Boom collision avoidance methods, processors, control devices and construction machinery

Abstract

This application discloses a boom collision avoidance method, processor, control device, and construction machinery. The boom collision avoidance method includes: determining that an obstacle exists within a preset working range of the construction machinery's boom; determining the relative collision distance between the obstacle and the boom; calculating the collision time based on the relative collision distance; determining a time threshold array; comparing the collision time with each time threshold in the time threshold array; determining the boom collision avoidance level based on the comparison result; and controlling the construction machinery to perform corresponding collision avoidance operations based on the boom collision avoidance level. This boom collision avoidance method is simple and easy to operate, and can further improve the safety of construction machinery.

Description

Technical Field

[0001] This application belongs to the field of engineering machinery technology, specifically relating to a boom anti-collision method, processor, control device, and engineering machinery. Background Technology

[0002] With the development of the construction machinery industry (such as concrete pump trucks), extreme lightweighting and long-distance operation have become important trends. Due to limited visibility during nighttime operations or blind spots in construction scenarios such as building high-rises, operators cannot have a full understanding of the working conditions, let alone react in time to avoid risks from impending collisions with the construction machinery. If the boom of the concrete machine is subjected to a large impact, it will cause irreversible and serious damage. Summary of the Invention

[0003] The purpose of this application is to provide a boom collision avoidance method, processor, control device, and construction machinery. The boom collision avoidance method is simple and easy to operate, and can further improve the safety of construction machinery.

[0004] To achieve the above objectives, the first aspect of this application provides a boom collision avoidance method, which includes:

[0005] It was determined that there were 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 the collision time based on the relative collision distance;

[0008] Determine the time threshold array;

[0009] The collision time is compared with each time threshold in the time threshold array, and the collision avoidance level of the boom is determined based on the comparison results.

[0010] The construction machinery is controlled to perform corresponding anti-collision operations based on the boom's anti-collision rating.

[0011] In embodiments of this application, determining the relative collision distance between the obstacle and the boom includes:

[0012] Obtain the preset safe stopping distance, the maximum swing distance of the boom, and the relative distance between the obstacle and the boom segment closest to the obstacle;

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

[0014] ΔD=D1-D2-D3

[0015] Where ΔD is the relative collision distance; D1 is the relative distance; D2 is the preset safe stopping distance; and D3 is the maximum swing distance of the boom.

[0016] In the embodiments of this application, the maximum swing distance of the boom is determined in the following manner:

[0017] Obtain the relative velocity between the obstacle and the arm segment, the initial phase of the arm segment's velocity, the arm segment's natural frequency, and the arm segment's damping coefficient;

[0018] The maximum swing distance of the boom is calculated using the following formula:

[0019]

[0020] Where v is the relative velocity between the obstacle and the arm segment; t is time; and σ is the natural frequency of the arm segment. ξ represents the initial phase of the arm segment's velocity; ξ is the damping coefficient of the arm segment.

[0021] In the embodiments of this application, calculating the collision time based on the relative collision distance includes:

[0022] Obtain the relative velocity and relative acceleration between the obstacle and the boom segment closest to the obstacle;

[0023] The collision time is calculated as follows:

[0024]

[0025] Where TTC is the collision time and a is the relative acceleration.

[0026] In embodiments of this application, the time threshold array includes a warning time threshold, a deceleration time threshold, and a braking time threshold. Determining the time threshold array includes:

[0027] Obtain the braking time of the boom segment, the response time of the control system of the construction machinery, the operation reaction time, and the early warning trigger ratio coefficient;

[0028] The sum of the control system response time, operation reaction time, and braking time is determined to be the warning time threshold.

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

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

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

[0032] In the embodiments of this application, the braking time is determined in the following manner:

[0033] Obtain the angular velocity and braking deceleration of the boom segment;

[0034] The braking time is calculated as follows:

[0035]

[0036] Where t2 is the braking time, w i Let a be the angular velocity of the arm segment. i This is for braking deceleration.

[0037] In the embodiments of this application, determining the boom's collision avoidance level based on the comparison results includes:

[0038] When the collision time is less than the braking time threshold, the boom collision avoidance level is determined to be the first boom collision avoidance level.

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

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

[0041] In the embodiments of this application, the construction machinery includes a first warning device, a second warning device, and a boom speed regulator. Controlling the construction machinery to perform corresponding anti-collision operations according to the boom anti-collision level includes:

[0042] When the boom's collision avoidance level is the third level, control the first early warning device to issue a first warning signal; or...

[0043] Determine the deceleration ratio when the boom collision avoidance level is the second boom collision avoidance level;

[0044] The input value of the control signal for the boom speed regulator is determined based on the reduction ratio coefficient and the initial value of the control signal for the boom speed regulator.

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

[0046] Control the second early warning device to issue a second warning signal, wherein the warning level of the second warning signal is greater than that of the first warning signal; or,

[0047] When the boom collision avoidance level is the third boom collision avoidance level, the control boom performs a second deceleration operation based on the minimum value of the control signal;

[0048] The control unit controls the second early warning device to issue a first warning signal and a second warning signal, respectively.

[0049] In the embodiments of this application, determining the deceleration ratio coefficient includes:

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

[0051] The deceleration ratio factor is determined as follows:

[0052] K = me -nTtC

[0053] Where K is the deceleration ratio coefficient; m is the first preset parameter; and n is the second preset parameter.

[0054] A second aspect of this application provides a processor configured to perform the above-described boom collision avoidance method.

[0055] A third aspect of this application provides a control device for engineering machinery, the control device including the processor described above.

[0056] The fourth aspect of this application provides an engineering machinery, which includes the aforementioned control device for engineering machinery.

[0057] As can be seen from the above technical solution, the boom collision avoidance method includes: determining that an obstacle exists within a preset working range of the boom of the construction machinery; determining the relative collision distance between the obstacle and the boom; calculating the collision time based on 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 collision avoidance level based on the comparison result; and controlling the construction machinery to perform corresponding collision avoidance operations based on the boom collision avoidance level. This boom collision avoidance method is simple and easy to operate. It classifies the boom collision avoidance level based on the collision time, enabling the construction machinery to perform targeted collision avoidance operations in various situations, thereby improving the safety and practicality of the construction machinery.

[0058] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0059] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

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

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

[0062] Figure 3 This is a schematic diagram of the working scenario of the construction machinery in the embodiments of this application;

[0063] Figure 4 This is a schematic diagram illustrating the relative collision distance between the boom and the obstacle in an embodiment of this application;

[0064] Figure 5 This is a schematic diagram of the main components of the engineering machinery in the embodiments of this application.

[0065] Explanation of reference numerals in the attached figures

[0066] 1-Construction machinery; 101-Boom; 1011-Boom segment; 2-Obstacle; 3-Obstacle detector; 4-Distance detector; 5-Angle detector; 6-Sensing unit; 7-Industrial control computer; 8-Controller; 9-Computing unit; 10-Control unit; 11-First early warning device; 12-Second early warning device; 13-Boom speed adjustment component; 14-Actuation unit. Detailed Implementation

[0067] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0068] This application provides a boom collision avoidance method in its embodiments, such as... Figure 1 As shown, the boom collision avoidance method includes the following steps:

[0069] Step S101: Determine that there is an obstacle 2 within the preset working range of the boom 101 of the construction machinery 1.

[0070] Specifically, in this embodiment, the construction machinery 1 can be a concrete pump truck and includes a processor and an obstacle detector 3 communicatively connected to the processor. The obstacle detector 3 can be a camera (such as at least one of a monocular camera, a binocular camera, or an infrared camera) capable of acquiring images or videos within the working range of the construction machinery 1. The camera can be installed on the turntable of the boom 101 of the construction machinery 1 or on both sides of a portion of the boom 1011 (in this embodiment, the camera can also be installed on other parts of the construction machinery 1 according to actual usage requirements). The preset working range is stored in the processor and can be retrieved when needed. The camera sends the acquired images or videos to the processor, which processes the images or videos accordingly. Based on the processing results, it can determine whether there is an obstacle 2 within the preset working range of the construction machinery 1. For example, if an obstacle 2 is identified in the image or video, the processor further determines the distance between the obstacle 2 and the boom 1011 closest to the obstacle 2. If the distance is within the preset working range, it indicates that there is an obstacle 2 within the preset working range of the construction machinery 1.

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

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

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

[0074] Specifically, the preset safe stopping distance is pre-stored in the processor and can be retrieved when needed. For example... Figure 2As shown, the engineering machinery 1 in this embodiment also includes a distance detector 4 (such as a radar sensor, which can be at least one of lidar, millimeter-wave radar or ultrasonic radar) and an angle detector 5 (such as a tilt sensor) that are communicatively connected to the processor. The distance detector 4 can be set on both sides of some boom segments 1011 of the boom 101 (the radar sensor in this embodiment can also be set on other parts of the engineering machinery 1 according to actual usage requirements) 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 tilt sensor is set on both sides of each boom segment 1011 of the boom 101 and can collect information such as the angle, angular velocity and angular acceleration of each boom segment 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 an array of design parameters for the boom 101. This array includes the dimensional information of each boom segment 1011 (such as length, width, and thickness). After receiving the angle, angular velocity, and angular acceleration information of each boom segment 1011 sent by the angle detector 5, the processor converts the angle of each boom segment 1011 into the joint angle of the boom 101. Then, it combines the angle, angular velocity, and angular acceleration information of each boom segment 1011 to calculate the position coordinates of each joint of the boom 101 and the motion state of the boom, so as to realize the boom posture modeling.

[0075] After the boom attitude modeling is completed, the boom attitude model is obtained. Based on the data from the boom attitude model, the processor can calculate the position coordinates of obstacle 2 and the relative distance between obstacle 2 and the boom segment 1011 on boom 101 that is closest to obstacle 2 (e.g., ...). Figure 3 (As shown).

[0076] In actual use, after the distance detector 4, obstacle detector 3, and angle detector 5 in this embodiment complete their detection, they send their respective detection results to the processor. The processor performs frame matching on the detection results to ensure the temporal consistency of the data. Then, based on the real-time attitude of the boom 101, the processor filters redundant detection results outside the preset working range of the boom 101 to reduce redundant calculations. After the above processing, the processor filters interference from the boom 101 itself within the preset working range to avoid data interference caused by factors of the boom 101 itself, thus improving control accuracy. Further, the processor extracts feature points from the remaining detection results after the above two filtering steps and performs feature matching on the detection results collected by the distance detector 4 and obstacle detector 3 on different boom segments 1011 (or at different locations) to convert the fused data to the same coordinate system. Based on this, the processor uses the fused data to identify the obstacle 2 using techniques such as two-dimensional image target detection or three-dimensional point cloud target detection, and detects the relative distance between the obstacle 2 and the boom segment 1011 closest to the obstacle 2. After the processor calculates the position coordinates and distance of the obstacle 2 around the boom 101, it simultaneously retrieves the relevant information (such as size information, tilt angle, etc.) of the boom segment 1011 that is closest to the obstacle 2.

[0077] Furthermore, in this embodiment, the construction machinery 1 is equipped with an obstacle detector 3, a distance detector 4, and an angle detector 5 to intelligently perceive the environment around the boom 101. The processor processes the detection results of the above detectors and can 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 workers), so that the operator can operate the boom based on the above information.

[0078] In one embodiment of this application, the maximum swing distance of the boom is determined in the following manner:

[0079] Step S301: Obtain the relative velocity between obstacle 2 and arm segment 1011, the initial phase of the velocity of arm segment 1011, the natural frequency of arm segment 1011, and the damping coefficient of arm segment 1011.

[0080] Specifically, the natural frequency and damping coefficient of the boom 1011 are pre-stored in the processor and can be retrieved when needed. The boom 1011 mentioned above refers to the boom 1011 on the boom 101 that is closest to the obstacle 2. Furthermore, the relative velocity between the obstacle 2 and the boom 1011 can be calculated based on the change in the relative distance between the obstacle 2 and the boom 1011 within a preset time period (e.g., per unit time). The initial phase of the boom 1011 is determined based on the length and attitude of the boom 1011. That is, the processor can calculate the relative velocity between the obstacle 2 and the boom 1011 based on the detection results sent by the distance detector 4, and can also calculate the initial phase of the velocity of the boom 1011 based on the length and attitude of the boom 1011.

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

[0082]

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

[0084] Specifically, since the boom 101 of the construction machinery 1 is a multi-joint steel structure flexible cantilever beam, it will swing 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. At the same time, the greater the inertia caused by different operating speeds of the boom 101, the greater the swing distance. 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 obtaining the relative velocity between the obstacle 2 and the boom 1011, the initial phase of the velocity of the boom 1011, the natural frequency of the boom 1011, and the damping coefficient of the boom 1011 in step S301, the processor can calculate the maximum swing distance of the boom according to formula (1).

[0085] Step S202: Calculate the relative collision distance as follows:

[0086] ΔD=D1-D2-D3 (2)

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

[0089] Specifically, such as Figure 4As shown, the processor obtains the preset safe stopping distance and relative distance in step S101, and obtains the maximum swing distance of the boom in step S302. Then, the relative collision distance can be quickly calculated according to formula (2).

[0090] Step S103: Calculate the collision time based on the relative collision distance.

[0091] In one embodiment of this application, calculating the collision time based on the relative collision distance includes:

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

[0093] Specifically, the processor can obtain the relative velocity between the obstacle 2 and the arm segment 1011 in the manner described in step S301, and further calculate the relative motion acceleration based on the obtained relative velocity (such as by differentiating the relative velocity).

[0094] Step S402: Calculate the collision time as follows:

[0095]

[0096] Where TTC is the collision time and a is the relative acceleration.

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

[0098] Furthermore, since this embodiment incorporates the maximum swing distance of the boom and the relative velocity between the obstacle 2 and the boom segment 1011 when calculating the relative collision distance, and also incorporates the relative collision distance and the relative velocity between the obstacle 2 and the boom segment 1011 when calculating the collision time, the above-mentioned method of calculating the collision time simultaneously considers the relative collision distance and the relative velocity between the obstacle 2 and the boom segment 1011. In other words, 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. This anti-collision method is closer to the actual use of the engineering machinery 1 and is more practical.

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

[0100] In one embodiment of this application, the time threshold array includes a warning time threshold, a deceleration time threshold, and a braking time threshold. Step S104, determining the time threshold array, further includes steps S501-S505, wherein:

[0101] Step S501: Obtain the braking time of boom 1011, the response time of the control system of construction machinery 1, the operation reaction time, and the early warning trigger ratio coefficient.

[0102] Specifically, the control system response time, operation reaction time, and early warning trigger ratio of the construction machinery 1 are all pre-stored in the processor and can be retrieved when needed.

[0103] In one embodiment of this application, the braking time is determined in the following manner:

[0104] Step S601: Obtain the angular velocity and braking deceleration of the boom 1011.

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

[0106] Step S602: Calculate the braking time as follows:

[0107]

[0108] Where t2 is the braking time, w i Let a be the angular velocity of boom 1011 (the boom 1011 that is closest to obstacle 2 on boom 101). i This is for braking deceleration.

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

[0110] Step S502: Determine the sum of the control system response time, operation reaction time, and 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] Where 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 early warning triggering ratio coefficient;

[0115] Step S504: Determine the control system response time, braking time, and the sum of their products 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] Where T2 is the deceleration time threshold, and μ is the warning trigger ratio coefficient, where μ ranges from 0 to 1.

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

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

[0121] T3=t1+t2 (7)

[0122] Where T3 is the braking time threshold.

[0123] As can be seen from the above, 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 collision avoidance level based on the comparison results.

[0125] In one embodiment of this application, determining the boom collision avoidance level based on the comparison results in step S105 includes steps S601-S603, wherein:

[0126] Step S601: When the collision time is less than the braking time threshold, determine the boom collision avoidance level as the first boom collision avoidance level;

[0127] Step S602: When the collision time is greater than the braking time threshold and less than the deceleration time threshold, the boom collision avoidance level is determined to be the second boom collision avoidance level.

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

[0129] Specifically, after obtaining the collision time, warning time threshold, deceleration time threshold, and 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 collision avoidance level is determined to be the first boom collision avoidance level. If the collision time is greater than the braking time threshold, it is further compared with the deceleration time threshold. If the collision time is greater than the warning time threshold but less than the deceleration time threshold, the boom collision avoidance level is determined to be the second boom collision avoidance level. If the collision time is greater than the deceleration time threshold, it is further compared with the warning time threshold. If the collision time is greater than the deceleration time threshold but less than the warning time threshold, the boom collision avoidance level is determined to be the third boom collision avoidance level. In this embodiment, the first boom collision avoidance level is higher than the second boom collision avoidance level, and the second boom collision avoidance level is higher than the third boom collision avoidance level.

[0130] Step S106: Control the construction machinery 1 to perform the corresponding anti-collision operation according to the boom anti-collision level.

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

[0132] In one embodiment of this application, the construction machinery 1 includes a first warning device 11, a second warning device 12, and a boom speed regulator 13. Step S106, which controls the construction machinery 1 to perform corresponding anti-collision operations according to the boom anti-collision level, further includes steps S701-S707, wherein:

[0133] Step S701: When the boom collision avoidance level is the third boom collision avoidance level, control the first warning device 11 to issue a first warning signal.

[0134] Specifically, in this embodiment, the first warning device 11, the second warning device 12, and the boom speed regulator 13 are all communicatively connected to the processor. The first warning device 11 can be a voice playback module and / or a display module. Further, in this embodiment, the first warning device 11 is selected as a remote control integrating a voice playback module (such as a speaker) and a display module (such as a screen). When the processor determines the boom's anti-collision level to be the third boom anti-collision level based on the comparison results between the collision time and each time threshold in the time threshold array, it controls the remote control's speaker to play a first voice prompt signal (such as playing a voice message reminding the operator to operate cautiously). Simultaneously, it controls the remote control's display screen to display text and / or image information about the location of the obstacle 2 and the distance between the obstacle 2 and the boom segment 101 on the boom 101 closest to the obstacle 2, so that the operator can see and / or hear the above information and then manually reduce the movement of the boom 101 and carefully operate the construction machinery 1.

[0135] Step S702: When the boom collision avoidance level is the second boom collision avoidance level, determine the deceleration ratio coefficient.

[0136] In one embodiment of this application, determining the deceleration ratio coefficient in step S702 further includes steps S801-S802, wherein:

[0137] Step S801: Obtain the first preset parameter and the second preset parameter.

[0138] Specifically, in this embodiment, the boom speed regulator 13 can be a multi-way valve. This multi-way valve can control the movement of the drive cylinder of the boom segment 1011 (the boom segment 1011 closest to the obstacle 2 on the boom 101), thereby realizing the movement control of the boom segment 1011. In this embodiment, the control signal of the boom speed regulator 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 as follows:

[0140] K = me -nTTC (8)

[0141] Where K is the deceleration ratio 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 results between the collision time and each time threshold in the time threshold array, it can retrieve the first preset parameter, the second preset parameter and the calculated collision time, and calculate the deceleration ratio coefficient according to formula (8). In this embodiment, the deceleration ratio coefficient decays exponentially.

[0143] Step S703: Determine the input value of the control signal of the boom speed regulator 13 based on the deceleration ratio coefficient and the initial value of the control signal of the boom speed regulator 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 ratio coefficient, the processor can calculate the input value of the control signal for the boom speed adjuster 13 based on the following formula:

[0145] I = KI0 (9)

[0146] Where I is the input value of the control signal for the boom speed regulator 13, and I0 is the initial value of the control signal.

[0147] Step S704: Control boom 101 performs the 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 regulator 13 based on formula (9), it performs flow control on the multi-way valve based on the input value of the control signal. Since the deceleration ratio coefficient decays exponentially, 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 boom section 1011 on the boom 101 so that the boom section 1011 can perform the first deceleration operation.

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

[0150] Specifically, in this embodiment, the second early warning device 12 can be an audible and visual alarm installed on the side of the boom 101. When the processor determines that the boom's anti-collision level is the second boom anti-collision level based on the comparison results between the collision time and each time threshold in the time threshold array, it also controls the audible and visual alarm to emit a bright light and play a voice message reminding the staff around the boom 101 to be careful of collisions, so as to remind the staff around the boom 101 to pay attention to personal safety. Furthermore, in this embodiment, steps S704 and S705 can be performed simultaneously.

[0151] Step S706: When the boom collision avoidance level is the first boom collision avoidance level, control 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's collision avoidance level is the first boom collision avoidance level based on the comparison between the collision time and various time thresholds in the time threshold array, the processor retrieves the minimum value of the control signal and performs flow control on the multi-way valve based on the minimum value of the control signal. The flow of the multi-way valve is also reduced to the minimum accordingly, thereby reducing the movement speed of the corresponding boom segment 1011 on the boom 101 to the corresponding speed value, so that the boom segment 1011 can perform the second deceleration operation. Further, in this embodiment, the flow control of the multi-way valve based on the minimum value of the control signal can reduce the movement speed of the corresponding boom segment 1011 on the boom 101 to zero, thereby braking the boom 101.

[0153] Step S707: Control the second warning device 12 to issue a first warning signal and a second warning signal respectively, wherein the warning level of the second warning signal is greater than that of the first warning 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 reminding the operator to operate with caution), and controls the display screen of the remote control to display text and / or image information of the location of obstacle 2 and the distance between obstacle 2 and the nearest boom segment 1011 on boom 101, 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 boom 101 and to proceed with caution; it also controls the audible and visual alarm to emit a light and play a voice message reminding the staff around boom 101 to be careful of collision (i.e., the second prompt signal), so as to remind the staff around boom 101 to pay attention to personal safety.

[0155] Furthermore, after the processor completes steps S706-S707, the operator must manually deactivate the first and second warning signals issued by the second warning device 12 before proceeding with subsequent operations, thereby further enhancing the safety of the construction machinery 1.

[0156] Furthermore, such as Figure 5As shown, in this embodiment, obstacle detector 3, distance detector 4, and angle detector 5 can form the sensing unit 6 of the construction machinery 1. The processor is replaced by an industrial control computer 7 and a controller 8. The industrial control computer 7 is the computing unit 9 of the construction machinery 1, and the controller 8 is the control unit 10 of the construction machinery 1. Obstacle detector 3 and distance detector 4 first send various data to the computing unit 9 (i.e., the industrial control computer 7); angle detector 5 first sends various data to the control unit 10. The control unit 10 can transmit the data received from angle detector 5 to the computing unit 9 according to actual needs. The computing unit 9 then processes the data... After processing various data (such as filtering, constructing a boom posture model, and calculation) and obtaining processing results (such as the relative speed between obstacle 2 and boom section 1011, the maximum swing distance of the boom, the relative collision distance, and other parameters), the processing results are sent to the control unit 10. The first warning device 11, the second warning device 12, and the boom speed adjustment component 13 are the execution units 14 of the construction machinery 1. The control unit 10 performs corresponding control on the first warning device 11, the second warning device 12, and the boom speed adjustment component 13 based on the above processing results.

[0157] In this embodiment, steps S701-S707 enable the boom anti-collision method to control the boom 101 to automatically decelerate when the boom anti-collision level is the first or the second level. When the boom anti-collision level is the second level, the boom speed regulator 13 is controlled to reduce the movement speed of the boom 101 based on the deceleration ratio coefficient, thereby preserving the input value of the control signal of the boom 101 and avoiding excessive system intervention that would prevent the boom 101 from moving.

[0158] Another embodiment of this application provides a processor configured to perform the boom collision avoidance method described in the above embodiments.

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

[0160] Another embodiment of this application provides an engineering machinery, the engineering machinery 1 including the control device for engineering machinery in the above embodiments.

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

[0162] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0163] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0164] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for preventing collisions with a boom, characterized in that, The boom collision avoidance method includes: It is determined that there is an obstacle (2) within the preset working range of the boom (101) of the construction machinery (1); Determine the relative collision distance between the obstacle (2) and the boom (101); The collision time is calculated based on the relative collision distance. Determine the time threshold array; The collision time is compared with each time threshold in the time threshold array, and the collision avoidance level of the boom is determined based on the comparison result. The engineering machinery (1) is controlled to perform corresponding anti-collision operations according to the boom anti-collision level; wherein, determining the relative collision distance between the obstacle (2) and the boom (101) includes: Obtain the preset safe stop distance, the maximum swing distance of the boom, and the relative distance between the obstacle (2) and the boom segment (1011) on the boom (101) that is closest to the obstacle (2); The relative collision distance is calculated as follows: in, The relative collision distance; The relative distance; The preset safe stopping distance; This refers to the maximum swing distance of the boom; The maximum swing distance of the boom is determined in the following way: The relative velocity between the obstacle (2) and the arm segment (1011), the initial phase of the velocity of the arm segment (1011), the natural frequency of the arm segment (1011), and the damping coefficient of the arm segment (1011) are obtained. The maximum swing distance of the boom is calculated using the following formula: in, The relative velocity between the obstacle (2) and the arm segment (1011); For time; The natural frequency of the arm segment (1011); The initial phase of the velocity of the arm segment (1011); is the damping coefficient of the arm segment (1011).

2. The boom collision avoidance method according to claim 1, characterized in that, The calculation of the collision time based on the relative collision distance includes: Obtain the relative acceleration between the obstacle (2) and the arm segment (1011) on the boom (101) that is closest to the obstacle (2); The collision time is calculated as follows: in, The collision time; a Let be the relative acceleration.

3. The boom collision avoidance 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; the determined time threshold array includes: The braking time of the boom segment (1011) closest to the obstacle (2) on the boom (101), the response time of the control system of the construction machinery (1), the operation reaction time and the early warning trigger ratio coefficient are obtained; The sum of the control system response time, the operation reaction time, and the braking time is determined to be the early warning time threshold. Calculate the product of the operation response time and the early warning triggering ratio coefficient; The sum of the control system response time, the braking time, and the product is determined to be a deceleration time threshold. The sum of the control system response time and the braking time is determined to be the braking time threshold.

4. The boom collision avoidance method according to claim 3, characterized in that, The braking time is determined in the following manner: Obtain the angular velocity and braking deceleration of the boom segment (1011); The braking time is calculated as follows: in, The braking time, The angular velocity of the arm segment (1011) is... The braking deceleration is described above.

5. The boom collision avoidance method according to claim 3, characterized in that, The determination of the boom's collision avoidance level based on the comparison results includes: When the collision time is less than the braking time threshold, the boom collision avoidance level is determined to be the first boom collision avoidance level; When the collision time is greater than the braking time threshold and less than the deceleration time threshold, the boom collision avoidance level is determined to be the second boom collision avoidance level. When the collision time is greater than the deceleration time threshold and less than the warning time threshold, the boom collision avoidance level is determined to be the third boom collision avoidance level.

6. The boom collision avoidance method according to claim 5, characterized in that, The construction machinery (1) includes a first early warning device (11), a second early warning device (12), and a boom speed regulator (13). Controlling the construction machinery (1) to perform corresponding anti-collision operations according to the boom anti-collision level includes: When the boom's collision avoidance level is the third boom's collision avoidance level, the first warning device (11) is controlled to issue a first warning signal; or, When the boom collision avoidance level is the second boom collision avoidance level, determine the deceleration ratio coefficient; The input value of the control signal of the boom speed regulator (13) is determined based on the deceleration ratio coefficient and the initial value of the control signal of the boom speed regulator (13); The boom (101) is controlled to perform a first deceleration operation based on the input value of the control signal; Control the second warning device (12) to issue a second warning signal, wherein the warning level of the second warning signal is greater than that of the first warning signal; or, When the boom collision avoidance level is the first boom collision avoidance level, the boom (101) is controlled to perform a second deceleration operation based on the minimum value of the control signal; Control the second warning device (12) to issue the first warning signal and the second warning signal respectively.

7. The boom collision avoidance method according to claim 6, characterized in that, The determination of the deceleration ratio coefficient includes: Obtain the first preset parameter and the second preset parameter; The deceleration ratio coefficient is determined according to the following method: in, The deceleration ratio coefficient is mentioned above; The first preset parameter; This is the second preset parameter.

8. A processor, characterized in that, The processor is configured to execute the boom collision avoidance method according to any one of claims 1-7.

9. A control device for engineering machinery, characterized in that, The control device includes the processor according to claim 8.

10. An engineering machinery, characterized in that, The engineering machinery (1) includes the control device for engineering machinery according to claim 9.

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