Processing method for enabling cantilever crane of engineering machinery to approach high-voltage line and engineering machinery

Abstract

The invention relates to a processing method for approaching of an arm support of engineering machinery to a high-voltage line and the engineering machinery, the arm support is provided with a high-voltage line detection assembly, and the method comprises the following steps: responding to a received control instruction for controlling the arm support to move, and controlling the arm support to move according to a motion pose indicated by the control instruction; in the boom movement process, whether the boom is close to the high-voltage line or not is judged based on detection data of the high-voltage line detection assembly; if it is determined that the arm frame is close to the high-voltage line, first locking is conducted on the arm frame, and the dangerous movement pose of the arm frame at the locking position is determined; in response to the control instruction which is received again and is used for controlling the arm support to move, judging whether the motion posture indicated by the control instruction received again is consistent with the dangerous motion posture or not; and if not, the first locking is released so as to allow the arm support to move. According to the technical scheme, the arm support is locked when it is detected that the arm support is close to the high-voltage line, the arm support is judged to be unlocked in a self-adaptive mode based on the motion posture of the arm support, safety is guaranteed, and meanwhile the arm support is more intelligent and convenient to use.

Description

Technical Field

[0001] The present application relates to the technical field of engineering equipment, and in particular to a method for handling a boom of an engineering machine approaching a high-voltage line, and the engineering machine. Background Art

[0002] Construction machinery, such as concrete pump trucks, has long booms and numerous articulations. This creates blind spots for operators during operation, making it difficult to determine the safe distance between the boom and surrounding obstacles. This is especially true when operating near high-voltage power lines. If the boom enters the safe distance range, the induced electric field can penetrate the air, causing electric shocks to the pump truck equipment and resulting in significant financial losses.

[0003] However, the current method for handling booms close to high-voltage lines cannot ensure safety while taking into account the intelligence and convenience of the handling process. Summary of the Invention

[0004] In response to the above technical problems, the present application provides a method for handling the situation where the boom of an engineering machinery approaches a high-voltage line, and an engineering machinery, which locks the boom when it is detected that the boom approaches a high-voltage line, and adaptively unlocks the boom based on the motion posture of the boom, which is more intelligent and convenient while ensuring safety.

[0005] To solve the above technical problems, the present application provides a method for handling a situation where a boom of an engineering machine is close to a high-voltage line. A high-voltage line detection component is provided on the boom. The method comprises the following steps: In response to receiving a control instruction for controlling the movement of the boom, controlling the movement of the boom according to the movement posture indicated by the control instruction; During the movement of the boom, judging whether the boom is close to the high-voltage line based on the detection data of the high-voltage line detection component; If it is determined that the boom is close to the high-voltage line, the boom is first locked and a dangerous movement posture of the boom at the locked position is determined, where the dangerous movement posture is a movement posture that causes the boom to continue to approach the high-voltage line; In response to receiving a control instruction for controlling the movement of the boom again, determining whether the movement posture indicated by the control instruction received again is consistent with the dangerous movement posture; If they are consistent, the first lock is maintained; If not, the first lock is released to allow the arm to move.

[0006] In some embodiments, determining the dangerous motion posture of the arm in the locked position includes: Obtaining a historical motion posture of the arm before the locking moment; Predicting the motion posture of the arm at the next moment after the locking moment based on the historical motion posture; A dangerous motion posture of the arm at the locked position is determined according to the predicted motion posture.

[0007] In some embodiments, if it is determined that the boom is close to a high-voltage line, after first locking the boom, the method further includes: Determining whether the dangerous motion posture is successfully determined; If the determination is unsuccessful, in response to receiving the control instruction for controlling the movement of the boom again, returning to the step of controlling the movement of the boom according to the movement posture indicated by the control instruction in response to receiving the control instruction for controlling the movement of the boom; If the determination is successful, the process proceeds to the step of, in response to receiving the control instruction for controlling the arm movement again, determining whether the motion posture indicated by the control instruction received again is consistent with the dangerous motion posture.

[0008] In some embodiments, if it is determined that the boom is close to the high-voltage line, after first locking the boom, the method further includes: Determining whether the control instruction is stopped; If not stopped, maintaining the first locking; If it has stopped, it is allowed to respond to the control instruction received again.

[0009] In some embodiments, after allowing a response to the control instruction received again if the control instruction has been stopped, the method further includes: Obtaining a first number of times that the boom is continuously determined to be close to the high-voltage line or a second number of times that the control instruction is continuously determined to be stopped; When the first number or the second number is greater than or equal to a preset number, the arm is locked for a second time, and an unlocking method of the second locking is different from that of the first locking.

[0010] In some embodiments, the method further comprises at least one of the following: If it is determined that the boom is close to the high-voltage line, the target boom section closest to the high-voltage line is determined based on the detection data of the high-voltage line detection component, and alarm data with the target boom section as the alarm boom section is generated; According to the detection data of the high-voltage line detection component, the alarm level of the boom approaching the high-voltage line is determined, and alarm data is sent according to the alarm level. The alarm data includes the alarm level, alarm time and alarm video. The duration of the alarm video corresponding to different alarm levels is different.

[0011] The present application also provides an engineering machine, comprising a boom, a high-voltage line detection assembly and a controller, wherein the high-voltage line detection assembly is arranged on the boom, and the controller is configured to execute any of the methods described above.

[0012] In some embodiments, the boom includes multiple boom sections, each boom section is provided with the high-voltage line detection component, the high-voltage line detection component is an antenna extending along the length direction of the boom section, and the high-voltage line detection component on each boom section is connected to the controller; And / or, the engineering machinery also includes an image acquisition device, an audio-visual alarm device, a remote control receiver and a display screen connected to the controller, the remote control receiver is used to receive control instructions for controlling the movement of the arm, and the display screen is used to provide a setting interface for selecting the high-voltage line voltage level and alarm distance parameters of the current working environment, and is used to display alarm data.

[0013] The present application also provides an electronic device, including a storage medium and a controller, wherein a computer program is stored on the storage medium, and when the computer program is executed by the controller, the steps of the method described above are implemented.

[0014] The present application also provides a storage medium having a computer program stored thereon, and the computer program implements the steps of the above-mentioned method when executed by a processor.

[0015] The present application provides a method for handling a boom of an engineering machinery approaching a high-voltage line, and the engineering machinery, wherein a high-voltage line detection component is provided on the boom, and the method comprises: in response to receiving a control instruction for controlling the movement of the boom, controlling the movement of the boom according to the motion posture indicated by the control instruction; during the movement of the boom, judging whether the boom is approaching the high-voltage line based on the detection data of the high-voltage line detection component; if it is determined that the boom is approaching the high-voltage line, performing a first lock on the boom, and determining the dangerous motion posture of the boom at the locked position; in response to receiving a control instruction for controlling the movement of the boom again, judging whether the motion posture indicated by the control instruction received again is consistent with the dangerous motion posture; if not, releasing the first lock to allow the boom to move. The technical solution of the present application locks the boom when it is detected that the boom is approaching a high-voltage line, and adaptively unlocks the boom based on the motion posture judgment of the boom, which is more intelligent and convenient while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a flowchart illustrating a method for handling a situation in which a boom of an engineering machine approaches a high-voltage power line according to an embodiment.

[0017] Figure 2 FIG1 is a schematic structural diagram of a high-voltage line detection component according to an embodiment.

[0018] Figure 3 The figure is a schematic diagram of the installation structure of a high-voltage line detection component on an arm according to one embodiment.

[0019] Figure 4 is a schematic diagram of an interface of a display screen according to an embodiment.

[0020] Figure 5 It is a schematic structural diagram of an engineering machine according to an embodiment.

[0021] Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items. In this application, "each" includes one and more than two quantities.

[0024] Figure 1 FIG. 1 is a flow chart of a method for handling a situation in which a boom of an engineering machine approaches a high-voltage line according to an embodiment. Figure 1 As shown, a method for handling a boom of an engineering machine close to a high-voltage line in the present application includes the following steps: S1, in response to receiving a control instruction for controlling the movement of the boom, controlling the movement of the boom according to the movement posture indicated by the control instruction; S2, during the boom movement, judging whether the boom is close to the high-voltage line based on the detection data of the high-voltage line detection component; S3, if it is determined that the boom is close to the high-voltage line, the boom is first locked and a dangerous motion posture of the boom at the locked position is determined, where the dangerous motion posture is a motion posture that causes the boom to continue to approach the high-voltage line; S4, in response to receiving a control instruction for controlling the movement of the boom again, determining whether the movement posture indicated by the control instruction received again is consistent with the dangerous movement posture; S51, if consistent, maintain the first lock; S52: If not consistent, release the first lock to allow the arm to move.

[0025] The high-voltage line detection component is mounted on the boom. When the boom approaches a high-voltage line, it generates a corresponding detection signal, such as an induced current signal. The magnitude of the detection signal from the high-voltage line detection component can be used to determine the proximity of the boom to the high-voltage line. If the boom is judged to be close to the high-voltage line, it indicates that the boom is close to the high-voltage line and has entered the danger zone of the high-voltage line.

[0026] The control instructions for controlling the movement of the boom can be triggered by the operator operating the handle on the remote control, and sent to the receiver on the engineering machinery through wireless communication, and then received by the controller on the engineering machinery. The control instructions for controlling the movement of the boom can also be triggered by the operator in the cab of the engineering machinery through the operating handle. According to the movement posture indicated by the control instructions, the controller generates a corresponding control signal to control the movement of the boom. During the movement of the boom, it is determined whether the boom is close to the high-voltage line based on the detection data of the high-voltage line detection component, thereby avoiding the situation where the boom cannot be detected in time due to blind spots or poor vision during night construction.

[0027] When it is determined based on the detection data of the high-voltage line detection component that the boom is close to the high-voltage line, the boom is first locked to restrict further movement of the boom and prevent the boom from continuing to approach the high-voltage line to ensure safety. After the boom is first locked, the present application further determines the motion posture of the boom based on the boom to achieve adaptive unlocking of the boom, which is more intelligent and convenient while ensuring safety. Specifically, the dangerous motion posture of the boom in the locked position is determined, and when the control instruction for controlling the movement of the boom is received again, it is determined whether the motion posture indicated by the control instruction received again is consistent with the dangerous motion posture. If they are consistent, the first lock is maintained. If they are inconsistent, the first lock is released to allow the boom to move.

[0028] Among them, the locking position refers to the position and posture of the arm when the arm is first locked. Since the arm is in a state of being close to the high-voltage line when in the locking position, the arm has at least one dangerous movement posture at the locking position. If the arm moves again in the dangerous movement posture from the locking position, it will continue to approach the high-voltage line, causing the risk of electric shock to further increase or electric shock to occur. Therefore, by determining the dangerous movement posture of the arm at the locking position after the arm is first locked, it can be used to evaluate the safety of the arm when the locking position is unlocked. When the movement posture indicated by the control instruction received again is consistent with the dangerous movement posture, it is believed that the arm will continue to approach the high-voltage line, causing the risk of electric shock to further increase or electric shock to occur. Therefore, the first lock of the arm is maintained. When the movement posture indicated by the control instruction received again is inconsistent with the dangerous movement posture, it is believed that the movement posture of the arm will keep it away from the high-voltage line and reduce the risk of electric shock. Therefore, the first lock of the arm is released to allow the arm to move. In this way, the arm can achieve safe self-unlocking based on the different motion postures indicated by the control instructions, without the operator having to unlock it through other unlocking operations or unlocking tools, taking into account both intelligent and convenient operation.

[0029] If the motion position indicated by the received control command matches the dangerous motion position, the first lock on the boom is maintained. At this point, if a control command for controlling the boom's motion is received again, the process returns to step S4. If the motion position indicated by the received control command does not match the dangerous motion position, the first lock is released to allow boom movement, and the process returns to step S1. This ensures safety while also making boom operation smoother and operator-friendly, making it suitable for complex operating environments and improving operational efficiency.

[0030] In some embodiments, S3, determining a dangerous motion posture of the arm at the locked position, includes: Obtain the historical motion posture of the arm before the locking moment; Predict the next motion posture of the arm at the locking moment based on the historical motion posture; The dangerous motion posture of the arm at the locked position is determined according to the predicted motion posture.

[0031] The locking moment refers to the moment when the boom is first locked. During the movement of the boom, the motion posture data of the boom is collected and recorded. When the boom is first locked, the historical motion posture of the boom before the locking moment can be obtained based on the locking moment. The historical motion posture can be the motion posture data within a preset time period before the locking moment to improve the accuracy of the prediction. In some embodiments, a prediction method such as Kalman filtering can be used to predict the motion posture of the boom at the next moment after the locking moment based on the historical motion posture. It can be understood that the motion posture of the boom at the next moment after the locking moment is not the actual motion posture of the boom, but an assumption based on the historical motion posture. Since the boom is in a state close to the high-voltage line when it is in the locked position, the predicted motion posture can accurately indicate the dangerous motion posture at the locked position. Optionally, the predicted motion posture can be directly used as the dangerous motion posture of the boom at the locked position, or multiple dangerous motion postures can be determined based on the motion characteristics of the boom and the predicted motion posture as a reference to further reduce the risk of continuing to approach the high-voltage line.

[0032] In some embodiments, at S3, if it is determined that the boom is close to the high-voltage line, after first locking the boom, the method further includes: Determine whether the dangerous movement posture is successfully determined; If the determination is unsuccessful, in response to receiving the control instruction for controlling the movement of the boom again, returning to the step of controlling the movement of the boom according to the movement posture indicated by the control instruction in response to receiving the control instruction for controlling the movement of the boom; If the determination is successful, the process proceeds to a step of responding to receiving a control instruction for controlling the arm movement again and determining whether the motion posture indicated by the control instruction received again is consistent with the dangerous motion posture.

[0033] Among them, the dangerous motion posture is used to evaluate the safety of the boom when it is unlocked in the locked position. When the dangerous motion posture cannot be successfully determined due to hardware failure, calculation jamming, etc., it may cause the unlocking safety strategy to fail. In this regard, the present application provides a solution that can improve robustness. Specifically, if the dangerous motion posture is not successfully determined, then when the control instruction for controlling the movement of the boom is received again, it returns to step S1. In this way, when the dangerous motion posture is not successfully determined, if the control instruction for controlling the movement of the boom is received again, the boom movement is allowed to continue according to the motion posture control indicated by the control instruction. At this time, if it is determined again that the boom is close to the high-voltage line, the boom is re-locked for the first time. It can be understood that in this scenario, although the boom will unlock and continue to move, due to the existence of the locking mechanism, the boom cannot move a large distance toward the high-voltage line at one time, and safety can still be guaranteed.

[0034] To prevent the boom from continuing to move in a dangerous direction by repeatedly unlocking and locking, in some embodiments, the method further includes: Obtaining the first number of times that the boom is continuously determined to be close to the high-voltage line; When the first number is greater than or equal to the preset number, the arm is locked for the second time, and the unlocking method of the second locking is different from the unlocking method of the first locking.

[0035] Among them, after the boom is locked for the first time, each time the boom is unlocked and re-determined to be close to the high-voltage line, the number of consecutive determinations that the boom is close to the high-voltage line is accumulated, reflecting the number of times the operator continues to try in the dangerous direction after knowing that the boom is close to the high-voltage line. When the first number is greater than or equal to the preset number, it indicates an increased risk or improper operation. At this time, the boom is locked for the second time, and the unlocking method of the second lock is different from the unlocking method of the first lock. In the case of the second lock, the operator cannot unlock the boom through the adaptive unlocking mechanism and needs to unlock it manually. For example, it is necessary to unlock it through a specific operating part in the cab, and the unlocking operation is automatically recorded.

[0036] In some embodiments, when it is determined that the boom is close to the high-voltage line, an alarm signal is generated. Therefore, the number of times the boom is continuously determined to be close to the high-voltage line is also equal to the number of times the alarm signal is generated.

[0037] Through the above method, when the dangerous motion posture cannot be successfully determined due to hardware failure, calculation jam, etc., the failure of the unlocking safety strategy can be avoided to cause electric shock accidents, thereby further improving safety.

[0038] In some embodiments, if it is determined that the boom is close to the high-voltage line, after first locking the boom, the method further includes: Determine whether the control instruction is stopped; If it does not stop, keep the first lock; If it has stopped, it is allowed to respond to the control command received again.

[0039] When it is determined that the boom is close to the high-voltage line, the boom is first locked. If the operator does not release the operating handle, the control command will not stop. At this time, the first lock on the boom is maintained and the current control command is not responded to to ensure safety. If the operator releases the operating handle, the control command stops. At this time, it is allowed to respond to the control command received again, that is, the operator is allowed to continue to control the boom movement. When the control command is received again, step S4 is executed to determine whether the movement posture indicated by the control command received again is consistent with the dangerous movement posture to ensure the safety of unlocking.

[0040] In some embodiments, if the control instruction has been stopped, then after allowing the response to be received again, the method further includes: Obtaining a second number of times of continuously determining that the control instruction is stopped; When the second number is greater than or equal to the preset number, the arm is locked for the second time, and the unlocking method of the second locking is different from the unlocking method of the first locking.

[0041] Among them, the determination of the control command stop is based on the operation of releasing the operating handle. Therefore, the number of times the control command is continuously determined to stop is also equal to the number of times the operating handle is released. After the boom is locked for the first time, each time the boom is unlocked and re-determined to be close to the high-voltage line, the operator needs to release the operating handle to re-trigger the control command. At this time, the cumulative number of times the control command is determined to stop reflects the number of times the operator continues to try in the dangerous direction after knowing that the boom is close to the high-voltage line. When the second number is greater than or equal to the preset number, it indicates that the risk is increased or the operation is improper. At this time, the boom is locked for the second time, and the unlocking method of the second lock is different from the unlocking method of the first lock. In the case of the second lock, the operator cannot unlock the boom through the adaptive unlocking mechanism and needs to unlock it manually. For example, it is necessary to unlock it through a specific operating part in the cab, and the unlocking operation is automatically recorded.

[0042] In some embodiments, when it is determined that the boom is approaching the high-voltage line, an alarm signal is generated. Therefore, the number of consecutive determinations of the boom approaching the high-voltage line, the number of times the alarm signal is generated, and the number of consecutive determinations of the control instruction stopping can be equivalent to each other. Only one of them needs to be detected, or multiple of them can be detected at the same time, and the maximum statistical number can be used to determine whether it is greater than or equal to the preset number, so as to improve the accuracy of the statistical number.

[0043] In some embodiments, the method further comprises at least one of the following: If it is determined that the boom is close to the high-voltage line, the target boom section closest to the high-voltage line is determined based on the detection data of the high-voltage line detection component, and alarm data with the target boom section as the alarm boom section is generated; According to the detection data of the high-voltage line detection component, the alarm level of the boom approaching the high-voltage line is determined, and the alarm data is sent according to the alarm level. The alarm data includes the alarm level, alarm time and alarm video. The length of the alarm video corresponding to different alarm levels is different.

[0044] The boom includes multiple boom sections, each of which is provided with a high voltage line detection component. In this embodiment, Figure 2As shown, the high-voltage line detection component 20 is an induction antenna extending along the length direction of the arm section, and the high-voltage line detection components on each arm section are respectively connected to the controller, wherein the controller can be a high-voltage line alarm controller 101 or other controller. Each high-voltage line detection component 20 is a wire-type cable, comprising a shielding section 21 and a sensing section 22. The high-voltage line detection component 20 is arranged along the length direction of the arm, thereby achieving 360° induction protection of the arm section. In some embodiments, the structure of the high-voltage line detection component 20 is two strands of wire in a closed loop. When any part of the high-voltage line detection component 20 is broken, the controller can detect the abnormal state of the equipment in time. The sensing section 22 of the high-voltage line detection component 20 will generate an induced current in the electromagnetic field of the high-voltage line. Therefore, the sensing section 22 is arranged on the arm section that the user wants to protect, and the remaining parts are shielding sections 22. On the one hand, it can prevent the induction high-voltage line detection component 20 from being electromagnetically interfered with by the vehicle chassis engine or other devices, and on the other hand, it can accurately identify the arm section number close to the high-voltage line. Please refer to Figure 3 Taking boom 80, which includes four boom sections 801, as an example, to provide high-voltage power line proximity alarms for boom section 3 (the third boom section from left to right) and boom section 4 (the fourth boom section from left to right), two high-voltage power line detection assemblies 20 are required. The first sensing antenna is routed along the boom from the high-voltage power line alarm controller 101 to boom section 3. Except for the high-voltage power line detection assembly 20 on boom section 3, which is the sensing section 22, the rest of the first sensing antenna is a shielded section. The second sensing antenna is routed along the boom from the high-voltage power line alarm controller 101 to boom section 4. Except for the high-voltage power line detection assembly 20 on boom section 4, which is the sensing section 22, the rest of the second sensing antenna is a shielded section 21. When boom section 3 approaches a high-voltage power line, the sensing section 22 on boom section 3 of the first sensing antenna is affected by the electric field, while the rest of the first sensing antenna is shielded. This allows the location of the boom section near the power line. The same applies to the other boom sections.

[0045] In this way, since the high-voltage line detection component is arranged along the length direction of the boom, the detection surface is used instead of the detection point, which improves the accuracy of the detection. At the same time, the high-voltage line detection component is arranged in the form of a wire cable to avoid the interference between the modular structure and the arm segment movement of the boom. On this basis, the design of the shielding segment and the sensing segment can realize the positioning of the alarm arm segment. Therefore, this application can accurately determine the target arm segment closest to the high-voltage line based on the detection data of the high-voltage line detection component, and generate alarm data with the target arm segment as the alarm arm segment, and then accurately inform the operator of the arm segment that is currently closest to the high-voltage line, and guide the operator to adjust the control instructions.

[0046] Among them, the size of the detection data of the high-voltage line detection component can reflect the proximity between the boom and the high-voltage line. Therefore, the alarm level of the boom approaching the high-voltage line can be determined based on the detection data of the high-voltage line detection component. For example, it is divided into three levels: safety, warning and danger. For different alarm levels, alarm videos of different lengths are obtained. For example, for the warning state of the high-voltage line alarm, video data 10 seconds before and after the alarm will be uploaded to the Internet of Things platform. For the dangerous state of the high-voltage line alarm, video data 20 seconds before and after will be uploaded, so that users can view the specific environmental status through video.

[0047] In some embodiments, the user can use a display screen connected to the controller, such as Figure 4 As shown, the high-voltage line alarm function is turned on or off. After turning on the high-voltage line alarm function, the user can select the high-voltage line voltage level and alarm distance parameters of the current working environment. For high-voltage lines of different voltage levels, the program presets a minimum safety distance. Based on the minimum safety distance, the user sets the alarm sensitivity by adjusting the alarm distance parameters, such as far, near, and medium. If the alarm distance parameter is far, the alarm sensitivity is the highest. Conversely, if the alarm distance is near, the alarm sensitivity is the lowest. After adjusting the alarm distance parameters, the controller analyzes the detection data of the high-voltage line detection component based on the alarm distance parameters to achieve accurate monitoring. The controller can also send relevant alarm data to the display screen for display, such as equipment status, alarm level, alarm arm section, etc., including alarm level, alarm time and alarm video. The duration of the alarm video corresponding to different alarm levels is different.

[0048] The method for handling the boom of an engineering machinery approaching a high-voltage line in the present application includes: in response to receiving a control instruction for controlling the movement of the boom, controlling the movement of the boom according to the motion posture indicated by the control instruction; during the movement of the boom, judging whether the boom is approaching the high-voltage line based on the detection data of the high-voltage line detection component; if it is determined that the boom is approaching the high-voltage line, performing a first lock on the boom, and determining the dangerous motion posture of the boom at the locked position; in response to receiving a control instruction for controlling the movement of the boom again, judging whether the motion posture indicated by the control instruction received again is consistent with the dangerous motion posture; if not, releasing the first lock to allow the boom to move. The technical solution of the present application locks the boom when it is detected that the boom is approaching a high-voltage line, and adaptively unlocks the boom based on the motion posture judgment of the boom, which is more intelligent and convenient while ensuring safety.

[0049] Figure 5 FIG. 1 is a schematic diagram of the structure of an engineering machine according to an embodiment. Figure 3 and Figure 5As shown, the present application also provides an engineering machinery, including a boom 80, a high-voltage line detection component 20 and a controller 10. The high-voltage line detection component 20 is arranged on the boom 80, and the controller 10 is configured to execute the method described in the above embodiment. The implementation process of the method is referred to the description of the previous embodiment and will not be repeated here.

[0050] Please combine Figure 2 and Figure 3 The boom 80 includes multiple arm sections 801. The high-voltage line detection component 20 is an induction antenna extending along the length direction of the arm section 801. The high-voltage line detection component 20 on each arm section 801 is respectively connected to the high-voltage line alarm controller 101, and then connected to the controller 10 through the high-voltage line alarm controller 101. In some embodiments, the high-voltage line alarm controller 101 and the controller 10 can be the same controller.

[0051] Each high-voltage line detection component 20 is a wire-type cable, comprising a shielding section 21 and a sensing section 22. The high-voltage line detection component 20 is arranged along the length direction of the arm 80, thereby realizing 360° inductive protection of the arm. In some embodiments, the structure of the high-voltage line detection component 20 is two strands of wire in a closed loop. When any part of the high-voltage line detection component 20 is broken, the high-voltage line alarm controller 101 can detect the abnormal state of the equipment in time. The sensing section 22 of the high-voltage line detection component 20 will generate an induced current in the electromagnetic field of the high-voltage line. Therefore, the sensing section 22 is arranged on the arm section that the user wants to protect, and the remaining parts are shielding sections 22. On the one hand, it can prevent the high-voltage line detection component 20 from being electromagnetically interfered with by the vehicle chassis engine or other devices, and on the other hand, it can accurately identify the arm section number close to the high-voltage line. Please refer to Figure 3 Each high-voltage line detection component 20 extends from the high-voltage line alarm controller 101 to the target arm section through the arm frame 80. The target arm section is the arm section that needs to issue a high-voltage line approach alarm (for example, the third arm section from left to right). The sensing segment 22 is set on the target arm section, and the shielding segment 21 is set on other arm sections that the high-voltage line detection component 20 passes through. When the target arm section approaches the high-voltage line, the sensing segment 22 of the corresponding high-voltage line detection component 20 on the target arm section is affected by the electric field, and the rest are in a shielding state, so that the target arm section can be located and its arm section number is determined to be the arm section number close to the high-voltage line. The same applies to other arm sections.

[0052] In this way, since the high-voltage line detection component 20 is arranged along the length direction of the boom 80, the detection surface is used instead of the detection point, which improves the accuracy of the detection. At the same time, the high-voltage line detection component 20 is arranged in the form of a wire cable to avoid the problem of interference between the modular structure and the arm segment movement of the boom 80. On this basis, the design of the shielding segment 21 and the sensing segment 22 can realize the positioning of the alarm arm segment. Therefore, the present application can accurately determine the target arm segment closest to the high-voltage line based on the detection data of the high-voltage line detection component 20, and generate alarm data with the target arm segment as the alarm arm segment, and then accurately inform the operator of the arm segment currently closest to the high-voltage line, and guide the operator to adjust the control instructions.

[0053] In some embodiments, the engineering machinery also includes an image acquisition device 60 connected to the controller 10, an audible and visual alarm device 40, a remote control receiver 70 and a display screen 30. The image acquisition device 60 is arranged on the arm 80. For example, one or more image acquisition devices 60 can be set on each arm section. The image acquisition device 60 is connected to the controller 10 through a video recorder 50. The video recorder 50 is used to store images or videos captured by the image acquisition device 60. The remote control receiver 70 is used to communicate with the remote control.

[0054] The display screen 30 and the controller 10 use bidirectional CAN communication to configure and receive parameters and status data from the high-voltage line alarm controller 101. The controller 10 also uses bidirectional CAN communication with the high-voltage line alarm controller 101 to distribute configuration parameters and receive self-test status and alarm information from the high-voltage line alarm controller 101. The controller 10 uses bidirectional CAN communication with the remote control's receiver 70 to remotely transmit high-voltage alarm information and receive control commands from the remote control. The remote control and receiver 70 are connected via a wireless Wi-Fi signal. The controller 10 uses bidirectional CAN communication with the video recorder 50 to synchronize high-voltage line alarm signals with video surveillance signals and record alarm data for cloud backup. After receiving data from the image acquisition device 60, the video recorder 50 transmits the data to the IoT platform via 4G / 5G signals, allowing users to simultaneously monitor the on-site alarm status through a terminal app. The controller 10 uses a hardwired electrical connection with the audio and visual alarm device 40 to generate on-site audio and visual alarms upon receiving a high-voltage line alarm signal, alerting the operator to operate safely.

[0055] The receiver 70 of the remote controller is used to receive control instructions for controlling the movement of the arm 80, and the display screen 30 is used to provide a setting interface for selecting the high-voltage line voltage level and alarm distance parameters of the current working environment, and to display alarm data. Figure 4As shown, the user can turn on or off the high-voltage line alarm function on the display screen 30. After turning on the high-voltage line alarm function, the user can select the high-voltage line voltage level and alarm distance parameters of the current working environment. For high-voltage lines of different voltage levels, the program presets a minimum safety distance. On the basis of the minimum safety distance, the user sets the alarm sensitivity by adjusting the alarm distance parameters, such as far, near, and medium. If the alarm distance parameter is far, the alarm sensitivity is the highest. Conversely, if the alarm distance is near, the alarm sensitivity is the lowest. After adjusting the alarm distance parameters, the controller 10 analyzes the detection data of the high-voltage line detection component 20 based on the alarm distance parameters to achieve accurate monitoring. The controller 10 can also send relevant alarm data to the display screen 30 for display, such as equipment status, alarm level, alarm arm section, etc., including alarm level, alarm time and alarm video. The duration of the alarm video corresponding to different alarm levels is different.

[0056] The engineering machinery of the present application locks the boom when it detects that the boom is approaching a high-voltage line, and adaptively unlocks the boom based on the boom's motion posture, ensuring safety while being more intelligent and convenient. In addition, the high-voltage line detection components are arranged along the length of the boom, replacing the detection points with detection surfaces, which improves the accuracy of the detection. At the same time, the high-voltage line detection components are arranged in the form of wire cables to avoid interference between the modular structure and the arm movement of the boom, making the structural design more reasonable. On this basis, the design of the shielding segment and the sensing segment can realize the positioning of the alarm arm segment and provide more reference-worthy alarm data.

[0057] Based on the same inventive concept as the above embodiments, an embodiment of the present invention provides an electronic device, such as Figure 6 As shown, the electronic device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 6 The processor 310 shown in the figure is not used to indicate that the number of processors 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of processors 310 may be one or more; similarly, Figure 6 The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the positional relationship of the memory 311 relative to other devices. In actual applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the above-mentioned method for handling the boom of the engineering machinery approaching the high-voltage power line is implemented.

[0058] The electronic device may also include: at least one network interface 312. The various components in the electronic device are coupled together via a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 2 Various buses are labeled as bus system 313.

[0059] Memory 311 may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface memory may include magnetic disk or tape memory. Volatile memory may include random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memory 311 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memories.

[0060] The memory 311 in this embodiment of the present invention is used to store various types of data to support the operation of the electronic device. Examples of this data include: any computer programs used to operate on the electronic device, such as operating systems and applications; contact data; phone book data; messages; images; videos, etc. The operating system includes various system programs, such as the framework layer, core library layer, and driver layer, which are used to implement various basic services and handle hardware-based tasks. The application program may include various application programs, such as media players and browsers, which are used to implement various application services. Here, the program implementing the method of the embodiment of the present invention may be included in the application program.

[0061] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. The computer-readable storage medium may be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); or various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer-readable storage medium is executed by the processor, the above-mentioned method for handling the boom of the engineering machinery approaching the high-voltage line is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to the flowchart. Figure 1 The description of the illustrated embodiment will not be repeated here.

[0062] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for handling a construction machinery boom close to a high-voltage line, characterized in that: The arm is provided with a high-voltage line detection assembly, and the method comprises the following steps: In response to receiving a control instruction for controlling the movement of the boom, controlling the movement of the boom according to the movement posture indicated by the control instruction; During the movement of the boom, judging whether the boom is close to the high-voltage line based on the detection data of the high-voltage line detection component; If it is determined that the boom is close to the high-voltage line, the boom is first locked and a dangerous movement posture of the boom at the locked position is determined, where the dangerous movement posture is a movement posture that causes the boom to continue to approach the high-voltage line; In response to receiving a control instruction for controlling the movement of the boom again, determining whether the movement posture indicated by the control instruction received again is consistent with the dangerous movement posture; If they are consistent, the first lock is maintained; If not, the first lock is released to allow the arm to move.

2. The method according to claim 1, characterized in that Determining the dangerous motion posture of the arm at the locked position includes: Obtaining a historical motion posture of the arm before the locking moment; Predicting the motion posture of the arm at the next moment after the locking moment based on the historical motion posture; A dangerous motion posture of the arm at the locked position is determined according to the predicted motion posture.

3. The method according to claim 1, characterized in that If it is determined that the boom is close to the high-voltage line, after first locking the boom, the method further includes: Determining whether the dangerous motion posture is successfully determined; If the determination is unsuccessful, in response to receiving the control instruction for controlling the movement of the boom again, returning to the step of controlling the movement of the boom according to the movement posture indicated by the control instruction in response to receiving the control instruction for controlling the movement of the boom; If the determination is successful, the process proceeds to the step of, in response to receiving the control instruction for controlling the arm movement again, determining whether the motion posture indicated by the control instruction received again is consistent with the dangerous motion posture.

4. The method according to any one of claims 1 to 3, characterized in that If it is determined that the boom is close to the high-voltage line, after first locking the boom, the method further includes: Determining whether the control instruction is stopped; If not stopped, maintaining the first locking; If it has stopped, it is allowed to respond to the control instruction received again.

5. The method according to claim 4, characterized in that After allowing a response to the control instruction received again if the control instruction has been stopped, the method further includes: Obtaining a first number of times that the boom is continuously determined to be close to the high-voltage line or a second number of times that the control instruction is continuously determined to be stopped; When the first number or the second number is greater than or equal to a preset number, the arm is locked for a second time, and an unlocking method of the second locking is different from that of the first locking.

6. The method according to claim 1, characterized in that The method further comprises at least one of the following: If it is determined that the boom is close to the high-voltage line, the target boom section closest to the high-voltage line is determined based on the detection data of the high-voltage line detection component, and alarm data with the target boom section as the alarm boom section is generated; According to the detection data of the high-voltage line detection component, the alarm level of the boom approaching the high-voltage line is determined, and alarm data is sent according to the alarm level. The alarm data includes the alarm level, alarm time and alarm video. The duration of the alarm video corresponding to different alarm levels is different.

7. An engineering machine, characterized in that: The method comprises a boom, a high-voltage line detection component and a controller, wherein the high-voltage line detection component is arranged on the boom, and the controller is configured to execute the method according to any one of claims 1 to 6.

8. The engineering machine according to claim 7, characterized in that: The boom includes multiple boom sections, each boom section is provided with a high-voltage line detection component, the high-voltage line detection component is an antenna extending along the length direction of the boom section, and the high-voltage line detection component on each boom section is connected to the controller; And / or, the engineering machinery also includes an image acquisition device, an audio-visual alarm device, a remote control receiver and a display screen connected to the controller, the remote control receiver is used to receive control instructions for controlling the movement of the arm, and the display screen is used to provide a setting interface for selecting the high-voltage line voltage level and alarm distance parameters of the current working environment, and is used to display alarm data.

9. An electronic device, characterized in that: The method comprises a storage medium and a controller, wherein a computer program is stored on the storage medium, and when the computer program is executed by the controller, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

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