Cantilever crane anti-collision method, processor, control device and engineering machinery

Abstract

The invention discloses a cantilever crane anti-collision method, a processor, a control device and an engineering machine. The cantilever crane anti-collision method comprises the steps that it is determined that an obstacle exists in a preset working range of a cantilever crane of the engineering machine; determining the relative collision distance between the obstacle and the boom; calculating collision time according to the relative collision distance; determining a time threshold array; comparing the collision time with each time threshold in the time threshold array, and determining an anti-collision level of the cantilever crane according to a comparison result; and controlling the engineering machinery to execute corresponding anti-collision operation according to the anti-collision level of the cantilever crane. The cantilever crane anti-collision method is simple and easy to operate, and the use safety of the engineering machinery can be further improved.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering machinery, and specifically relates to an arm anti-collision method, a processor, a control device and engineering machinery. Background Art

[0002] With the development of the construction machinery (such as concrete pump trucks) industry, the extreme lightweight and long-distance operation of construction machinery have become important trends. Due to the limited vision of nighttime operation or blind spots in construction scenes such as high-rise buildings, operators cannot fully understand the working conditions, and cannot respond to the impending collision of construction machinery in time to avoid risks. If the concrete boom is hit by a large impact collision, it will cause irreversible serious damage. Summary of the invention

[0003] The purpose of the present application is to provide a boom anti-collision method, a processor, a control device and an engineering machinery. The boom anti-collision method is simple and easy to operate, and can further improve the safety of the use of the engineering machinery.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a boom anti-collision method, the boom anti-collision method comprising:

[0005] Determine that there are obstacles within the preset working range of the boom of the construction machinery;

[0006] Determine the relative collision distance between the obstacle and the boom;

[0007] Calculate collision time based on relative collision distance;

[0008] Determine the time threshold array;

[0009] Compare the collision time with each time threshold in the time threshold array, and determine the boom anti-collision level according to the comparison result;

[0010] Control the engineering machinery to perform corresponding anti-collision operations according to the anti-collision level of the boom.

[0011] In an embodiment of the present application, determining the relative collision distance between the obstacle and the boom includes:

[0012] Obtain the preset safe stop distance, the maximum boom swing distance, and the relative distance between the obstacle and the boom section closest to the obstacle;

[0013] The relative collision distance is calculated as follows:

[0014] ΔD=D1-D2-D3

[0015] Among them, ΔD is the relative collision distance; D1 is the relative distance; D2 is the preset safety stop distance; and D3 is the maximum swing distance of the boom.

[0016] In the embodiment of the present application, the maximum swing distance of the boom is determined by the following method:

[0017] Obtain the relative velocity between the obstacle and the boom section, the initial phase of the boom section velocity, the natural frequency of the boom section, and the damping coefficient of the boom section;

[0018] Calculate the maximum swing distance of the boom according to the following formula:

[0019]

[0020] Where, v is the relative velocity between the obstacle and the boom section; t is the time; σ is the natural frequency of the boom section; is the initial phase of the boom section’s velocity; ξ is the boom section’s damping coefficient.

[0021] In an embodiment of the present application, calculating the collision time according to the relative collision distance includes:

[0022] Obtain the relative speed and relative motion acceleration between the obstacle and the arm section on the boom closest to the obstacle;

[0023] The collision time is calculated as follows:

[0024]

[0025] Among them, TTC is the collision time; a is the relative motion acceleration.

[0026] In an embodiment of the present application, the time threshold array includes a warning time threshold, a deceleration time threshold, and a braking time threshold, and determining the time threshold array includes:

[0027] Obtain the braking time of the boom section, the response time of the control system of the construction machinery, the operation reaction time and the early warning triggering proportional coefficient;

[0028] Determine the sum of the control system response time, the operation reaction time and the braking time as the warning time threshold;

[0029] Calculate the product of the operation reaction time and the warning trigger proportional coefficient;

[0030] Determine the control system response time, braking time and the sum of their products as a deceleration time threshold;

[0031] The sum of the control system response time and the braking time is determined to be a braking time threshold.

[0032] In the embodiment of the present application, the braking time is determined by:

[0033] Get the angular velocity and braking deceleration of the arm section;

[0034] The braking time is calculated as follows:

[0035]

[0036] Among them, t2 is the braking time, w i is the angular velocity of the arm section, a i is the braking deceleration.

[0037] In an embodiment of the present application, determining the anti-collision level of the boom according to the comparison result includes:

[0038] When the collision time is less than the braking time threshold, the boom anti-collision level is determined to be the first boom anti-collision level;

[0039] When the collision time is greater than the braking time threshold and less than the deceleration time threshold, the boom anti-collision level is determined to be the second boom anti-collision level;

[0040] When the collision time is greater than the deceleration time threshold and less than the warning time threshold, the boom anti-collision level is determined to be the third boom anti-collision level.

[0041] In an embodiment of the present application, the engineering machinery includes a first early warning prompt device, a second early warning prompt device, and a boom speed adjustment member, and controlling the engineering machinery to perform corresponding anti-collision operations according to the boom anti-collision level includes:

[0042] When the boom anti-collision level is the third boom anti-collision level, controlling the first early warning prompt device to send a first prompt signal; or,

[0043] When the boom anti-collision level is the second boom anti-collision level, determining the deceleration proportional coefficient;

[0044] Determining an input value of the control signal of the boom speed adjusting member based on the deceleration proportional coefficient and an initial value of the control signal of the boom speed adjusting member;

[0045] The control arm performs a first deceleration operation based on an input value of the control signal;

[0046] Controlling the second early warning device to send out a second warning signal, wherein the warning level of the second warning signal is greater than the warning level of the first warning signal; or

[0047] When the boom anti-collision level is the third boom anti-collision level, controlling the boom to perform a second deceleration operation based on a minimum value of the control signal;

[0048] The first warning prompt device and the second warning prompt device are controlled to send out a first prompt signal and a second prompt signal respectively.

[0049] In an embodiment of the present application, determining the deceleration ratio coefficient includes:

[0050] Obtain a first preset parameter and a second preset parameter;

[0051] The deceleration ratio is determined as follows:

[0052] K=me -nTtC

[0053] Wherein, K is the deceleration proportional coefficient; m is the first preset parameter; and n is the second preset parameter.

[0054] A second aspect of the present application provides a processor configured to execute the above-mentioned boom anti-collision method.

[0055] A third aspect of the present application provides a control device for engineering machinery, the control device comprising the above-mentioned processor.

[0056] A fourth aspect of the present application provides an engineering machine, which includes the above-mentioned control device for engineering machinery.

[0057] It can be seen from the above technical solution that the boom anti-collision method includes: determining that there is an obstacle within the preset working range of the boom of the engineering machinery; determining the relative collision distance between the obstacle and the boom; calculating the collision time according to the relative collision distance; determining a time threshold array; comparing the collision time with each time threshold in the time threshold array, and determining the boom anti-collision level according to the comparison result; and controlling the engineering machinery to perform corresponding anti-collision operations according to the boom anti-collision level. The boom anti-collision method is simple and easy to operate, and the boom anti-collision level is graded based on the collision time, so that the engineering machinery can perform targeted anti-collision operations in various situations, thereby improving the safety and practicality of the use of the engineering machinery.

[0058] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0060] Figure 1 This is a schematic diagram of the main process of the boom anti-collision method in the embodiment of the present application;

[0061] Figure 2 This is a schematic diagram of the structure of the engineering machinery in the embodiment of the present application;

[0062] Figure 3 This is a schematic diagram of a working scene of an engineering machinery in an embodiment of the present application;

[0063] Figure 4 A schematic diagram of the relative collision distance between the boom and the obstacle in the embodiment of the present application;

[0064] Figure 5 It is a schematic diagram of the composition of the main components of the engineering machinery in the embodiment of the present application.

[0065] Description of Reference Numerals

[0066] 1-construction machinery; 101-boom; 1011-arm section; 2-obstacle; 3-obstacle detector; 4-distance detector; 5-angle detector; 6-sensing unit; 7-industrial computer; 8-controller; 9-computing unit; 10-control unit; 11-first early warning prompt device; 12-second early warning prompt device; 13-boom speed adjustment member; 14-execution unit. DETAILED DESCRIPTION

[0067] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0068] In an embodiment of the present application, a method for preventing a boom from collision is provided, such as Figure 1 As shown, the arm anti-collision method comprises the following steps:

[0069] Step S101 : determining that an obstacle 2 exists within a preset working range of the boom 101 of the engineering machine 1 .

[0070] Specifically, the engineering machinery 1 in this embodiment may be a concrete pump truck and includes a processor and an obstacle detector 3 that is communicatively connected to the processor. The obstacle detector 3 may be a camera (such as at least one of a monocular camera, a binocular camera, or an infrared camera) that can collect images or videos within the working range of the engineering machinery 1. The camera may be set on the turntable of the boom 101 of the engineering machinery 1 or on both sides of some arm sections 1011 of the boom 101 (the camera in this embodiment may also be set on other components of the engineering machinery 1 according to actual use requirements). The preset working range is pre-stored in the processor and can be retrieved when needed. The camera sends the image or video it collects to the processor, and the processor processes the above image or video accordingly. Based on the processing result, it can be determined whether there is an obstacle 2 within the preset working range of the engineering machinery 1. For example, when it is identified that there is an obstacle 2 in the image or video, the processor further determines the distance between the obstacle 2 and the arm section 1011 on the boom 101 that is closest to the obstacle 2. If the above distance is within the preset working range, it means that there is an obstacle 2 within the preset working range of the engineering machinery 1.

[0071] Step S102: determining the relative collision distance between the obstacle 2 and the boom 101 .

[0072] In one embodiment of the present application, step S102 of determining the relative collision distance between the obstacle 2 and the boom 101 further includes steps S101 to S202, wherein:

[0073] Step S101: obtaining a preset safe stop distance, a maximum boom swing distance, and a relative distance between an obstacle 2 and a boom section 1011 on the boom 101 that is closest to the obstacle 2 .

[0074] Specifically, the preset safety stop distance is pre-stored in the processor and can be retrieved when needed. Figure 2As shown, the engineering machinery 1 in this embodiment also includes a distance detector 4 (such as a radar sensor, which can be selected from at least one of a laser radar, a millimeter-wave radar or an ultrasonic radar) and an angle detector 5 (such as an inclination sensor) which are communicatively connected to the processor. The distance detector 4 can be arranged on both sides of some arm sections 1011 of the boom 101 (the radar sensor in this embodiment can also be arranged on other components of the engineering machinery 1 according to actual use requirements), and is used to collect information such as the position of the obstacle 2, the distance between the obstacle 2 and the distance detector 4, and the movement speed of the obstacle 2; the inclination sensor is arranged on both sides of each arm section 1011 of the boom 101, and can collect information such as the angle, angular velocity and angular acceleration of each arm section 1011. The distance detector 4 and the angle detector 5 can collect the above information in real time and send the above information to the processor. Furthermore, the processor also pre-stores a design parameter array of the boom 101, which includes size information of each arm section 1011 (such as length, width, thickness, etc.). After receiving the angle, angular velocity, angular acceleration and other information of each arm section 1011 sent by the angle detector 5, the processor converts the angle of each arm section 1011 into the joint angle of the boom 101, and then combines the angle, angular velocity, angular acceleration and other information of each arm section 1011 to calculate the position coordinates of each joint of the boom 101 and the motion state of the boom, so as to realize boom posture modeling.

[0075] After the arm posture modeling is completed, the arm posture model is obtained. The processor can calculate the position coordinates of the obstacle 2 and the relative distance between the obstacle 2 and the arm section 1011 closest to the obstacle 2 on the arm 101 based on the data of constructing the arm posture model (such as Figure 3 shown).

[0076] In actual use, the distance detector 4, obstacle detector 3 and angle detector 5 in this embodiment send their respective detection results to the processor after the detection is completed, and the processor performs frame matching on the above detection results to ensure the time consistency of the data. After that, the processor filters the redundant detection results outside the preset working range of the boom 101 according to the real-time posture of the boom 101 to reduce the redundant calculation of the processor. After the above processing is completed, the processor filters the interference of the boom 101 itself within the preset working range to avoid data interference caused by the boom 101 itself, which is conducive to improving the accuracy of control. Further, the processor extracts feature points for the remaining detection results after the above two filterings, and performs feature matching on the detection results collected by the distance detector 4 and the obstacle detector 3 on different arm sections 1011 (or at different positions) so as to convert the fused data after feature matching to the same coordinate system. On this basis, the processor uses the fused data to identify the obstacle 2 using two-dimensional image target detection or three-dimensional point cloud target detection and other technologies, and detects the relative distance between the obstacle 2 and the arm section 1011 closest to the obstacle 2 on the boom 101. After the processor calculates the position coordinates and distance information of the obstacle 2 around the boom 101 , the processor simultaneously retrieves the relevant information (such as size information, inclination angle, etc.) of the boom section 1011 closest to the obstacle 2 .

[0077] Furthermore, the engineering machinery 1 in this embodiment is provided with an obstacle detector 3, a distance detector 4 and an angle detector 5 to intelligently sense the environment around the boom 101. The processor processes the detection results of the above detectors to detect and output key information such as the position coordinates of the obstacle 2, the relative distance between the obstacle 2 and the boom 101, and the obstacle type (such as scaffolding or staff), so as to facilitate the operator to perform control based on the above information during the boom operation.

[0078] In one embodiment of the present application, the maximum swing distance of the boom is determined by:

[0079] Step S301 : obtaining the relative speed between the obstacle 2 and the boom section 1011 , the initial phase of the speed of the boom section 1011 , the natural frequency of the boom section 1011 , and the damping coefficient of the boom section 1011 .

[0080] Specifically, the natural frequency of the arm section 1011 and the damping coefficient of the arm section 1011 are pre-stored in the processor and can be retrieved when needed. The above-mentioned arm section 1011 refers to the arm section 1011 on the boom 101 that is closest to the obstacle 2; further, the relative speed between the obstacle 2 and the arm section 1011 can be calculated based on the relative distance change value between the obstacle 2 and the arm section 1011 within a preset time period (such as unit time), and the initial phase of the arm section 1011 is determined according to the length of the arm section 1011 and the posture of the arm section 1011, that is, the processor can calculate the relative speed between the obstacle 2 and the arm section 1011 based on the detection result sent by the distance detector 4, and can also calculate the initial phase of the speed of the arm section 1011 based on the length and posture of the arm section 1011.

[0081] Step S302: Calculate the maximum swing distance of the boom according to the following formula:

[0082]

[0083] Wherein, D3 is the maximum swing distance of the boom; v is the relative speed between the obstacle 2 and the boom section 1011; t is the time; σ is the natural frequency of the boom section 1011; is the initial phase of the velocity of the arm section 1011; ξ is the damping coefficient of the arm section 1011.

[0084] Specifically, since the boom 101 of the engineering machinery 1 is a multi-joint steel structure flexible cantilever beam, a certain amount of swing will be generated due to inertia at the moment of starting and stopping during the operation of the boom 101. The closer to the end of the boom 101, the greater the swing distance generated. At the same time, the greater the inertia brought by different boom 101 operation speeds, the greater the swing distance generated. Therefore, in order to prevent the boom 101 from colliding with the obstacle 2, it is necessary to calculate the maximum swing distance of the boom and determine the collision time based on the maximum swing distance of the boom. After the processor obtains the relative speed between the obstacle 2 and the boom section 1011, the initial phase of the speed of the boom section 1011, the natural frequency of the boom section 1011, and the damping coefficient of the boom section 1011 in step S301, the maximum swing distance of the boom can be calculated according to formula (1).

[0085] Step S202: Calculate the relative collision distance according to the following method:

[0086] ΔD=D1-D2-D3 (2)

[0088] Among them, ΔD is the relative collision distance; D1 is the relative distance; and D2 is the preset safe stopping distance.

[0089] Specifically, Figure 4As shown, the processor obtains the preset safety stop distance and relative distance in step S101, obtains the maximum swing distance of the boom in step S302, and then quickly calculates the relative collision distance according to formula (2).

[0090] Step S103: Calculate the collision time according to the relative collision distance.

[0091] In one embodiment of the present application, calculating the collision time according to the relative collision distance includes:

[0092] Step S401: Obtain the relative motion acceleration between the obstacle 2 and the arm segment 1011 on the boom 101 that is closest to the obstacle 2.

[0093] Specifically, the processor may obtain the relative speed between the obstacle 2 and the arm section 1011 according to the method in step S301, and further calculate the relative motion acceleration based on the obtained relative speed (such as performing a derivative process on the relative speed).

[0094] Step S402: Calculate the collision time according to the following method:

[0095]

[0096] Among them, TTC is the collision time; a is the relative motion acceleration.

[0097] Specifically, the processor can calculate the relative collision distance according to formula (2), obtain the relative speed between the obstacle 2 and the arm section 1011 according to the method in step S301, obtain the relative motion acceleration between the obstacle 2 and the arm section 1011 according to the method in step S401, and then quickly calculate the collision time according to formula (3).

[0098] Furthermore, since the maximum swing distance of the boom and the relative speed between the obstacle 2 and the boom section 1011 are simultaneously introduced when calculating the relative collision distance in this embodiment, the relative collision distance and the relative speed between the obstacle 2 and the boom section 1011 are also introduced when calculating the collision time, that is, the above-mentioned method of calculating the collision time simultaneously considers the relative collision distance and the relative speed between the obstacle 2 and the boom section 1011, that is, the anti-collision method in this embodiment considers the influence of the cantilever beam swing phenomenon at different movement speeds of the boom 101 on the collision occurrence time, and the anti-collision method is closer to the actual use of the construction machinery 1 and is more practical.

[0099] Step S104: Determine a time threshold array.

[0100] In one embodiment of the present application, the time threshold array includes a warning time threshold, a deceleration time threshold, and a braking time threshold. The time threshold array determined in step S104 further includes steps S501 to S505, wherein:

[0101] Step S501: obtaining the braking time of the boom section 1011, the control system response time of the engineering machine 1, the operation reaction time and the warning trigger proportional coefficient.

[0102] Specifically, the control system response time, operation reaction time and warning trigger proportional coefficient of the engineering machine 1 are all pre-stored in the processor and can be retrieved when needed.

[0103] In one embodiment of the present application, the braking time is determined by:

[0104] Step S601: Acquire the angular velocity and braking deceleration of the arm section 1011 .

[0105] Specifically, the arm section 1011 in step S601 refers to the arm section 1011 on the boom 101 that is closest to the obstacle 2. The angular velocity of the arm section 1011 is acquired by the inclination sensor and sent to the processor. The braking deceleration of the arm section 1011 is pre-stored in the processor and can be retrieved when needed.

[0106] Step S602: Calculate the braking time according to the following method:

[0107]

[0108] Among them, t2 is the braking time, w i is the angular velocity of the arm section 1011 (the arm section 1011 is the arm section 1011 closest to the obstacle 2 on the boom 101), a i is the braking deceleration.

[0109] Specifically, after the processor obtains the angular velocity and braking deceleration of the arm section 1011 in step S601, the braking time can be calculated based on formula (4).

[0110] Step S502: Determine the sum of the control system response time, the operation reaction time and the braking time as the warning time threshold.

[0111] Specifically, the processor can calculate the warning time threshold according to the following formula:

[0112] T1=t1+t2+t3 (5)

[0113] Among them, T1 is the warning time threshold, t1 is the control system response time, and t3 is the operation reaction time.

[0114] Step S503: Calculate the product of the operation reaction time and the warning trigger proportionality coefficient;

[0115] Step S504: Determine the sum of the control system response time, the braking time and the product as the deceleration time threshold.

[0116] Specifically, the processor can calculate the deceleration time threshold according to the following formula:

[0117] T2=t1+t2+μt3 (6)

[0118] Wherein, T2 is the deceleration time threshold, μ is the warning trigger proportional coefficient, and the range of μ is 0-1.

[0119] Step S505: Determine the sum of the control system response time and the braking time as a braking time threshold.

[0120] Specifically, the processor can calculate the braking time threshold according to the following formula:

[0121] T3=t1+t2 (7)

[0122] Among them, T3 is the braking time threshold.

[0123] It can be seen from the above that in this embodiment, the deceleration time threshold is greater than the braking time threshold, and the warning time threshold is greater than the deceleration time threshold.

[0124] Step S105: Compare the collision time with each time threshold in the time threshold array, and determine the boom anti-collision level according to the comparison result.

[0125] In one embodiment of the present application, determining the anti-collision level of the boom according to the comparison result in step S105 includes steps S601 to S603, wherein:

[0126] Step S601: when the collision time is less than the braking time threshold, determining the boom anti-collision level to be the first boom anti-collision level;

[0127] Step S602: when the collision time is greater than the braking time threshold and less than the deceleration time threshold, determining that the boom anti-collision level is the second boom anti-collision level;

[0128] Step S603: when the collision time is greater than the deceleration time threshold and less than the warning time threshold, the boom anti-collision level is determined to be the third boom anti-collision level.

[0129] Specifically, after obtaining the collision time, the warning time threshold, the deceleration time threshold and the braking time threshold, the processor first compares the collision time with the braking time threshold. If the collision time is less than the braking time threshold, the boom anti-collision level is determined to be the first boom anti-collision level; if the collision time is greater than the braking time threshold, the collision time is further compared with the deceleration time threshold. If the collision time is greater than the warning time threshold and less than the deceleration time threshold, the boom anti-collision level is determined to be the second boom anti-collision level; if the collision time is greater than the deceleration time threshold, the collision time is further compared with the warning time threshold. If the collision time is greater than the deceleration time threshold and less than the warning time threshold, the boom anti-collision level is determined to be the third boom anti-collision level. In this embodiment, the level of the first boom anti-collision level is higher than the level of the second boom anti-collision level, and the level of the second boom anti-collision level is higher than the level of the third boom anti-collision level.

[0130] Step S106: controlling the engineering machine 1 to perform corresponding anti-collision operations according to the anti-collision level of the boom.

[0131] Specifically, steps S601 to S603 enable the boom anti-collision method in this embodiment to classify the boom anti-collision level based on the collision time, so that the engineering machinery 1 can perform targeted early warning operations in various situations, thereby improving the practicality of the engineering machinery 1.

[0132] In one embodiment of the present application, the engineering machine 1 includes a first warning prompt device 11, a second warning prompt device 12 and a boom speed adjustment member 13, and step S106 controls the engineering machine 1 to perform a corresponding anti-collision operation according to the boom anti-collision level, and further includes steps S701 to S707, wherein:

[0133] Step S701: when the boom anti-collision level is the third boom anti-collision level, controlling the first early warning prompt device 11 to send out a first prompt signal.

[0134] Specifically, the first warning prompt device 11, the second warning prompt device 12 and the boom speed adjustment member 13 in this embodiment are all connected to the processor in communication, wherein the first warning prompt device 11 can be selected as a voice playback module and / or a display module. Further, in this embodiment, the first warning prompt device 11 is selected as a remote controller that integrates a voice playback module (such as a speaker, a loudspeaker) and a display module (such as a display screen). When the processor determines that the boom anti-collision level is the third boom anti-collision level based on the comparison result between the collision time and each time threshold in the time threshold array, the speaker of the remote controller is controlled to play a voice first prompt signal (such as playing a voice message to remind the operator to operate with caution), and at the same time, the display screen of the remote controller is controlled to display the text information and / or image information of the position of the obstacle 2 and the distance between the obstacle 2 and the arm section 1011 closest to the obstacle 2 on the boom 101, so that the operator can manually reduce the movement of the boom 101 and carefully operate the engineering machinery 1 after seeing and / or hearing the above information.

[0135] Step S702: when the boom anti-collision level is the second boom anti-collision level, determine a deceleration proportional coefficient.

[0136] In one embodiment of the present application, determining the deceleration proportional coefficient in step S702 further includes steps S801 and S802, wherein:

[0137] Step S801: Acquire a first preset parameter and a second preset parameter.

[0138] Specifically, in this embodiment, the boom speed adjustment member 13 may be selected as a multi-way valve, which can control the movement of the driving cylinder of the boom section 1011 (the boom section 1011 is the boom section 1011 closest to the obstacle 2 on the boom 101), thereby realizing the movement control of the boom section 1011. In this embodiment, the control signal of the boom speed adjustment member 13 is the control signal of the multi-way valve (such as a current signal). Furthermore, in this embodiment, the first preset parameter, the second preset parameter and the initial value of the control signal are all pre-stored in the processor, and can be retrieved when needed.

[0139] Step S802: Determine the deceleration ratio coefficient according to the following method:

[0140] K=me -nTTC (8)

[0141] Wherein, K is the deceleration proportional coefficient, m is the first preset parameter, and n is the second preset parameter.

[0142] Specifically, when the processor determines that the boom anti-collision level is the second boom anti-collision level based on the comparison result between the collision time and each time threshold in the time threshold array, the first preset parameter, the second preset parameter and the calculated collision time can be retrieved, and the deceleration proportional coefficient is calculated according to formula (8). The deceleration proportional coefficient in this embodiment decays exponentially.

[0143] Step S703 : determining the input value of the control signal of the boom speed regulating component 13 based on the deceleration proportional coefficient and the initial value of the control signal of the boom speed regulating component 13 .

[0144] Specifically, the initial value of the control signal is pre-stored in the processor and can be retrieved when needed. After calculating the deceleration proportional coefficient, the processor can calculate the input value of the control signal of the boom speed adjustment member 13 based on the following formula:

[0145] I=KI0 (9)

[0146] Wherein, I is the input value of the control signal of the boom speed adjusting component 13, and I0 is the initial value of the control signal.

[0147] Step S704: controlling the boom 101 to perform a first deceleration operation based on the input value of the control signal.

[0148] Specifically, after the processor calculates the input value of the control signal of the boom speed adjustment member 13 based on formula (9), the multi-way valve is flow controlled based on the input value of the control signal. Since the deceleration proportional coefficient is exponentially decaying, the input value of the control signal of the multi-way valve also tends to decrease. When the input value of the control signal of the multi-way valve decreases, the flow of the multi-way valve also decreases accordingly, thereby reducing the movement speed of the corresponding arm section 1011 on the boom 101, so that the above-mentioned arm section 1011 performs the first deceleration operation.

[0149] Step S705: Control the second early warning prompt device 12 to send out a second prompt signal, wherein the warning level of the second prompt signal is greater than the warning level of the first prompt signal.

[0150] Specifically, the second early warning prompt device 12 in this embodiment can be selected as an audible and visual alarm set on the side of the boom 101. When the processor determines that the boom anti-collision level is the second boom anti-collision level based on the comparison result between the collision time and each time threshold in the time threshold array, the audible and visual alarm is also controlled to emit a bright light and play a voice message to remind the staff around the boom 101 to be careful of collision, so as to remind the staff around the boom 101 to pay attention to personal safety. Further, in this embodiment, step S704 and step S705 can be performed simultaneously.

[0151] Step S706: when the boom anti-collision level is the first boom anti-collision level, controlling the boom 101 to perform a second deceleration operation based on the minimum value of the control signal.

[0152] Specifically, the minimum value of the control signal is pre-stored in the processor and can be retrieved when needed. When the processor determines that the boom anti-collision level is the first boom anti-collision level based on the comparison result between the collision time and each time threshold in the time threshold array, the processor retrieves the minimum value of the control signal and controls the flow of the multi-way valve based on the minimum value of the control signal, and the flow of the multi-way valve is also reduced to the minimum accordingly, thereby reducing the movement speed of the corresponding boom section 1011 on the boom 101 to the corresponding speed value, so that the above-mentioned boom section 1011 performs the second deceleration operation. Furthermore, in this embodiment, the multi-way valve is controlled based on the minimum value of the control signal, so that the movement speed of the corresponding boom section 1011 on the boom 101 can be reduced to zero, so as to brake the boom 101.

[0153] Step S707: Control the second early warning prompt device 12, and the second early warning prompt device 12 respectively sends out a first prompt signal and a second prompt signal, wherein the warning level of the second prompt signal is greater than the warning level of the first prompt signal.

[0154] Specifically, while executing step S706, the processor controls the speaker of the remote control to play a first voice prompt signal (such as playing a voice message to remind the operator to operate with caution), and controls the display screen of the remote control to display the text information and / or image information of the position of the obstacle 2 and the distance between the obstacle 2 and the arm section 1011 on the boom 101 that is closest to the obstacle 2, so as to remind the operator in the cab of the construction machinery 1 (i.e., the first prompt signal) that there is a risk of collision with the boom 101 and that subsequent operations should be performed with caution; the processor also controls the sound and light alarm to emit a bright light and play a voice message (i.e., the second prompt signal) to remind the workers around the boom 101 to be careful of collision, so as to remind the workers around the boom 101 to pay attention to personal safety.

[0155] Furthermore, after the processor executes step S706-step S707, the operator must manually cancel the first prompt signal and the second prompt signal respectively issued by the second early warning prompt device 12 before performing subsequent operations, which further improves the safety of the construction machinery 1.

[0156] Furthermore, if Figure 5As shown, in this embodiment, the obstacle detector 3, the distance detector 4 and the angle detector 5 can be composed of a sensing unit 6 of the engineering machinery 1, and the processor is replaced by an industrial computer 7 and a controller 8, wherein the industrial computer 7 is a computing unit 9 of the engineering machinery 1, and the controller 8 is a control unit 10 of the engineering machinery 1. The obstacle detector 3 and the distance detector 4 will first send various data obtained to the computing unit 9 (i.e., the industrial computer 7); the angle detector 5 will first send various data obtained to the control unit 10, and the control unit 10 can pass the data sent by the angle detector 5 to the computing unit 9 according to actual needs; the computing unit 9 After the various data are processed accordingly (such as filtering, building a boom posture model and calculating) and the processing results are obtained (such as the relative speed between the obstacle 2 and the boom section 1011, the maximum swing distance of the boom, the relative collision distance and various parameters such as the relative collision distance), the processing results are sent to the control unit 10; the first early warning prompt device 11, the second early warning prompt device 12 and the boom speed adjustment component 13 are the execution unit 14 of the engineering machinery 1, and the control unit 10 controls the first early warning prompt device 11, the second early warning prompt device 12 and the boom speed adjustment component 13 accordingly based on the above processing results.

[0157] In this embodiment, steps S701 to S707 enable the boom anti-collision method to control the boom 101 to automatically decelerate when the boom anti-collision level is the first boom anti-collision level or the second boom anti-collision level, and when the boom anti-collision level is the second boom anti-collision level, control the boom speed adjustment component 13 to reduce the movement speed of the boom 101 based on the deceleration proportional coefficient, so as to retain the input value of the control signal of the boom 101 and avoid excessive system intervention that makes the boom 101 unable to move.

[0158] Another embodiment of the present application provides a processor configured to execute the arm anti-collision method in the above embodiment.

[0159] Another embodiment of the present application provides a control device for engineering machinery, wherein the control device includes the processor in the above embodiment.

[0160] Another embodiment of the present application provides an engineering machine, wherein the engineering machine 1 includes the control device for an engineering machine in the above embodiment.

[0161] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0162] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0163] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0164] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A boom anti-collision method, characterized in that: The arm anti-collision method comprises: Determining that an obstacle (2) exists within a preset working range of a boom (101) of an engineering machine (1); Determining a relative collision distance between the obstacle (2) and the boom (101); Calculating the collision time according to the relative collision distance; Determine the time threshold array; Comparing the collision time with each time threshold in the time threshold array, and determining the boom anti-collision level according to the comparison result; The engineering machinery (1) is controlled to perform corresponding anti-collision operations according to the anti-collision level of the boom.

2. The boom anti-collision method according to claim 1, characterized in that: Determining the relative collision distance between the obstacle (2) and the boom (101) comprises: Obtaining a preset safe stop distance, a maximum boom swing distance, and a relative distance between the obstacle (2) and a boom section (1011) on the boom (101) that is closest to the obstacle (2); The relative collision distance is calculated as follows: ΔD=D1-D2-D3 Among them, ΔD is the relative collision distance; D1 is the relative distance; D2 is the preset safety stop distance; and D3 is the maximum swing distance of the boom.

3. The boom anti-collision method according to claim 2, characterized in that: The maximum swing distance of the boom is determined by the following method: Acquiring the relative speed between the obstacle (2) and the arm section (1011), the initial phase of the speed of the arm section (1011), the natural frequency of the arm section (1011), and the damping coefficient of the arm section (1011); The maximum swing distance of the boom is calculated according to the following formula: Wherein, v is the relative speed between the obstacle (2) and the arm section (1011); t is time; σ is the natural frequency of the arm section (1011); is the initial phase of the velocity of the arm section (1011); ξ is the damping coefficient of the arm section (1011).

4. The boom anti-collision method according to claim 3, characterized in that: Calculating the collision time according to the relative collision distance comprises: Obtaining the relative motion acceleration between the obstacle (2) and the arm section (1011) on the arm frame (101) that is closest to the obstacle (2); The collision time is calculated as follows: Wherein, TTC is the collision time; a is the relative motion acceleration.

5. The boom anti-collision method according to claim 1, characterized in that: The time threshold array includes a warning time threshold, a deceleration time threshold and a braking time threshold, and the determination time threshold array includes: Obtaining the braking time of the arm section (1011) on the arm frame (101) that is closest to the obstacle (2), the control system response time of the engineering machinery (1), the operation reaction time, and the warning trigger proportionality coefficient; Determine the sum of the control system response time, the operation reaction time and the braking time as the warning time threshold; Calculating the product of the operation reaction time and the warning trigger proportional coefficient; Determine a sum of the control system response time, the braking time, and the product as a deceleration time threshold; The braking time threshold is determined as a sum of the control system response time and the braking time.

6. The boom anti-collision method according to claim 5, characterized in that: The braking time is determined by: Obtaining the angular velocity and braking deceleration of the arm section (1011); The braking time is calculated as follows: Wherein, t2 is the braking time, w i is the angular velocity of the arm section (1011), a i is the braking deceleration.

7. The boom anti-collision method according to claim 5, characterized in that: Determining the anti-collision level of the boom according to the comparison results includes: When the collision time is less than the braking time threshold, determining the boom anti-collision level to be the first boom anti-collision level; When the collision time is greater than the braking time threshold and less than the deceleration time threshold, determining that the boom anti-collision level is the second boom anti-collision level; When the collision time is greater than the deceleration time threshold and less than the warning time threshold, the boom anti-collision level is determined to be the third boom anti-collision level.

8. The boom anti-collision method according to claim 7, characterized in that: The engineering machine (1) comprises a first early warning prompt device (11), a second early warning prompt device (12) and a boom speed adjustment member (13), and controlling the engineering machine (1) to perform a corresponding anti-collision operation according to the boom anti-collision level comprises: When the boom anti-collision level is the third boom anti-collision level, controlling the first early warning prompt device (11) to send a first prompt signal; or, When the boom anti-collision level is the second boom anti-collision level, determining a deceleration proportional coefficient; Determining an input value of the control signal of the boom speed adjusting component (13) based on the deceleration proportional coefficient and an initial value of the control signal of the boom speed adjusting component (13); Controlling the boom (101) to perform a first deceleration operation based on an input value of the control signal; controlling the second early warning prompt device (12) to send out a second prompt signal, wherein the warning level of the second prompt signal is greater than the warning level of the first prompt signal; or When the boom anti-collision level is the first boom anti-collision level, controlling the boom (101) to perform a second deceleration operation based on a minimum value of the control signal; The second early warning prompt device (12) and the second early warning prompt device (12) are controlled to respectively send out the first prompt signal and the second prompt signal.

9. The boom anti-collision method according to claim 8, characterized in that: Determining the deceleration proportional coefficient includes: Obtain a first preset parameter and a second preset parameter; The deceleration proportional coefficient is determined according to the following method: K=me -nTTC Among them, K is the deceleration proportional coefficient; m is the first preset parameter; and n is the second preset parameter.

10. A processor, characterized in that: The processor is configured to execute the boom collision avoidance method according to any one of claims 1-9.

11. A control device for engineering machinery, characterized in that: The control device comprises a processor according to claim 10.

12. An engineering machine, characterized in that: The construction machine (1) comprises the control device for a construction machine according to claim 11.

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