning equipment. By installing distance measuring sensors on the ditch cleaning equipment and the operator, the relative position of the operator and the ditch cleaning equipment can be identified. By adjusting the relationship between the set safety distance and the relative distance between the operator and the ditch cleaning equipment, the travel speed of the equipment is adjusted to achieve the purpose of the equipment following the operator and maintaining a safe distance.

[0047] Furthermore, the present invention also proposes to calculate the moving speed of the operator, and control the moving speed of the ditch cleaning equipment according to the calculated moving speed of the operator and the moving speed of the ditch cleaning equipment (measured by a sensor), and at the same time control the power of the working machine. If the operator moves faster, the power of the working machine is appropriately reduced, and if the operator moves slower, the power of the working machine is appropriately increased, thereby achieving the purpose of adaptively adjusting the working power of the working machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor, among which:

[0049] Figure 1 This is one of the installation schematic diagrams of a ditch cleaning device and a control device according to an embodiment of the present invention;

[0050] Figure 2 A schematic diagram of the installation of a vehicle speed sensor according to an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of a distance measuring system composed of a first distance measuring sensor, a second distance measuring sensor, an operator and a ditch cleaning device according to an embodiment of the present invention;

[0052] Figure 4 A diagram showing the relationship between the positions of operators and equipment in one embodiment of the present invention;

[0053] Figure 5 A flow chart of a control method according to an embodiment of the present invention;

[0054] Figure 6 The present invention is a block diagram of a control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

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

[0057] Example 1

[0058] In an embodiment of the present invention, a control method for a ditch cleaning device is provided. Figure 5 As shown, the following steps are included:

[0059] (1) calculating the relative distance between the operator and the ditch cleaning device based on the second distance and the third distance between the operator and the ditch cleaning device collected by the first distance measuring sensor and the second distance measuring sensor, and the first distance between the first distance measuring sensor and the second distance measuring sensor; the line between the first distance measuring sensor and the second distance measuring sensor is parallel to the central axis of the ditch cleaning device;

[0060] (2) When the relative distance between the operator and the gutter cleaning equipment is less than the safe distance, an instruction to reduce the speed of the gutter cleaning equipment is generated, and the gutter cleaning equipment is controlled to reduce the speed until the distance between the two is greater than the safe distance.

[0061] The control method of the ditch cleaning equipment in the embodiment of the present invention adjusts the equipment travel speed by setting the relationship between the safety distance and the relative distance between the operator and the ditch cleaning equipment, so as to achieve the purpose of the equipment following the operator and maintaining a safe distance.

[0062] In a specific implementation of the embodiment of the present invention, the first distance measuring sensor and the second distance measuring sensor have the same structure, both comprising a receiver and a transmitter, both receivers are arranged on the ditch cleaning equipment, both transmitters are arranged at the operator, and the distance between the two transmitters is a first distance;

[0063] Define the position of the receiver of the first ranging sensor as point a, the position of the receiver of the second ranging sensor as point b, and the position of the transmitter of the first ranging sensor and the second ranging sensor as point c; define the midpoint of the line connecting point a and point b as point d, and the line segment ce intersects ab perpendicularly at point e, and the length of the line segment ce is h;

[0064] The relative distance between the operator and the gutter cleaning equipment is the length of the line segment cd, which is calculated by the following formula:

[0065] ;

[0066] ;

[0067] = ;

[0068] in, , , The first distance, the second distance and the third distance respectively, The relative distance between the operator and the gutter cleaning equipment.

[0069] In a specific implementation of the embodiment of the present invention, the control method further includes:

[0070] The moving speed of the operator is calculated based on the position change between the operator and the ditch cleaning equipment in the forward direction and the travel speed of the ditch cleaning equipment per unit time;

[0071] The calculated operator movement speed is compared with the travel speed of the ditch cleaning equipment, and the travel speed of the ditch cleaning equipment and / or the power of the machine in the ditch cleaning equipment is adjusted according to the comparison result until the travel speeds of the two meet the preset requirements.

[0072] In a specific implementation of the embodiment of the present invention, the control method further includes: the calculation formula of the operator's moving speed is:

[0073] ;

[0074] ;

[0075] in, It is the displacement difference between the operator and the ditch cleaning equipment in the direction of the ditch cleaning equipment per unit time. is the operator moving speed, is the speed at which the gutter cleaning equipment is moving; for The distance between the operator and the gutter cleaning equipment at all times in the direction of the gutter cleaning equipment's advance, for The distance between the operator and the ditch cleaning equipment at all times in the direction of travel of the ditch cleaning equipment.

[0076] In a specific implementation of the embodiment of the present invention, the control method further includes:

[0077] When the operator's moving speed is consistent with the ditch cleaning equipment's travel speed, the ditch cleaning equipment's travel speed remains unchanged and the machine is set to standard power;

[0078] When the operator's moving speed is greater than the travel speed of the ditch cleaning equipment, an instruction to increase the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to increase the travel speed until it is consistent with the operator's moving speed, and the machine is set to low power;

[0079] When the operator's moving speed is lower than the travel speed of the ditch cleaning equipment, an instruction to reduce the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to reduce the travel speed until it is consistent with the operator's moving speed, and the machine is set to high power.

[0080] Example 2

[0081] In an embodiment of the present invention, a control device for a ditch cleaning device is provided. Figure 6 As shown, it includes: a controller, and a first distance measuring sensor, a second distance measuring sensor, a front wheel driving solenoid valve and a rear wheel driving solenoid valve connected to the controller; in the specific implementation process, the controller collects data information from the first distance measuring sensor and the second distance measuring sensor through the IO port;

[0082] The first distance measuring sensor and the second distance measuring sensor send the collected second distance and third distance between the operator and the ditch cleaning device to the controller, and the connection line between the first distance measuring sensor and the second distance measuring sensor is parallel to the central axis of the ditch cleaning device;

[0083] The controller calculates the relative distance between the operator and the ditch cleaning device based on the second distance and the third distance between the operator and the ditch cleaning device collected by the first distance sensor and the second distance sensor, and the first distance between the first distance sensor and the second distance sensor; the line between the first distance sensor and the second distance sensor is parallel to the central axis of the ditch cleaning device; when the relative distance between the operator and the ditch cleaning device is less than the safe distance, an instruction to reduce the driving speed of the ditch cleaning device is generated and sent to the front wheel driving solenoid valve and the rear wheel driving solenoid valve to control the ditch cleaning device to reduce the driving speed until the distance between the two is greater than the safe distance. In the specific implementation process, the controller controls the front wheel driving solenoid valve and the rear wheel driving solenoid valve through the PWM port.

[0084] In a specific implementation of the embodiment of the present invention, the first distance measuring sensor and the second distance measuring sensor have the same structure, both comprising a receiver and a transmitter, both receivers are arranged on the ditch cleaning equipment, both transmitters are arranged at the operator, and the distance between the two transmitters is a first distance;

[0085] Define the position of the receiver of the first ranging sensor as point a, the position of the receiver of the second ranging sensor as point b, and the position of the transmitter of the first ranging sensor and the second ranging sensor as point c; define the midpoint of the line connecting point a and point b as point d, and the line segment ce intersects ab perpendicularly at point e, and the length of the line segment ce is h;

[0086] The relative distance between the operator and the gutter cleaning equipment is the length of the line segment cd, which is calculated by the following formula:

[0087] ;

[0088] ;

[0089] = ;

[0090] in, , , The first distance, the second distance and the third distance respectively, The relative distance between the operator and the gutter cleaning equipment.

[0091] In a specific implementation of the embodiment of the present invention, the control device further includes a machine power control valve and a vehicle speed sensor, and the machine power control valve is connected to the controller; in the specific implementation process, the controller controls the front wheel driving solenoid valve and the rear wheel driving solenoid valve through the PWM port; the controller collects data from the vehicle speed sensor through the IO port; Figure 2 The vehicle speed sensor is installed at the crawler travel motor, which can detect the motor rotation angle and then calculate the travel speed of the equipment;

[0092] The controller calculates the operator's moving speed based on the position change between the operator and the ditch cleaning equipment in the forward direction and the driving speed of the ditch cleaning equipment per unit time; compares the calculated operator's moving speed with the driving speed of the ditch cleaning equipment, and controls the front wheel driving solenoid valve, the rear wheel driving solenoid valve and the machine power control valve according to the comparison result, adjusts the driving speed of the ditch cleaning equipment and / or the power of the machine in the ditch cleaning equipment until the driving speeds of the two meet the preset requirements.

[0093] In a specific implementation of the embodiment of the present invention, the calculation formula of the operator's moving speed is:

[0094] ;

[0095] ;

[0096] in, It is the displacement difference between the operator and the ditch cleaning equipment in the direction of the ditch cleaning equipment per unit time. is the operator moving speed, is the speed at which the gutter cleaning equipment is moving; for The distance between the operator and the gutter cleaning equipment at all times in the direction of the gutter cleaning equipment's advance, for The distance between the operator and the ditch cleaning equipment at all times in the direction of travel of the ditch cleaning equipment.

[0097] In a specific implementation of the embodiment of the present invention, when the moving speed of the operator is consistent with the travel speed of the ditch cleaning equipment, the travel speed of the ditch cleaning equipment remains unchanged, and the machine is set to standard power;

[0098] When the operator's moving speed is greater than the travel speed of the ditch cleaning equipment, an instruction to increase the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to increase the travel speed until it is consistent with the operator's moving speed, and the machine is set to low power;

[0099] When the operator's moving speed is lower than the travel speed of the ditch cleaning equipment, an instruction to reduce the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to reduce the travel speed until it is consistent with the operator's moving speed, and the machine is set to high power.

[0100] The working principle of the control device of the ditch cleaning equipment in the embodiment of the present invention is described in detail below in conjunction with a specific implementation manner.

[0101] In the embodiment of the present invention, a single-transmitting and single-receiving first distance measuring sensor and a second distance measuring sensor are used, and the two have the same structure, and both consist of a transmitter and a receiver. Figure 3 The receiver of the single-transmit single-receive distance measuring sensor is installed at point a and point b in the figure, and the transmitters of the two single-transmit single-receive distance measuring sensors are installed on the remote control carried by the operator, so that the relative distance between the ditch cleaning equipment and the remote control carried by the operator can be calculated. At the same time, the moving speed of the operator can be calculated according to the change in the distance between the ditch cleaning equipment and the operator in the driving direction of the ditch cleaning equipment, so that the driving speed of the ditch cleaning equipment and the working power of the machine can be controlled according to the calculated moving speed of the operator.

[0102] Specifically, Figure 1 and Figure 4 As shown, firstly, two single-transmitting and single-receiving first distance measuring sensors A and second distance measuring sensors B are installed on the body of the ditch cleaning equipment. The first distance measuring sensor A is composed of a receiver 1 and a transmitter 4, and the receiver 1 can only receive the signal of the transmitter 4; the second distance measuring sensor B is composed of a receiver 3 and a transmitter 5, and the receiver 3 can only receive the signal of the transmitter 5. Figure 1 As shown. It is known that the distance between the receiver 1 of the first distance measuring sensor A and the receiver 3 of the second distance measuring sensor B is L1, and the two distance measuring sensors are installed parallel to the central axis of the vehicle body 2. Then the transmitter 4 of the first distance measuring sensor A and the transmitter 5 of the second distance measuring sensor B are both installed on the remote control 6 carried by the operator, and the distance between the two transmitters 4 and 5 can be ignored.

[0103] The crawler travel motor has a vehicle speed sensor 7, as shown in Figure 2. By collecting the signal of the vehicle speed sensor 7, the number of revolutions per unit time can be calculated based on the signal collected for each revolution, and then the travel speed of the ditch cleaning equipment can be calculated. .

[0104] During the driving process of the gutter cleaning equipment, the vertical distance between the transmitter 4 and the vehicle body can be calculated according to the positions of the receiver 1 and the transmitter 4 of the first distance measuring sensor A and the receiver 3 and the transmitter 5 of the second distance measuring sensor B. Figure 3 The figure shows a geometric relationship diagram, where a is the receiver position of the first distance sensor A, b is the receiver position of the second distance sensor B, and c is the position of the transmitter of the first distance sensor A / second distance sensor B, that is, the position of the operator. Take the midpoint d of the line connecting a and b, and take the line segment ce to intersect ab perpendicularly at e. Draw a circle with d as the center and cd length R as the radius. The lengths of the line segments ab, ac, and bc in the figure are L1, L2, and L3, respectively, which are known quantities, cd length R, and ce length h. In this way, the relative distance between the operator and the ditch cleaning equipment can be calculated, that is, the length of the line segment cd:

[0105] (1)

[0106] (2)

[0107] (3)

[0108] = (4)

[0109] When R is less than the set safety distance, the alarm measures are activated and the buzzer sounds to remind you. At the same time, the driving speed is reduced until R is greater than the set safety distance.

[0110] Operator moving speed , take the position change between the operator and the equipment in the forward direction per unit time, as shown in the following formula, It is the displacement difference between the operator and the ditch cleaning equipment in the direction of the ditch cleaning equipment per unit time. is the operator moving speed, is the speed at which the gutter cleaning equipment is moving; for The distance between the operator and the gutter cleaning equipment at all times in the direction of the gutter cleaning equipment's advance, for The distance between the operator and the ditch cleaning equipment at all times in the direction of travel of the ditch cleaning equipment.

[0111] (5)

[0112] (6)

[0113] When the calculated operator's moving speed is consistent with the ditch cleaning equipment's speed, the ditch cleaning equipment's speed remains unchanged, and the machine is set to standard power; when the calculated operator's moving speed is greater than the ditch cleaning equipment's speed, the ditch cleaning equipment's speed is adjusted until it is consistent with the operator's moving speed, and the machine is set to low power; when the calculated operator's moving speed is less than the ditch cleaning equipment's speed, the ditch cleaning equipment's speed is reduced until it is consistent with the operator's moving speed, indicating that the operator has reduced the speed at this time to observe the equipment's construction conditions, and the equipment's construction machine is set to high power. In this way, the equipment follows the operator to adjust the speed at any time, and the power size follows the operator's walking speed to adapt to the work purpose.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0118] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

[0119] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for controlling a ditch cleaning device, characterized in that: include: The relative distance between the operator and the ditch cleaning device is calculated based on the second distance and the third distance between the operator and the ditch cleaning device collected by the first distance measuring sensor and the second distance measuring sensor, and the first distance between the first distance measuring sensor and the second distance measuring sensor; the connecting line between the first distance measuring sensor and the second distance measuring sensor is parallel to the central axis of the ditch cleaning device; When the relative distance between the operator and the ditch cleaning equipment is less than the safe distance, an instruction to reduce the driving speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to reduce the driving speed until the distance between the two is greater than the safe distance.

2. A method for controlling a ditch cleaning device according to claim 1, characterized in that: The first distance measuring sensor and the second distance measuring sensor have the same structure, and both include a receiver and a transmitter. The receivers of the two are both arranged on the ditch cleaning equipment, and the transmitters of the two are both arranged at the operator. The distance between the two receivers is the first distance. Define the position of the receiver of the first ranging sensor as point a, the position of the receiver of the second ranging sensor as point b, and the position of the transmitter of the first ranging sensor and the second ranging sensor as point c; define the midpoint of the line connecting point a and point b as point d, and the line segment ce intersects the line segment ab perpendicularly at point e, and the length of the line segment ce is h; The relative distance between the operator and the gutter cleaning equipment is the length of the line segment cd, which is calculated by the following formula: ； ； = ； in, , , The first distance, the second distance and the third distance respectively, The relative distance between the operator and the gutter cleaning equipment.

3. A method for controlling a ditch cleaning device according to claim 1, characterized in that: The control method further comprises: The moving speed of the operator is calculated based on the position change between the operator and the ditch cleaning equipment in the forward direction and the travel speed of the ditch cleaning equipment per unit time; The calculated operator movement speed is compared with the travel speed of the ditch cleaning equipment, and the travel speed of the ditch cleaning equipment and / or the power of the machine in the ditch cleaning equipment is adjusted according to the comparison result until the travel speeds of the two meet the preset requirements.

4. A method for controlling a ditch cleaning device according to claim 3, characterized in that: The control method further includes: the calculation formula of the operator's moving speed is: ； ； in, It is the displacement difference between the operator and the ditch cleaning equipment in the direction of the ditch cleaning equipment per unit time. is the operator moving speed, is the speed at which the gutter cleaning equipment is moving; for The distance between the operator and the gutter cleaning equipment at all times in the direction of the gutter cleaning equipment's advance, for The distance between the operator and the ditch cleaning equipment at all times in the direction of travel of the ditch cleaning equipment.

5. A method for controlling a ditch cleaning device according to claim 3, characterized in that: The control method further comprises: When the operator's moving speed is consistent with the ditch cleaning equipment's travel speed, the ditch cleaning equipment's travel speed remains unchanged and the machine is set to standard power; When the operator's moving speed is greater than the travel speed of the ditch cleaning equipment, an instruction to increase the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to increase the travel speed until it is consistent with the operator's moving speed, and the machine is set to low power; When the operator's moving speed is lower than the travel speed of the ditch cleaning equipment, an instruction to reduce the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to reduce the travel speed until it is consistent with the operator's moving speed, and the machine is set to high power.

6. A control device for ditch cleaning equipment, characterized in that: include: A controller, and a first distance measuring sensor, a second distance measuring sensor, a front wheel driving solenoid valve, and a rear wheel driving solenoid valve connected to the controller; The first distance measuring sensor and the second distance measuring sensor send the collected second distance and third distance between the operator and the ditch cleaning device to the controller, and the connection line between the first distance measuring sensor and the second distance measuring sensor is parallel to the central axis of the ditch cleaning device; The controller calculates the relative distance between the operator and the ditch cleaning device based on the second distance and the third distance between the operator and the ditch cleaning device collected by the first distance measuring sensor and the second distance measuring sensor, and the first distance between the first distance measuring sensor and the second distance measuring sensor; the connection line between the first distance measuring sensor and the second distance measuring sensor is parallel to the central axis of the ditch cleaning device; when the relative distance between the operator and the ditch cleaning device is less than the safety distance, an instruction to reduce the driving speed of the ditch cleaning device is generated and sent to the front wheel driving solenoid valve and the rear wheel driving solenoid valve to control the ditch cleaning device to reduce the driving speed until the distance between the two is greater than the safety distance.

7. A control device for ditch cleaning equipment according to claim 6, characterized in that: The first distance measuring sensor and the second distance measuring sensor have the same structure, and both include a receiver and a transmitter. The receivers of the two are both arranged on the ditch cleaning equipment, and the transmitters of the two are both arranged at the operator. The distance between the two receivers is the first distance. Define the position of the receiver of the first ranging sensor as point a, the position of the receiver of the second ranging sensor as point b, and the position of the transmitter of the first ranging sensor and the second ranging sensor as point c; define the midpoint of the line connecting point a and point b as point d, and the line segment ce intersects the line segment ab perpendicularly at point e, and the length of the line segment ce is h; The relative distance between the operator and the gutter cleaning equipment is the length of the line segment cd, which is calculated by the following formula: ； ； = ； in, , , The first distance, the second distance and the third distance respectively, The relative distance between the operator and the gutter cleaning equipment.

8. A control device for ditch cleaning equipment according to claim 6, characterized in that: The control device further comprises an implement power control valve and a vehicle speed sensor, wherein the implement power control valve is connected to the controller; The controller calculates the operator's moving speed based on the position change between the operator and the ditch cleaning equipment in the forward direction and the driving speed of the ditch cleaning equipment per unit time; compares the calculated operator's moving speed with the driving speed of the ditch cleaning equipment, and controls the front wheel driving solenoid valve, the rear wheel driving solenoid valve and the machine power control valve according to the comparison result, adjusts the driving speed of the ditch cleaning equipment and / or the power of the machine in the ditch cleaning equipment until the driving speeds of the two meet the preset requirements.

9. A control device for ditch cleaning equipment according to claim 8, characterized in that: The calculation formula of the operator's moving speed is: ； ； in, It is the displacement difference between the operator and the ditch cleaning equipment in the direction of the ditch cleaning equipment per unit time. is the operator moving speed, is the speed at which the gutter cleaning equipment is moving; for The distance between the operator and the gutter cleaning equipment at all times in the direction of the gutter cleaning equipment's advance, for The distance between the operator and the ditch cleaning equipment at all times in the direction of travel of the ditch cleaning equipment.

10. A control device for ditch cleaning equipment according to claim 8, characterized in that: When the operator's moving speed is consistent with the ditch cleaning equipment's travel speed, the ditch cleaning equipment's travel speed remains unchanged and the machine is set to standard power; When the operator's moving speed is greater than the travel speed of the ditch cleaning equipment, an instruction to increase the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to increase the travel speed until it is consistent with the operator's moving speed, and the machine is set to low power; When the operator's moving speed is lower than the travel speed of the ditch cleaning equipment, an instruction to reduce the travel speed of the ditch cleaning equipment is generated, and the ditch cleaning equipment is controlled to reduce the travel speed until it is consistent with the operator's moving speed, and the machine is set to high power.

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