Active avoidance anti-collision control method and system for lifting cab of material grabbing machine

Abstract

The invention discloses an active avoidance anti-collision control method and system for a lifting cab of a grabbing machine, and the method comprises the steps: obtaining the real-time horizontal and vertical coordinates of the lifting cab, the included angle between a movable arm and the horizontal plane, and the included angle between a bucket rod and the horizontal plane, and calculating the amplitude from the front end of the bucket rod to a central rotary body and the height from the front end of the bucket rod to the horizontal plane; the actual amplitude and height of the machine tool are obtained by combining the swing activity radius of the machine tool; in response to the fact that the difference between the actual amplitude of the machine tool and the real-time abscissa of the lifting cab is smaller than or equal to a second threshold value, an instruction is sent to control a movable arm adduction electromagnetic valve and a bucket rod adduction electromagnetic valve to be closed, and the action is stopped; meanwhile, if the absolute value of the difference between the actual height of the machine tool and the real-time vertical coordinate of the lifting cab is smaller than or equal to a third threshold value, an instruction is sent to control a cab lifting electromagnetic valve or a cab lowering electromagnetic valve to work so as to adjust the cab height to be away from the machine tool.

Description

Technical Field

[0001] This application belongs to the technical field of construction machinery control, and particularly relates to a method and system for actively avoiding collision and anti-collision control of a lifting cab of a material grabber. Background Art

[0002] In order to prevent the tool from hitting the cab during the free swing process, existing material grabbers mostly install damping sheets at the pin shaft position of the tool to reduce the swing amount of the tool.

[0003] The existing technology has the following defects: as the use time of the damping sheet increases, it will gradually wear, and the swing amount will also gradually increase. If the replacement is not timely, there may be safety accidents. Summary of the Invention

[0004] Objective: In view of at least one of the above technical problems, this application provides a method and system for actively avoiding collision and anti-collision control of a lifting cab of a material grabber, so as to solve the problem that during the working process of the material grabber, due to the too fast inward retraction of the boom and the stick, the swing amount of the tool is too large, resulting in the tool hitting the cab.

[0005] Technical Solution: To solve the above technical problems, the technical solution adopted in this application is as follows:

[0006] In the first aspect, a method for actively avoiding collision and anti-collision control of a lifting cab of a material grabber is provided, including:

[0007] During the working process of the material grabber, obtain the real-time horizontal and vertical coordinates of the lifting cab, as well as the angles between the boom and the horizontal plane and between the stick and the horizontal plane; wherein the real-time horizontal and vertical coordinates of the lifting cab take the center slewing body as the coordinate origin;

[0008] According to the straight-line distance between the two hinge points of the boom, the straight-line distance between the two hinge points of the stick, the distance from the first hinge point of the boom to the center slewing body, the distance from the turntable to the horizontal plane, and the angles between the boom and the horizontal plane and between the stick and the horizontal plane, calculate the amplitude from the front end of the stick to the center slewing body and the height from the front end of the stick to the horizontal plane;

[0009] Calculate the actual amplitude of the tool according to the amplitude from the front end of the stick to the center slewing body and the swing radius of the tool; calculate the actual height of the tool according to the height from the front end of the stick to the horizontal plane and the swing radius of the tool;

[0010] In response to the difference between the actual amplitude of the tool and the real-time abscissa of the lifting cab being less than or equal to the first threshold and greater than the second threshold, issue an instruction to control the boom retraction solenoid valve and the stick retraction solenoid valve to reduce the flow rate, so as to decelerate the movement;

[0011] In response to the difference between the actual amplitude of the machine tool and the real-time abscissa of the lifting cab being less than or equal to the second threshold, an instruction is issued to control the closing of the boom retraction solenoid valve and the stick retraction solenoid valve to stop the action; meanwhile, the absolute value of the difference between the actual height of the machine tool and the real-time ordinate of the cab is calculated.

[0012] If the absolute value of the difference between the actual height of the machine tool and the real-time ordinate of the lifting cab is less than or equal to the third threshold, an instruction is issued to control the operation of the cab lift solenoid valve or the cab lower solenoid valve to adjust the cab height to move away from the machine tool.

[0013] In a second aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the method is implemented.

[0014] In a third aspect, a controller is provided, including a processor and a storage medium;

[0015] The storage medium is used to store instructions;

[0016] The processor is used to operate according to the instructions to execute the method.

[0017] In a fourth aspect, a collision avoidance control system for the lifting cab of a material handling machine with active avoidance is provided, including the controller described above.

[0018] In some embodiments, the collision avoidance control system for the lifting cab of the material handling machine with active avoidance further includes:

[0019] A boom inclination sensor for monitoring the angle between the boom and the horizontal plane and uploading it to the controller;

[0020] A stick inclination sensor for monitoring the angle between the stick and the horizontal plane and uploading it to the controller;

[0021] A laser rangefinder for monitoring the real-time abscissa and ordinate of the lifting cab and uploading them to the controller;

[0022] A boom retraction solenoid valve for controlling the retraction of the boom;

[0023] A stick retraction solenoid valve for controlling the retraction of the stick;

[0024] A cab lift solenoid valve for controlling the lifting of the cab;

[0025] A cab lower solenoid valve for controlling the lowering of the cab;

[0026] A main pump for providing working oil for the boom retraction solenoid valve, the stick retraction solenoid valve, the cab lift solenoid valve, and the cab lower solenoid valve;

[0027] The boom retraction solenoid valve, stick retraction solenoid valve, cab elevation solenoid valve, cab lowering solenoid valve, and main pump are respectively connected to the controller by signals.

[0028] In a fifth aspect, a material grabbing machine is provided, which is configured with the controller or the anti-collision control system for actively avoiding collisions of the lifting cab of the material grabbing machine.

[0029] Compared with the prior art, the beneficial effects achieved by this application are as follows: In this application, during the operation of the material grabbing machine, a laser rangefinder is used to obtain the real-time horizontal and vertical coordinates of the lifting cab, and an inclination sensor is used to obtain the angles between the boom and the horizontal plane and between the stick and the horizontal plane; the actual amplitude and height of the tool are calculated in real time, so as to calculate the horizontal distance and height distance between the tool and the cab. By comparing the relationship between the horizontal distance and the first threshold and the second threshold, the range where the tool is located is judged, and the boom retraction solenoid valve and the stick retraction solenoid valve are controlled to perform corresponding operations. By comparing the relationship between the height distance and the third threshold, the cab elevation solenoid valve or the cab lowering solenoid valve is controlled to act, so that the cab is far away from the tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 Schematic diagram of the anti-collision control system for actively avoiding collisions of the lifting cab of the material grabbing machine in the embodiment of the present application;

[0032] Figure 2 Schematic diagram of the flow of the anti-collision control method for actively avoiding collisions of the lifting cab of the material grabbing machine in the embodiment of the present application;

[0033] Figure 3 Schematic diagram of the calculation of the actual amplitude and height of the tool in the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way restrictive of the present application and its application or use.

[0035] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only used to explain the relative positional relationships and movement conditions between components in a specific posture. If this specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present application.

[0036] In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0037] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" 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 or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood through specific circumstances.

[0038] To solve the problems of empty hitting and insufficient striking force that occur when the material grabber breaks up materials, the present application provides a method and system for active avoidance and anti-collision control of the lifting cab of a material grabber.

[0039] Embodiment 1: As Figure 1 、 Figure 2 shown, the present application provides a system for active avoidance and anti-collision control of the lifting cab of a material grabber, including a controller, and the controller includes a processor and a storage medium; the storage medium is used for storing instructions; the processor is used for operating according to the instructions to execute the steps of the following method for active avoidance and anti-collision control of the lifting cab of a material grabber;

[0040] As Figure 1 shown, the system for active avoidance and anti-collision control of the lifting cab of a material grabber further includes:

[0041] An arm inclination sensor, used for monitoring the angle between the arm and the horizontal plane and uploading it to the controller;

[0042] The stick inclination sensor is used to monitor the angle between the stick and the horizontal plane and upload it to the controller;

[0043] The laser rangefinder is used to monitor the real-time horizontal and vertical coordinates of the lifting cab and upload them to the controller;

[0044] The boom retraction solenoid valve is used to control the boom retraction;

[0045] The stick retraction solenoid valve is used to control the stick retraction;

[0046] The cab lift solenoid valve is used to control the cab ascent;

[0047] The cab descent solenoid valve is used to control the cab descent;

[0048] The boom retraction solenoid valve, the stick retraction solenoid valve, the cab lift solenoid valve, the cab descent solenoid valve, and the main pump are respectively signal-connected to the controller.

[0049] In this embodiment, the system further includes: a main pump, which provides working oil for the boom retraction solenoid valve, the stick retraction solenoid valve, the cab lift solenoid valve, and the cab descent solenoid valve; and also provides an oil source for the system.

[0050] In some embodiments, the controller is interconnected with the boom inclination sensor, the stick inclination sensor, and the laser locator through the CAN bus, and the vehicle-mounted controller independently controls each of the boom retraction solenoid valve, the stick retraction solenoid valve, the cab lift solenoid valve, and the cab descent solenoid valve.

[0051] In this application, the inclination sensor and the laser rangefinder are used to judge the vehicle information in real time and make a judgment in advance on possible dangerous situations.

[0052] Embodiment 2: As Figure 2 shown, this application also provides a method for actively avoiding collision and controlling the lifting cab of a material grabber, including:

[0053] During the operation of the material grabber, obtain the real-time horizontal and vertical coordinates (X, Y) of the lifting cab, the angle between the boom and the horizontal plane and the angle between the stick and the horizontal plane ; wherein the real-time horizontal and vertical coordinates of the lifting cab take the center slewing body as the coordinate origin, and X and Y respectively represent the real-time horizontal and vertical coordinates of the lifting cab;

[0054] According to the straight-line distance between the two hinge points of the boom the straight-line distance between the two hinge points of the stick the distance from the first hinge point of the boom to the center slewing body the distance from the turntable to the horizontal plane and the angle between the boom and the horizontal plane , the angle between the dipper stick and the horizontal plane , calculate the amplitude D from the front end of the dipper stick to the central slewing body and the height H from the front end of the dipper stick to the horizontal plane;

[0055] ,

[0056] ,

[0057] Among them, is the straight-line distance between two hinge points of the boom, is the straight-line distance between two hinge points of the dipper stick, is the distance from the first hinge point of the boom to the central slewing body, is the angle between the boom and the horizontal plane, is the angle between the dipper stick and the horizontal plane, is the distance from the turntable to the horizontal plane;

[0058] Calculate the actual amplitude of the implement according to the amplitude D from the front end of the dipper stick to the central slewing body and the swing radius r of the implement ;

[0059] ;

[0060] Calculate the actual height of the implement according to the height H from the front end of the dipper stick to the horizontal plane and the swing radius r of the implement ;

[0061] ;

[0062] Calculate the difference between the actual amplitude of the implement and the real-time abscissa X of the lifting cab; Set the first threshold A and the second threshold B, and A > B;

[0063] In response to B < -X ≤ A, issue an instruction to control the boom retraction solenoid valve and the dipper stick retraction solenoid valve to reduce the flow rate, so as to decelerate the movement;

[0064] In response to -X ≤ B, issue an instruction to control the boom retraction solenoid valve and the dipper stick retraction solenoid valve to close, so as to stop the movement; At the same time, calculate the distance between the actual height of the implement and the height of the cab ; If , issue an instruction to control the cab lift solenoid valve or the cab lower solenoid valve to work, so as to adjust the height of the cab to move away from the implement, where C is the third threshold.

[0065] More specifically, if is less than , issue an instruction to control the cab lower solenoid valve to work, so that the height of the cab decreases and moves away from the implement; If is greater than , issue an instruction to control the operation of the cab lift solenoid valve, causing the cab height to rise and move away from the implement.

[0066] In some embodiments, the first threshold value A is set to 3 meters, and the second threshold value B is set to 2 meters.

[0067] In some embodiments, the third threshold is set to 1 meter.

[0068] Embodiment 3: An embodiment of the present application provides a controller, including a processor and a storage medium;

[0069] The storage medium is used to store instructions;

[0070] The processor is used to operate according to the instructions to execute the method according to the present application.

[0071] Embodiment 4: An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method is implemented.

[0072] Embodiment 5: An embodiment of the present application provides a material grabbing machine, configured with the described controller or the active avoidance anti-collision control system for the lifting cab of the material grabbing machine.

[0073] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0074] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0075] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufactured article including an instruction means that implements the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in the block or blocks.

[0076] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes and / or blocks Figure 1 in one or more processes and / or blocks Figure 1 specified in the block or blocks.

[0077] The above is only the preferred embodiment of the present application. It should be noted that for those of ordinary skill in the art of this technology, those skilled in the art should understand that the present application will have various changes and improvements without departing from the principle and spirit, and these improvements should also be regarded as the protection scope of the present application and are not limited by the above embodiments.

Claims

1. A control method for active avoidance and anti-collision of the lifting cab of a material grabbing machine, characterized in that, Including: During the operation of the material grabbing machine, obtain the real-time horizontal and vertical coordinates of the lifting cab, as well as the angles between the boom and the horizontal plane and between the stick and the horizontal plane; wherein the real-time horizontal and vertical coordinates of the lifting cab take the center slewing body as the coordinate origin. According to the straight-line distance between the two hinge points of the boom, the straight-line distance between the two hinge points of the stick, the distance from the first hinge point of the boom to the center slewing body, the distance from the turntable to the horizontal plane, and the angles between the boom and the horizontal plane and between the stick and the horizontal plane, calculate the amplitude from the front end of the stick to the center slewing body and the height from the front end of the stick to the horizontal plane. Calculate the actual amplitude of the tool according to the amplitude from the front end of the stick to the center slewing body and the swing radius of the tool. Calculate the actual height of the tool according to the height from the front end of the stick to the horizontal plane and the swing radius of the tool. In response to the difference between the actual amplitude of the tool and the real-time horizontal coordinate of the lifting cab being less than or equal to the first threshold and greater than the second threshold, issue an instruction to control the boom retraction solenoid valve and the stick retraction solenoid valve to reduce the flow rate, so as to decelerate the movement. In response to the difference between the actual amplitude of the tool and the real-time horizontal coordinate of the lifting cab being less than or equal to the second threshold, issue an instruction to control the boom retraction solenoid valve and the stick retraction solenoid valve to close, so as to stop the movement; at the same time, calculate the absolute value of the difference between the actual height of the tool and the real-time vertical coordinate of the cab. If the absolute value of the difference between the actual height of the tool and the real-time vertical coordinate of the lifting cab is less than or equal to the third threshold, issue an instruction to control the cab lift solenoid valve or the cab lower solenoid valve to work, so as to adjust the cab height to be away from the tool.

2. The anti-collision control method for the lifting cab of the material grabbing machine to actively avoid collisions according to claim 1, wherein Calculating the amplitude from the front end of the stick to the center slewing body and the height from the front end of the stick to the horizontal plane according to the straight-line distance between the two hinge points of the boom, the straight-line distance between the two hinge points of the stick, the distance from the first hinge point of the boom to the center slewing body, the distance from the turntable to the horizontal plane, and the angles between the boom and the horizontal plane and between the stick and the horizontal plane, includes: ， ， Where D is the amplitude from the front end of the stick to the central slewing body, and H is the height from the front end of the stick to the horizontal plane. is the straight-line distance between the two hinge points of the boom. is the straight-line distance between the two hinge points of the stick. is the distance from the first hinge point of the boom to the central slewing body. is the angle between the boom and the horizontal plane. is the angle between the stick and the horizontal plane. is the distance from the turntable to the horizontal plane.

3. The anti-collision control method for the lifting cab of the material grabbing machine to actively avoid collisions according to claim 1, wherein The actual amplitude of the implement is calculated based on the amplitude D from the front end of the stick to the center slewing body and the swing radius r of the implement , including: ； The actual height of the implement is calculated based on the height H from the front end of the arm to the horizontal plane and the swing radius r of the implement , including: 。 4. The active avoidance anti-collision control method for the lifting cab of the material grabbing machine according to claim 1, wherein The first threshold is taken as 3 meters, and the second threshold is taken as 2 meters.

5. The anti-collision control method for the lifting cab of the material grabbing machine to actively avoid collisions according to claim 1, characterized in that, The third threshold is taken as 1 meter.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method according to any one of claims 1 to 5.

7. A controller, characterized in that, Including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the method according to any one of claims 1 to 5.

8. A lifting cab active avoidance anti-collision control system for a material grabbing machine, characterized in that, Including the controller according to claim 7.

9. The anti-collision control system for the lifting cab of the material grabbing machine for active avoidance according to claim 8, wherein, The anti-collision control system for active avoidance of the lifting cab of the material grabbing machine further includes: A boom inclination sensor for monitoring the angle between the boom and the horizontal plane and uploading it to the controller; A stick inclination sensor for monitoring the angle between the stick and the horizontal plane and uploading it to the controller; A laser rangefinder for monitoring the real-time horizontal and vertical coordinates of the lifting cab and uploading it to the controller; A boom retraction solenoid valve for controlling the boom retraction; A stick retraction solenoid valve for controlling the stick retraction; A cab lift solenoid valve for controlling the cab to rise; A cab lower solenoid valve for controlling the cab to lower; A main pump for providing working oil for the boom retraction solenoid valve, the stick retraction solenoid valve, the cab lift solenoid valve, and the cab lower solenoid valve; The boom retraction solenoid valve, the stick retraction solenoid valve, the cab lift solenoid valve, the cab lower solenoid valve, and the main pump are respectively signal-connected to the controller.

10. A material grabbing machine, characterized in that, Configured with the controller described in claim 7 or the active avoidance anti-collision control system for the lifting cab of the material grabbing machine described in any one of claims 8 to 9.

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