Posture early warning control method and device applied to excavator

Abstract

The invention relates to the technical field of excavator control, in particular to a posture early warning control method and device applied to an excavator. The method comprises the following steps: determining a current attitude control mode of the excavator according to a mode selection operation of human-computer interaction at a previous moment; acquiring retained space information corresponding to the current attitude control mode; current posture information of the excavator is obtained, posture limiting recognition is conducted on the excavator according to the limiting space information and the current posture information of the excavator, and a limiting recognition result is obtained; and according to the movement limiting recognition result, posture early warning control operation is executed on the excavator. Posture early warning prompt is carried out by setting the limiting space information corresponding to the posture control mode, the limiting control function of a traditional electronic enclosing wall is equivalently achieved, the configuration information of the limiting space can be modified in a man-machine interaction mode so as to be matched with the performance of an electronic control action component of the excavator, and the safety of the excavator is improved. Therefore, the limiting control accuracy of the whole-vehicle posture of the excavator is improved.

Description

Technical Field

[0001] This invention relates to the field of excavator control technology, and in particular to a posture warning control method and device for excavators. Background Technology

[0002] When excavators operate in confined spaces or under obstacle avoidance conditions, a safe operating distance must be maintained from surrounding obstacles to prevent damage to cables, pipes, and other components. Currently, excavators are typically equipped with electronic fencing to limit their overall movement and posture. A virtual fence is set around the excavator to create a working space; the excavator will not perform any actions outside the electronic fence's range, while actions within the electronic fence's range will be performed normally.

[0003] However, in practice, it has been found that the traditional electronic fencing function requires modification of the entire vehicle's electronic control program, as well as debugging of the data interaction program and logic control program of the vehicle controller. The electronic fencing function is difficult to modify after the excavator leaves the factory. Furthermore, the performance parameters of various electronically controlled components of the excavator tend to change over time, increasing the error of the electronic control actions. Moreover, because the parameters of the electronic fencing function are difficult to adjust adaptively, the accuracy of the electronic fencing function's motion limiting control is relatively low.

[0004] Therefore, improving the accuracy of motion control of the excavator's overall posture, thereby enhancing the safety of excavator operations, is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] This invention provides a posture warning control method and device for excavators, which can improve the accuracy of the limited movement control of the excavator's overall posture, thereby improving the safety of excavator engineering operations.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a posture warning and control method applied to an excavator, the method comprising: Based on the previous human-machine interaction mode selection operation, determine the current attitude control mode of the excavator; Obtain the motion-limiting space information corresponding to the current attitude control mode; the motion-limiting space information is obtained by updating the configuration information of the motion-limiting space based on the human-computer interaction data modification operation detected at a previous moment; The current posture information of the excavator is obtained, and the posture restriction recognition of the excavator is performed based on the restricted movement space information and the current posture information of the excavator to obtain the restricted movement recognition result; the restricted movement recognition result is used to characterize the spatial relationship between the current posture position of the excavator and the spatial boundary corresponding to the restricted movement space information. Based on the motion restriction recognition result, a posture warning control operation is performed on the excavator. The posture warning control operation includes one of a warning prompt operation and a motion restriction control operation. The warning prompt operation is used to output a warning prompt message to the excavator operator, and the motion restriction control operation is used to output an alarm prompt message to the excavator operator and restrict the movement posture of the excavator.

[0007] As an optional implementation, in the first aspect of the present invention, the current attitude control mode includes an attitude guidance control mode; The step of obtaining the current attitude information of the excavator includes: In the attitude guidance control mode, the current boom node position and stick node position of the excavator are obtained; the boom node position is the position of the connection point between the excavator's digging boom and digging stick, and the stick node position is the position of the connection point between the excavator's digging bucket and digging stick. A full-envelope attitude calculation is performed on the boom node position and the stick node position to obtain the overall vehicle position information, which is used as the current attitude information of the excavator.

[0008] As an optional implementation, in the first aspect of the present invention, the step of performing attitude limitation identification on the excavator based on the limited movement space information and the current attitude information of the excavator to obtain the limitation identification result includes: Based on the current posture information of the excavator and the restricted movement space information, the distance between the excavator and the four-way distance boundary is calculated to obtain the distance calculation result; the four-way distance boundary is the spatial boundary of the restricted movement space corresponding to the posture guidance control mode; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is greater than or equal to the first distance threshold, then a first recognition result is generated; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is less than the first distance threshold and greater than the second distance threshold, then a second recognition result is generated; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is less than or equal to the second distance threshold, then a third identification result is generated; Wherein, the first distance threshold is greater than the second distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0009] As an optional implementation, in the first aspect of the present invention, the current attitude control mode includes an attitude rotation control mode; The process of acquiring the current posture information of the excavator and performing posture limitation recognition on the excavator based on the limited movement space information and the current posture information of the excavator to obtain the limitation recognition result includes: In the attitude rotation control mode, the current attitude information of the excavator is acquired; the current attitude information of the excavator includes the attitude rotation angle and / or attitude rotation distance. A slewing analysis is performed based on the current posture information of the excavator and the limited movement space information to obtain the slewing analysis result, and a limited movement recognition result is generated based on the slewing analysis result.

[0010] As an optional implementation, in the first aspect of the present invention, the current attitude information of the excavator includes the attitude rotation angle; The step of performing a slewing analysis based on the excavator's current posture information and the limited movement space information to obtain a slewing analysis result, and generating a limited movement identification result based on the slewing analysis result, includes: If the rotation analysis result indicates that the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is greater than or equal to the first angle threshold, then a first identification result is generated; the rotation angle boundary is the spatial boundary of the motion-limiting space corresponding to the attitude rotation control mode. If the rotation analysis result indicates that the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is less than the first angle threshold and greater than the second angle threshold, then a second recognition result is generated. If the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary, as indicated by the rotation analysis result, is less than or equal to the second angle threshold, then a third identification result is generated. Wherein, the first angle threshold is greater than the second angle threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0011] As an optional implementation, in the first aspect of the present invention, the current attitude information of the excavator includes the attitude slewing distance; The step of performing a slewing analysis based on the excavator's current posture information and the limited movement space information to obtain a slewing analysis result, and generating a limited movement identification result based on the slewing analysis result, includes: If the rotation analysis result indicates that the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is greater than or equal to the third distance threshold, then a first identification result is generated; the rotation distance boundary is the spatial boundary of the motion-limiting space corresponding to the attitude rotation control mode. If the rotation analysis result indicates that the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is less than the third distance threshold and greater than the fourth distance threshold, then a second recognition result is generated; If the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary, as indicated by the rotation analysis result, is less than or equal to the fourth distance threshold, then a third identification result is generated; Wherein, the third distance threshold is greater than the fourth distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0012] As an optional implementation, in the first aspect of the present invention, the current attitude information of the excavator includes the attitude rotation angle and the attitude rotation distance; The step of performing a slewing analysis based on the excavator's current posture information and the limited movement space information to obtain a slewing analysis result, and generating a limited movement identification result based on the slewing analysis result, includes: If the rotation analysis result indicates that the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is not greater than the third angle threshold, or the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is not greater than the fifth distance threshold, then a third identification result is generated; the rotation angle boundary and the rotation distance boundary are both spatial boundaries of the motion-limiting space corresponding to the attitude rotation control mode; If the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is greater than the third angle threshold and the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is greater than the fifth distance threshold, and if the rotation analysis result indicates that the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is less than the fourth angle threshold, or the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is less than the sixth distance threshold, then a second recognition result is generated. If the rotation analysis result indicates that the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is not less than the fourth angle threshold, and the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is not less than the sixth distance threshold, then a first identification result is generated. Wherein, the third angle threshold is less than the fourth angle threshold, the fifth distance threshold is less than the sixth distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0013] As an optional implementation, in the first aspect of the present invention, the step of performing attitude warning control operation on the excavator based on the motion restriction identification result includes: If the motion restriction recognition result is the first recognition result, then a normal posture prompt message is output to the excavator operator; If the motion restriction recognition result is the second recognition result, then a critical posture prompt message is output to the excavator operator; If the restricted movement recognition result is the third recognition result, then a dangerous posture warning message is output to the excavator driver, and an action interception command is sent to the excavator's vehicle controller to make the excavator enter the work stop state. The reset action signal generated by the excavator according to the human-machine interaction handle reset operation is obtained, and an action execution command is sent to the excavator's vehicle controller according to the reset action signal to make the excavator enter the work in progress state. The normal posture prompt information is used to characterize the size of the space between the current posture position of the excavator and the space boundary corresponding to the limited movement space information, which is greater than or equal to a preset safe space threshold. The critical attitude prompt information is used to characterize the size of the space between the current attitude position of the excavator and the space boundary corresponding to the limited movement space information, which is less than a preset safe space threshold. The dangerous posture warning information is used to characterize the size of the space between the current posture position of the excavator and the space boundary corresponding to the limited movement space information, which is less than or equal to a preset limited movement space threshold. The safety space threshold is greater than the movement restriction space threshold; The operation stop state is the state in which the handle control command is not executed, and the operation in progress state is the state in which the handle control command is executed normally. The warning information includes one of the normal posture warning information and the critical posture warning information, and the alarm information includes the dangerous posture warning information.

[0014] As an optional implementation, in a first aspect of the invention, after acquiring the current attitude information of the excavator, the method further includes: Obtain the current roll angle and pitch angle information of the excavator; The excavator's display device displays the roll angle information, pitch angle information, boom node position, stick node position, and overall vehicle position information to the excavator operator.

[0015] A second aspect of the present invention discloses a posture warning and control device for an excavator, the device comprising: The control mode determination module is used to determine the current attitude control mode of the excavator based on the mode selection operation of the human-machine interaction at a previous moment. The spatial information acquisition module is used to acquire the motion-limiting space information corresponding to the current attitude control mode; the motion-limiting space information is obtained by updating the configuration information of the motion-limiting space based on the human-computer interaction data modification operation detected at a previous moment; The motion restriction recognition module is used to acquire the current posture information of the excavator, and to perform motion restriction recognition on the excavator according to the motion restriction space information and the current posture information of the excavator, so as to obtain the motion restriction recognition result; the motion restriction recognition result is used to characterize the spatial relationship between the current posture position of the excavator and the spatial boundary corresponding to the motion restriction space information. The attitude control module is used to perform attitude warning control operations on the excavator based on the limited movement recognition result. The attitude warning control operation includes one of a warning prompt operation and a limited movement control operation. The warning prompt operation is used to output a warning prompt message to the excavator operator, and the limited movement control operation is used to output an alarm prompt message to the excavator operator and limit the movement attitude of the excavator.

[0016] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The corner information acquisition module is used to acquire the roll angle and pitch angle information of the excavator at the current moment after the limited motion recognition module acquires the current attitude information of the excavator; The information display module is used to display the roll angle information, the pitch angle information, the boom node position, the stick node position, and the overall vehicle position information to the excavator operator through the excavator's display device.

[0017] A third aspect of the present invention discloses another attitude warning and control device for excavators, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the attitude warning control method for excavators disclosed in the first aspect of the present invention.

[0018] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked by a processor, are used to execute the attitude warning and control method for excavators disclosed in the first aspect of the present invention.

[0019] Compared with the prior art, the present invention has the following beneficial effects: First, the current attitude control mode of the excavator is determined based on the prior human-machine interaction mode selection operation. Then, the corresponding movement restriction space information is obtained based on the current attitude control mode. The obtained movement restriction space information is the updated information after modifying the configuration information of the movement restriction space according to the prior human-machine interaction data modification operation. Next, the current attitude information of the excavator is obtained, and the excavator's attitude movement restriction is identified based on the movement restriction space information and the current attitude information of the excavator, obtaining the movement restriction identification result. Finally, the attitude warning control operation is performed on the excavator based on the movement restriction identification result. By setting the movement restriction space information corresponding to the attitude control mode to provide attitude warning prompts, and equivalent to the movement restriction control function of the traditional electronic fence, the configuration information of the movement restriction space can be modified through human-machine interaction to adapt to the performance of the excavator's electronically controlled actuators, thereby improving the accuracy of the movement restriction control of the excavator's overall attitude and thus improving the safety of excavator engineering operations. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating an attitude warning and control method for excavators disclosed in an embodiment of the present invention. Figure 2 This is a schematic diagram of the interface of the display device of the excavator in the attitude guidance control mode disclosed in the embodiment of the present invention; Figure 3 This is a schematic diagram of the display device interface of an excavator in the attitude rotation control mode disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a posture early warning control device for excavators disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of another attitude warning and control device for excavators disclosed in an embodiment of the present invention; Figure 6 This is a schematic diagram of another attitude warning and control device for excavators disclosed in an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, or product may include a series of steps or units, or may not be limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or processes.

[0024] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] When excavators operate in confined spaces or under obstacle avoidance conditions, a safe operating distance must be maintained from surrounding obstacles to prevent damage to cables, pipes, and other components. Currently, excavators are typically equipped with electronic fencing to limit their overall movement and posture. A virtual fence is set around the excavator to create a working space; the excavator will not perform any actions outside the electronic fence's range, while actions within the electronic fence's range will be performed normally.

[0026] However, in practice, it has been found that the traditional electronic fencing function requires modification of the entire vehicle's electronic control program, as well as debugging of the data interaction program and logic control program of the vehicle controller. The electronic fencing function is difficult to modify after the excavator leaves the factory. Furthermore, the performance parameters of various electronically controlled components of the excavator tend to change over time, increasing the error of the electronic control actions. Moreover, because the parameters of the electronic fencing function are difficult to adjust adaptively, the accuracy of the electronic fencing function's motion limiting control is relatively low.

[0027] Therefore, improving the accuracy of motion control of the excavator's overall posture, thereby enhancing the safety of excavator operations, is a pressing technical problem that needs to be solved.

[0028] To address the aforementioned technical problems, this invention discloses a posture warning and control method and device for excavators, aiming to improve the accuracy of movement control limiting of the excavator's overall posture, thereby enhancing the safety of excavator operations. Detailed descriptions follow.

[0029] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a posture early warning control method for excavators disclosed in an embodiment of the present invention. Figure 1 The attitude warning control method shown can be applied to an attitude warning control device, which can improve the accuracy of the limited movement control of the excavator's overall attitude, thereby improving the safety of excavator operations. Furthermore, this device can be integrated into the excavator's overall controller or exist independently of the overall controller. Figure 1 As shown, the posture warning and control method for excavators disclosed in this embodiment of the invention includes, but is not limited to, the following operations: 101. Determine the current attitude control mode of the excavator based on the previous human-machine interaction mode selection operation; 102. Obtain the motion limit space information corresponding to the current attitude control mode; the motion limit space information is obtained by updating the configuration information of the motion limit space based on the human-computer interaction data modification operation detected at a previous moment; 103. Obtain the current posture information of the excavator, and perform posture restriction recognition on the excavator based on the restricted movement space information and the current posture information of the excavator to obtain the restricted movement recognition result; the restricted movement recognition result is used to characterize the spatial relationship between the current posture position of the excavator and the spatial boundary corresponding to the restricted movement space information. 104. Based on the motion restriction identification results, perform attitude warning control operations on the excavator; the attitude warning control operations include one of the following: warning prompt operation and motion restriction control operation. The warning prompt operation is used to output warning prompt information to the excavator operator, and the motion restriction control operation is used to output alarm prompt information to the excavator operator and perform motion restriction control on the excavator's movement attitude.

[0030] This embodiment of the invention first determines the excavator's current attitude control mode based on the prior human-machine interaction mode selection operation, and then obtains the corresponding movement restriction space information based on the current attitude control mode. The obtained movement restriction space information is the updated information after modifying the configuration information of the movement restriction space based on the prior human-machine interaction data modification operation. Next, the excavator's current attitude information is obtained, and attitude movement restriction identification is performed on the excavator based on the movement restriction space information and the excavator's current attitude information to obtain the movement restriction identification result. Finally, attitude warning control operation is performed on the excavator based on the movement restriction identification result.

[0031] It should be noted that the early warning information is used to prompt the excavator operator to adjust the excavator's posture as needed before the excavator's movement exceeds the safe operating space. The alarm information is used to prompt the excavator operator that the current excavator's movement posture is about to exceed or has already exceeded the safe operating space (due to inertia, the excavator's moving parts will continue to move slightly even after the movement is limited).

[0032] As can be seen, the embodiments of the present invention provide attitude warning prompts by setting the limited movement space information corresponding to the attitude control mode, and effectively realize the limited movement control function of the traditional electronic fence. Moreover, the configuration information of the limited movement space can be modified through human-computer interaction to adapt to the performance of the excavator's electronic control components, thereby improving the accuracy of the limited movement control of the excavator's overall attitude and thus improving the safety of excavator engineering operations.

[0033] Furthermore, because the configuration information of the restricted space can be adaptively adjusted according to actual needs, the excavator used in this invention can be more easily modified and upgraded, facilitating the application and promotion of related products.

[0034] In an optional embodiment, the current attitude control mode includes an attitude guidance control mode; Obtaining the excavator's current attitude information specifically includes: In attitude guidance control mode, the current boom node position and stick node position of the excavator are obtained; the boom node position is the position of the connection point between the excavator's digging boom and digging stick, and the stick node position is the position of the connection point between the excavator's digging bucket and digging stick. Full-envelope attitude calculations are performed on the boom node position and stick node position to obtain the overall vehicle position information, which serves as the excavator's current attitude information.

[0035] In this optional embodiment, based on a pre-established mathematical model of the excavator's posture, a full-envelope posture calculation is performed on the boom node position and stick node position. This allows for the acquisition of position information of the excavator's excavating components, consisting of the excavating boom, digging stick, and digging bucket, as well as information on other positions of the vehicle body, including the frontmost, highest, lowest, and rearmost positions of the entire vehicle.

[0036] As can be seen, this optional embodiment obtains accurate excavator position information in real time by performing full-envelope attitude calculations on the boom node position and stick node position, thereby improving the accuracy of excavator motion limitation control.

[0037] In another optional embodiment, the excavator's attitude limitation identification is performed based on the limited movement space information and the excavator's current attitude information, and the limitation identification result specifically includes: Based on the excavator's current attitude information and motion-limiting space information, the distance between the excavator and the four-way distance boundary is calculated, and the distance calculation result is obtained; the four-way distance boundary is the spatial boundary of the motion-limiting space corresponding to the attitude guidance control mode; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is greater than or equal to the first distance threshold, then the first recognition result is generated; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is less than the first distance threshold and greater than the second distance threshold, then a second recognition result is generated. If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is less than or equal to the second distance threshold, then the third recognition result is generated; Wherein, the first distance threshold is greater than the second distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0038] This optional embodiment uses a preset distance threshold to limit and identify the positional difference between the excavator and the spatial boundary, thereby obtaining the corresponding identification result. It should be noted that the four-way distance boundary is a spatial boundary located above, below, in front of, and behind the excavator, and at a certain distance from the excavator's body. The specific values ​​of the first and second distance thresholds can be set according to the actual operating scenario. For example, the first distance threshold can be set to 50cm, and the second distance threshold can be set to 10cm.

[0039] In yet another optional embodiment, the current attitude control mode includes an attitude rotation control mode; The current posture information of the excavator is obtained, and posture limitation recognition of the excavator is performed based on the limited movement space information and the current posture information of the excavator. The specific results of the limitation recognition include: In attitude slewing control mode, the current attitude information of the excavator is acquired; the current attitude information of the excavator includes attitude slewing angle and / or attitude slewing distance. Based on the excavator's current posture information and limited movement space information, a slewing analysis is performed to obtain the slewing analysis results, and a limited movement recognition result is generated based on the slewing analysis results.

[0040] As can be seen, this optional embodiment performs slewing analysis based on the positional difference between the excavator's slewing angle and / or slewing distance information and the spatial boundary, thereby obtaining accurate excavator position information in real time and improving the accuracy of excavator movement control.

[0041] In yet another optional embodiment, the excavator's current attitude information includes the attitude rotation angle; Based on the excavator's current posture information and limited movement space information, a slewing analysis is performed to obtain the slewing analysis results. Based on these results, a limited movement identification result is generated, specifically including: If the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is greater than or equal to the first angle threshold, the first identification result is generated; the rotation angle boundary is the spatial boundary of the motion-limiting space corresponding to the attitude rotation control mode. If the difference between the rotation analysis result representing the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is less than the first angle threshold and greater than the second angle threshold, then a second recognition result is generated. If the difference between the rotation analysis result representing the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is less than or equal to the second angle threshold, then a third identification result is generated. Wherein, the first angle threshold is greater than the second angle threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0042] This optional embodiment uses a preset slewing angle threshold to limit and identify the positional difference between the excavator and the spatial boundary, thereby obtaining the corresponding identification result. It should be noted that the slewing angle boundary is a boundary set based on the excavator's safe slewing angle range. The specific values ​​of the first and second angle thresholds can be set according to the actual operating scenario. For example, the first angle threshold can be set to 60 degrees, and the second angle threshold can be set to 10 degrees.

[0043] In yet another optional embodiment, the excavator's current attitude information includes attitude slewing distance; Based on the excavator's current posture information and limited movement space information, a slewing analysis is performed to obtain the slewing analysis results. Based on these results, a limited movement identification result is generated, specifically including: If the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is greater than or equal to the third distance threshold, the first identification result is generated; the rotation distance boundary is the spatial boundary of the motion-limiting space corresponding to the attitude rotation control mode. If the difference between the rotation analysis result representing the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is less than the third distance threshold and greater than the fourth distance threshold, then a second recognition result is generated. If the difference between the rotation analysis result representing the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is less than or equal to the fourth distance threshold, then the third identification result is generated. Among them, the third distance threshold is greater than the fourth distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0044] This optional embodiment uses a preset slewing distance threshold to limit and identify the positional difference between the excavator and the spatial boundary, thereby obtaining the corresponding identification result. It should be noted that the slewing distance boundary is a boundary set based on the excavator's safe slewing distance range. The specific values ​​of the third and fourth distance thresholds can be set according to the actual operating scenario. Considering factors such as slewing inertia and slewing bearing clearance, the fourth distance threshold corresponding to the attitude slewing control mode is usually greater than the second distance threshold corresponding to the attitude guidance control mode. For example, the third distance threshold is set to 50cm, and the fourth distance threshold is set to 20cm.

[0045] In yet another optional embodiment, the excavator's current attitude information includes attitude slewing angle and attitude slewing distance; Based on the excavator's current attitude information and limited movement space information, a slewing analysis is performed to obtain the slewing analysis results. Based on these results, a limited movement identification result is generated, including: If the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is not greater than the third angle threshold, or the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is not greater than the fifth distance threshold, then a third identification result is generated; the rotation angle boundary and the rotation distance boundary are both spatial boundaries of the motion-limiting space corresponding to the attitude rotation control mode. If the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is greater than the third angle threshold and the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is greater than the fifth distance threshold, then if the rotation analysis result indicates that the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is less than the fourth angle threshold, or the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is less than the sixth distance threshold, then a second recognition result is generated. If the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is not less than the fourth angle threshold, and the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is not less than the sixth distance threshold, then the first identification result is generated. Among them, the third angle threshold is less than the fourth angle threshold, the fifth distance threshold is less than the sixth distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0046] This optional embodiment uses preset slewing distance and slewing angle thresholds to perform positional identification of the difference between the excavator and the spatial boundary, thereby obtaining the corresponding identification result. It should be noted that the specific values ​​of the third angle threshold, fourth angle threshold, fifth distance threshold, and sixth distance threshold can be set according to the actual operating scenario.

[0047] In another optional embodiment, based on the motion restriction identification result, the excavator is subjected to attitude warning control operations, specifically including: If the motion restriction recognition result is the first recognition result, then output a normal posture prompt message to the excavator operator; If the motion restriction recognition result is the second recognition result, then a critical posture prompt message will be output to the excavator operator; If the motion restriction recognition result is the third recognition result, a dangerous posture warning message is output to the excavator driver, and an action interception command is sent to the excavator's vehicle controller to make the excavator enter the work stop state. The reset action signal generated by the excavator according to the human-machine interaction handle reset operation is obtained, and an action execution command is sent to the excavator's vehicle controller according to the reset action signal to make the excavator enter the work in progress state. Among them, the normal posture prompt information is used to characterize the size of the space between the current posture position of the excavator and the space boundary corresponding to the limited movement space information, which is greater than or equal to the preset safe space threshold. The critical attitude cue information is used to characterize the size of the space between the excavator's current attitude position and the space boundary corresponding to the limited motion space information, which is less than the preset safe space threshold. Dangerous posture warning information is used to characterize the size of the space between the excavator's current posture position and the space boundary corresponding to the limited movement space information, which is less than or equal to the preset limited movement space threshold. The safe space threshold is greater than the restricted movement space threshold; The operation is stopped when no handle control commands are executed, and the operation is in progress when handle control commands are executed normally. The warning information includes either normal posture warning information or critical posture warning information, and the alarm warning information includes dangerous posture warning information.

[0048] Understandably, when a dangerous posture warning message is output, it indicates that the excavator's posture and movements are about to exceed or have already exceeded the safe range set by the movement limit (due to inertia, the excavator's moving parts will continue to move slightly even after the movement limit is applied). At this point, a movement interception command is sent to the excavator's vehicle controller to put the excavator into a work stoppage state, thereby preventing safety issues caused by subsequent posture and movements. When the excavator's control handle is reset, the excavator's posture and movements are reset, and the excavator returns to normal operating status. When a normal posture warning message is output, the excavator operator can control the excavator normally. When a critical posture warning message is output, the excavator operator should adjust the excavator's posture to maintain normal operation.

[0049] In addition, different colored lights, different frequency sounds, or other methods can be used to output corresponding prompts to the excavator operator; this invention does not impose any specific limitations.

[0050] As can be seen, this optional embodiment improves the safety of excavator operation by recognizing and limiting the excavator's movement posture.

[0051] In yet another optional embodiment, after obtaining the current attitude information of the excavator, the attitude warning and control method for excavators disclosed in this embodiment of the invention further includes the following operations: Obtain the current roll angle and pitch angle information of the excavator; The excavator's display device shows the operator information on roll angle, pitch angle, boom node position, stick node position, and overall vehicle position.

[0052] Traditional excavators only display the position of the bucket tip. The accuracy of excavator operators' judgment of the movement posture based on the bucket tip is low, and misjudgments are prone to occur.

[0053] Please see Figure 2 , Figure 2 This is a schematic diagram of the display device interface of an excavator in the attitude guidance control mode disclosed in an embodiment of the present invention. Figure 2As shown, the interface displays the position information of the excavator's boom node, bucket tip, and stick node, as well as the excavator's pitch and roll angles, facilitating the operator's assessment of the vehicle's overall movement. The operator can interact with the excavator to modify the specific configuration information of the four-way boundary settings, including one or more of the upper, lower, front, and rear boundary positions (with the cab's orientation as the forward direction). These four boundaries can be individually enabled or disabled for adjustments based on actual operational needs. Furthermore, the interface displays the position information of the vehicle's foremost, rearmost, highest, and lowest points corresponding to the four-way boundary settings, using green, yellow, and red lights to provide warnings: green indicates a normal posture, yellow indicates a critical posture, and red indicates a dangerous posture. Additionally, the interface displays setting switches for the overall vehicle reference and bucket tip reference, used to configure relevant excavator parameters.

[0054] Please see Figure 3 , Figure 3 This is a schematic diagram of the display device interface of an excavator in the attitude rotation control mode disclosed in an embodiment of the present invention. Figure 3 As shown, the interface displays the excavator's slewing angle, slewing distance, pitch angle, and roll angle. The operator can interact with the excavator to modify the specific configuration information of the slewing angle-based boundaries and / or slewing distance-based boundaries, including one or more of the following: left slewing angle boundary position, right slewing angle boundary position, left distance boundary position, and right distance boundary position (with the cab's orientation as the forward direction). Different directions or types of boundaries can be individually enabled or disabled, facilitating adjustments based on actual operational needs. Furthermore, a three-color indicator light (green, yellow, and red) outputs warning information: green indicates a normal posture warning, yellow indicates a critical posture warning, and red indicates a dangerous posture warning.

[0055] As can be seen, this optional embodiment, by displaying the excavator's roll angle, pitch angle, boom node position, stick node position, and overall vehicle position information (including bucket position information), can help the operator more accurately grasp the real-time position of various parts of the excavator, thereby improving work efficiency. Furthermore, it can also display the attitude slewing angle and attitude slewing distance to assist the excavator operator in judging the movement attitude.

[0056] Example 2 Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a posture warning and control device for excavators disclosed in an embodiment of the present invention. Figure 4The attitude warning control device shown can be used to execute the attitude warning control method described in Embodiment 1. This device can improve the accuracy of the limited movement control of the excavator's overall attitude, thereby improving the safety of excavator operations. Furthermore, this device can be integrated into the excavator's overall controller or exist independently of the overall controller. Figure 4 As shown, an embodiment of the present invention discloses a posture warning and control device for excavators, including but not limited to: The control mode determination module 201 is used to determine the current attitude control mode of the excavator based on the mode selection operation of the human-machine interaction at a previous moment. The spatial information acquisition module 202 is used to acquire the motion-limited space information corresponding to the current attitude control mode; the motion-limited space information is obtained by updating the configuration information of the motion-limited space based on the human-computer interaction data modification operation detected at a previous moment; The motion restriction recognition module 203 is used to acquire the current posture information of the excavator, and to perform motion restriction recognition on the excavator based on the motion restriction space information and the current posture information of the excavator, so as to obtain the motion restriction recognition result; the motion restriction recognition result is used to characterize the spatial relationship between the current posture position of the excavator and the spatial boundary corresponding to the motion restriction space information. The attitude control module 204 is used to perform attitude warning control operations on the excavator based on the motion limitation recognition results. The attitude warning control operations include one of the following: warning prompt operation and motion limitation control operation. The warning prompt operation is used to output warning prompt information to the excavator operator, and the motion limitation control operation is used to output alarm prompt information to the excavator operator and limit the movement attitude of the excavator.

[0057] This embodiment of the invention first determines the excavator's current attitude control mode based on the prior human-machine interaction mode selection operation, and then obtains the corresponding movement restriction space information based on the current attitude control mode. The obtained movement restriction space information is the updated information after modifying the configuration information of the movement restriction space based on the prior human-machine interaction data modification operation. Next, the excavator's current attitude information is obtained, and attitude movement restriction identification is performed on the excavator based on the movement restriction space information and the excavator's current attitude information to obtain the movement restriction identification result. Finally, attitude warning control operation is performed on the excavator based on the movement restriction identification result.

[0058] It should be noted that the early warning information is used to prompt the excavator operator to adjust the excavator's posture as needed before the excavator's movement exceeds the safe operating space. The alarm information is used to prompt the excavator operator that the current excavator's movement posture is about to exceed or has already exceeded the safe operating space (due to inertia, the excavator's moving parts will continue to move slightly even after the movement is limited).

[0059] As can be seen, the embodiments of the present invention provide attitude warning prompts by setting the limited movement space information corresponding to the attitude control mode, and effectively realize the limited movement control function of the traditional electronic fence. Moreover, the configuration information of the limited movement space can be modified through human-computer interaction to adapt to the performance of the excavator's electronic control components, thereby improving the accuracy of the limited movement control of the excavator's overall attitude and thus improving the safety of excavator engineering operations.

[0060] Furthermore, because the configuration information of the restricted space can be adaptively adjusted according to actual needs, the excavator used in this invention can be more easily modified and upgraded, facilitating the application and promotion of related products.

[0061] In an optional embodiment, in a second aspect of the invention, the current attitude control mode includes an attitude guidance control mode; The specific methods by which the motion restriction recognition module 203 obtains the current posture information of the excavator include: In attitude guidance control mode, the current boom node position and stick node position of the excavator are obtained; the boom node position is the position of the connection point between the excavator's digging boom and digging stick, and the stick node position is the position of the connection point between the excavator's digging bucket and digging stick. Full-envelope attitude calculations are performed on the boom node position and stick node position to obtain the overall vehicle position information, which serves as the excavator's current attitude information.

[0062] In this optional embodiment, based on a pre-established mathematical model of the excavator's posture, a full-envelope posture calculation is performed on the boom node position and stick node position. This allows for the acquisition of position information of the excavator's excavating components, consisting of the excavating boom, digging stick, and digging bucket, as well as information on other positions of the vehicle body, including the frontmost, highest, lowest, and rearmost positions of the entire vehicle.

[0063] As can be seen, this optional embodiment obtains accurate excavator position information in real time by performing full-envelope attitude calculations on the boom node position and stick node position, thereby improving the accuracy of excavator motion limitation control.

[0064] In another optional embodiment, the motion restriction recognition module 203 performs motion restriction recognition on the excavator based on the motion restriction space information and the excavator's current posture information. The specific method for obtaining the motion restriction recognition result includes: Based on the excavator's current attitude information and motion-limiting space information, the distance between the excavator and the four-way distance boundary is calculated, and the distance calculation result is obtained; the four-way distance boundary is the spatial boundary of the motion-limiting space corresponding to the attitude guidance control mode; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is greater than or equal to the first distance threshold, then the first recognition result is generated; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is less than the first distance threshold and greater than the second distance threshold, then a second recognition result is generated. If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is less than or equal to the second distance threshold, then the third recognition result is generated; Wherein, the first distance threshold is greater than the second distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0065] This optional embodiment uses a preset distance threshold to limit and identify the positional difference between the excavator and the spatial boundary, thereby obtaining the corresponding identification result. It should be noted that the four-way distance boundary is a spatial boundary located above, below, in front of, and behind the excavator, and at a certain distance from the excavator's body. The specific values ​​of the first and second distance thresholds can be set according to the actual operating scenario. For example, the first distance threshold can be set to 50cm, and the second distance threshold can be set to 10cm.

[0066] In yet another optional embodiment, the current attitude control mode includes an attitude rotation control mode; The motion restriction recognition module 203 acquires the current posture information of the excavator, and performs motion restriction recognition on the excavator based on the motion restriction space information and the current posture information of the excavator. The specific methods for obtaining the motion restriction recognition result include: In attitude slewing control mode, the current attitude information of the excavator is acquired; the current attitude information of the excavator includes attitude slewing angle and / or attitude slewing distance. Based on the excavator's current posture information and limited movement space information, a slewing analysis is performed to obtain the slewing analysis results, and a limited movement recognition result is generated based on the slewing analysis results.

[0067] As can be seen, this optional embodiment performs slewing analysis based on the positional difference between the excavator's slewing angle and / or slewing distance information and the spatial boundary, thereby obtaining accurate excavator position information in real time and improving the accuracy of excavator movement control.

[0068] In yet another optional embodiment, the excavator's current attitude information includes the attitude rotation angle; The limited movement recognition module 203 performs a slewing analysis based on the excavator's current posture information and limited movement space information to obtain the slewing analysis results. The specific methods for generating the limited movement recognition results based on these results include: If the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is greater than or equal to the first angle threshold, the first identification result is generated; the rotation angle boundary is the spatial boundary of the motion-limiting space corresponding to the attitude rotation control mode. If the difference between the rotation analysis result representing the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is less than the first angle threshold and greater than the second angle threshold, then a second recognition result is generated. If the difference between the rotation analysis result representing the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is less than or equal to the second angle threshold, then a third identification result is generated. Wherein, the first angle threshold is greater than the second angle threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0069] This optional embodiment uses a preset slewing angle threshold to limit and identify the positional difference between the excavator and the spatial boundary, thereby obtaining the corresponding identification result. It should be noted that the slewing angle boundary is a boundary set based on the excavator's safe slewing angle range. The specific values ​​of the first and second angle thresholds can be set according to the actual operating scenario. For example, the first angle threshold can be set to 60 degrees, and the second angle threshold can be set to 10 degrees.

[0070] In yet another optional embodiment, the excavator's current attitude information includes attitude slewing distance; The limited movement recognition module 203 performs a slewing analysis based on the excavator's current posture information and limited movement space information to obtain the slewing analysis results. The specific methods for generating the limited movement recognition results based on these results include: If the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is greater than or equal to the third distance threshold, the first identification result is generated; the rotation distance boundary is the spatial boundary of the motion-limiting space corresponding to the attitude rotation control mode. If the difference between the rotation analysis result representing the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is less than the third distance threshold and greater than the fourth distance threshold, then a second recognition result is generated. If the difference between the rotation analysis result representing the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is less than or equal to the fourth distance threshold, then the third identification result is generated. Among them, the third distance threshold is greater than the fourth distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0071] This optional embodiment uses a preset slewing distance threshold to limit and identify the positional difference between the excavator and the spatial boundary, thereby obtaining the corresponding identification result. It should be noted that the slewing distance boundary is a boundary set based on the excavator's safe slewing distance range. The specific values ​​of the third and fourth distance thresholds can be set according to the actual operating scenario. Considering factors such as slewing inertia and slewing bearing clearance, the fourth distance threshold corresponding to the attitude slewing control mode is usually greater than the second distance threshold corresponding to the attitude guidance control mode. For example, the third distance threshold is set to 50cm, and the fourth distance threshold is set to 20cm.

[0072] In yet another optional embodiment, the excavator's current attitude information includes attitude slewing angle and attitude slewing distance; The limited movement recognition module 203 performs a slewing analysis based on the excavator's current posture information and limited movement space information to obtain the slewing analysis results. The specific methods for generating the limited movement recognition results based on these results include: If the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is not greater than the third angle threshold, or the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is not greater than the fifth distance threshold, then a third identification result is generated; the rotation angle boundary and the rotation distance boundary are both spatial boundaries of the motion-limiting space corresponding to the attitude rotation control mode. If the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is greater than the third angle threshold and the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is greater than the fifth distance threshold, then if the rotation analysis result indicates that the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is less than the fourth angle threshold, or the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is less than the sixth distance threshold, then a second recognition result is generated. If the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is not less than the fourth angle threshold, and the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is not less than the sixth distance threshold, then the first identification result is generated. Among them, the third angle threshold is less than the fourth angle threshold, the fifth distance threshold is less than the sixth distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

[0073] This optional embodiment uses preset slewing distance and slewing angle thresholds to perform positional identification of the difference between the excavator and the spatial boundary, thereby obtaining the corresponding identification result. It should be noted that the specific values ​​of the third angle threshold, fourth angle threshold, fifth distance threshold, and sixth distance threshold can be set according to the actual operating scenario.

[0074] In yet another optional embodiment, the attitude control module 204 performs attitude warning control operations on the excavator based on the motion limitation identification result in the following specific ways: If the motion restriction recognition result is the first recognition result, then output a normal posture prompt message to the excavator operator; If the motion restriction recognition result is the second recognition result, then a critical posture prompt message will be output to the excavator operator; If the motion restriction recognition result is the third recognition result, a dangerous posture warning message is output to the excavator driver, and an action interception command is sent to the excavator's vehicle controller to make the excavator enter the work stop state. The reset action signal generated by the excavator according to the human-machine interaction handle reset operation is obtained, and an action execution command is sent to the excavator's vehicle controller according to the reset action signal to make the excavator enter the work in progress state. Among them, the normal posture prompt information is used to characterize the size of the space between the current posture position of the excavator and the space boundary corresponding to the limited movement space information, which is greater than or equal to the preset safe space threshold. The critical attitude cue information is used to characterize the size of the space between the excavator's current attitude position and the space boundary corresponding to the limited motion space information, which is less than the preset safe space threshold. Dangerous posture warning information is used to characterize the size of the space between the excavator's current posture position and the space boundary corresponding to the limited movement space information, which is less than or equal to the preset limited movement space threshold. The safe space threshold is greater than the restricted movement space threshold; The operation is stopped when no handle control commands are executed, and the operation is in progress when handle control commands are executed normally. The warning information includes either normal posture warning information or critical posture warning information, and the alarm warning information includes dangerous posture warning information.

[0075] Understandably, when a dangerous posture warning message is output, it indicates that the excavator's posture and movements are about to exceed or have already exceeded the safe range set by the movement limit (due to inertia, the excavator's moving parts will continue to move slightly even after the movement limit is applied). At this point, a movement interception command is sent to the excavator's vehicle controller to put the excavator into a work stoppage state, thereby preventing safety issues caused by subsequent posture and movements. When the excavator's control handle is reset, the excavator's posture and movements are reset, and the excavator returns to normal operating status. When a normal posture warning message is output, the excavator operator can control the excavator normally. When a critical posture warning message is output, the excavator operator should adjust the excavator's posture to maintain normal operation.

[0076] In addition, different colored lights, different frequency sounds, or other methods can be used to output corresponding prompts to the excavator operator; this invention does not impose any specific limitations.

[0077] As can be seen, this optional embodiment improves the safety of excavator operation by recognizing and limiting the excavator's movement posture.

[0078] Please see Figure 5 , Figure 5 This is a schematic diagram of another attitude warning and control device for excavators disclosed in an embodiment of the present invention. Figure 5 As shown in the figure, the attitude warning and control device for excavators disclosed in this embodiment of the invention further includes: The corner information acquisition module 205 is used to acquire the roll angle and pitch angle information of the excavator at the current moment after the motion restriction recognition module 203 acquires the current attitude information of the excavator. The information display module 206 is used to display roll angle information, pitch angle information, boom node position, stick node position and overall vehicle position information to the excavator operator through the excavator's display device.

[0079] Traditional excavators only display the position of the bucket tip. The accuracy of excavator operators' judgment of the movement posture based on the bucket tip is low, and misjudgments are prone to occur.

[0080] Please see Figure 2 , Figure 2 This is a schematic diagram of the display device interface of an excavator in the attitude guidance control mode disclosed in an embodiment of the present invention. Figure 2As shown, the interface displays the position information of the excavator's boom node, bucket tip, and stick node, as well as the excavator's pitch and roll angles, facilitating the operator's assessment of the vehicle's overall movement. The operator can interact with the excavator to modify the specific configuration information of the four-way boundary settings, including one or more of the upper, lower, front, and rear boundary positions (with the cab's orientation as the forward direction). These four boundaries can be individually enabled or disabled for adjustments based on actual operational needs. Furthermore, the interface displays the position information of the vehicle's foremost, rearmost, highest, and lowest points corresponding to the four-way boundary settings, using green, yellow, and red lights to provide warnings: green indicates a normal posture, yellow indicates a critical posture, and red indicates a dangerous posture. Additionally, the interface displays setting switches for the overall vehicle reference and bucket tip reference, used to configure relevant excavator parameters.

[0081] Please see Figure 3 , Figure 3 This is a schematic diagram of the display device interface of an excavator in the attitude rotation control mode disclosed in an embodiment of the present invention. Figure 3 As shown, the interface displays the excavator's slewing angle, slewing distance, pitch angle, and roll angle. The operator can interact with the excavator to modify the specific configuration information of the slewing angle-based boundaries and / or slewing distance-based boundaries, including one or more of the following: left slewing angle boundary position, right slewing angle boundary position, left distance boundary position, and right distance boundary position (with the cab's orientation as the forward direction). Different directions or types of boundaries can be individually enabled or disabled, facilitating adjustments based on actual operational needs. Furthermore, a three-color indicator light (green, yellow, and red) outputs warning information: green indicates a normal posture warning, yellow indicates a critical posture warning, and red indicates a dangerous posture warning.

[0082] As can be seen, this optional embodiment, by displaying the excavator's roll angle, pitch angle, boom node position, stick node position, and overall vehicle position information (including bucket position information), can help the operator more accurately grasp the real-time position of various parts of the excavator, thereby improving work efficiency. Furthermore, it can also display the attitude slewing angle and attitude slewing distance to assist the excavator operator in judging the movement attitude.

[0083] Example 3 Please see Figure 6 , Figure 6 This is a schematic diagram of another attitude warning and control device for excavators disclosed in an embodiment of the present invention. Figure 6The attitude warning control device shown can be used to execute the attitude warning control method described in Embodiment 1. This device can improve the accuracy of the limited movement control of the excavator's overall attitude, thereby improving the safety of excavator operations. Furthermore, this device can be integrated into the excavator's overall controller or exist independently of the overall controller. Figure 6 As shown, an embodiment of the present invention discloses a posture warning and control device for excavators, including but not limited to: Memory 301 storing executable program code; Processor 302 coupled to memory 301; The processor 302 calls the executable program code stored in the memory 301 to execute some or all of the steps in the attitude warning control method for excavators described in Embodiment 1 of the present invention.

[0084] Example 4 This invention discloses a computer storage medium storing computer instructions. When the computer instructions are invoked by a processor, they are used to execute some or all of the steps in the attitude warning and control method for excavators described in Embodiment 1 of this invention.

[0085] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0086] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0087] Finally, it should be noted that the technical content disclosed in the embodiments of the present invention is only a preferred embodiment of the present invention and is only used to illustrate the technical solutions of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A posture early warning control method applied to excavators, characterized in that, The method includes: Based on the previous human-machine interaction mode selection operation, determine the current attitude control mode of the excavator; Obtain the motion-limiting space information corresponding to the current attitude control mode; the motion-limiting space information is obtained by updating the configuration information of the motion-limiting space based on the human-computer interaction data modification operation detected at a previous moment; The current posture information of the excavator is obtained, and the posture restriction recognition of the excavator is performed based on the restricted movement space information and the current posture information of the excavator to obtain the restricted movement recognition result; the restricted movement recognition result is used to characterize the spatial relationship between the current posture position of the excavator and the spatial boundary corresponding to the restricted movement space information. Based on the motion restriction recognition result, a posture warning control operation is performed on the excavator. The posture warning control operation includes one of a warning prompt operation and a motion restriction control operation. The warning prompt operation is used to output a warning prompt message to the excavator operator, and the motion restriction control operation is used to output an alarm prompt message to the excavator operator and restrict the movement posture of the excavator.

2. The attitude warning and control method for excavators according to claim 1, characterized in that, The current attitude control mode includes the attitude guidance control mode; The step of obtaining the current attitude information of the excavator includes: In the attitude guidance control mode, the current boom node position and stick node position of the excavator are obtained; the boom node position is the position of the connection point between the excavator's digging boom and digging stick, and the stick node position is the position of the connection point between the excavator's digging bucket and digging stick. A full-envelope attitude calculation is performed on the boom node position and the stick node position to obtain the overall vehicle position information, which is used as the current attitude information of the excavator.

3. The attitude warning and control method for excavators according to claim 2, characterized in that, The step of performing attitude limitation recognition on the excavator based on the limited movement space information and the current attitude information of the excavator to obtain the limitation recognition result includes: Based on the current posture information of the excavator and the restricted movement space information, the distance between the excavator and the four-way distance boundary is calculated to obtain the distance calculation result; the four-way distance boundary is the spatial boundary of the restricted movement space corresponding to the posture guidance control mode; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is greater than or equal to the first distance threshold, then a first recognition result is generated; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is less than the first distance threshold and greater than the second distance threshold, then a second recognition result is generated; If the distance calculation result indicates that the distance between the excavator and the four-way distance boundary is less than or equal to the second distance threshold, then a third identification result is generated; Wherein, the first distance threshold is greater than the second distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

4. The attitude warning and control method for excavators according to claim 1, characterized in that, The current attitude control mode includes the attitude rotation control mode; The process of acquiring the current posture information of the excavator and performing posture limitation recognition on the excavator based on the limited movement space information and the current posture information of the excavator to obtain the limitation recognition result includes: In the attitude rotation control mode, the current attitude information of the excavator is acquired; the current attitude information of the excavator includes the attitude rotation angle and / or attitude rotation distance. A slewing analysis is performed based on the current posture information of the excavator and the limited movement space information to obtain the slewing analysis result, and a limited movement recognition result is generated based on the slewing analysis result.

5. The attitude warning and control method for excavators according to claim 4, characterized in that, The current attitude information of the excavator includes the attitude rotation angle; The step of performing a slewing analysis based on the excavator's current posture information and the limited movement space information to obtain a slewing analysis result, and generating a limited movement identification result based on the slewing analysis result, includes: If the rotation analysis result indicates that the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is greater than or equal to the first angle threshold, then a first identification result is generated; the rotation angle boundary is the spatial boundary of the motion-limiting space corresponding to the attitude rotation control mode. If the rotation analysis result indicates that the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is less than the first angle threshold and greater than the second angle threshold, then a second recognition result is generated. If the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary, as indicated by the rotation analysis result, is less than or equal to the second angle threshold, then a third identification result is generated. Wherein, the first angle threshold is greater than the second angle threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

6. The attitude warning and control method for excavators according to claim 4, characterized in that, The current attitude information of the excavator includes the attitude rotation distance; The step of performing a slewing analysis based on the excavator's current posture information and the limited movement space information to obtain a slewing analysis result, and generating a limited movement identification result based on the slewing analysis result, includes: If the rotation analysis result indicates that the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is greater than or equal to the third distance threshold, then a first identification result is generated; the rotation distance boundary is the spatial boundary of the motion-limiting space corresponding to the attitude rotation control mode. If the rotation analysis result indicates that the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is less than the third distance threshold and greater than the fourth distance threshold, then a second recognition result is generated; If the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary, as indicated by the rotation analysis result, is less than or equal to the fourth distance threshold, then a third identification result is generated; Wherein, the third distance threshold is greater than the fourth distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

7. The attitude warning and control method for an excavator according to claim 4, characterized in that, The excavator's current attitude information includes the attitude rotation angle and attitude rotation distance; The step of performing a slewing analysis based on the excavator's current posture information and the limited movement space information to obtain a slewing analysis result, and generating a limited movement identification result based on the slewing analysis result, includes: If the rotation analysis result indicates that the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is not greater than the third angle threshold, or the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is not greater than the fifth distance threshold, then a third identification result is generated; the rotation angle boundary and the rotation distance boundary are both spatial boundaries of the motion-limiting space corresponding to the attitude rotation control mode; If the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is greater than the third angle threshold and the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is greater than the fifth distance threshold, and if the rotation analysis result indicates that the difference between the attitude rotation angle and the safety angle threshold corresponding to the rotation angle boundary is less than the fourth angle threshold, or the difference between the attitude rotation distance and the safety distance threshold corresponding to the rotation distance boundary is less than the sixth distance threshold, then a second recognition result is generated. If the rotation analysis result indicates that the difference between the attitude rotation angle and the safe angle threshold corresponding to the rotation angle boundary is not less than the fourth angle threshold, and the difference between the attitude rotation distance and the safe distance threshold corresponding to the rotation distance boundary is not less than the sixth distance threshold, then a first identification result is generated. Wherein, the third angle threshold is less than the fourth angle threshold, the fifth distance threshold is less than the sixth distance threshold, and the motion restriction recognition result includes one of the first recognition result, the second recognition result, and the third recognition result.

8. A posture early warning control method for excavators according to any one of claims 3, 5, 6, and 7, characterized in that, The step of performing attitude warning control operation on the excavator based on the limited movement recognition result includes: If the motion restriction recognition result is the first recognition result, then a normal posture prompt message is output to the excavator operator; If the motion restriction recognition result is the second recognition result, then a critical posture prompt message is output to the excavator operator; If the restricted movement recognition result is the third recognition result, then a dangerous posture warning message is output to the excavator driver, and an action interception command is sent to the excavator's vehicle controller to make the excavator enter the work stop state. The reset action signal generated by the excavator according to the human-machine interaction handle reset operation is obtained, and an action execution command is sent to the excavator's vehicle controller according to the reset action signal to make the excavator enter the work in progress state. The normal posture prompt information is used to characterize the size of the space between the current posture position of the excavator and the space boundary corresponding to the limited movement space information, which is greater than or equal to a preset safe space threshold. The critical attitude prompt information is used to characterize the size of the space between the current attitude position of the excavator and the space boundary corresponding to the limited movement space information, which is less than a preset safe space threshold. The dangerous posture warning information is used to characterize the size of the space between the current posture position of the excavator and the space boundary corresponding to the limited movement space information, which is less than or equal to a preset limited movement space threshold. The safety space threshold is greater than the movement restriction space threshold; The operation stop state is the state in which the handle control command is not executed, and the operation in progress state is the state in which the handle control command is executed normally. The warning information includes one of the normal posture warning information and the critical posture warning information, and the alarm information includes the dangerous posture warning information.

9. The attitude warning and control method for an excavator according to claim 2, characterized in that, After obtaining the current attitude information of the excavator, the method further includes: Obtain the current roll angle and pitch angle information of the excavator; The excavator's display device displays the roll angle information, pitch angle information, boom node position, stick node position, and overall vehicle position information to the excavator operator.

10. A posture warning and control device for excavators, characterized in that, The device includes: The control mode determination module is used to determine the current attitude control mode of the excavator based on the mode selection operation of the human-machine interaction at a previous moment. The spatial information acquisition module is used to acquire the motion-limiting space information corresponding to the current attitude control mode; the motion-limiting space information is obtained by updating the configuration information of the motion-limiting space based on the human-computer interaction data modification operation detected at a previous moment; The motion restriction recognition module is used to acquire the current posture information of the excavator, and to perform motion restriction recognition on the excavator according to the motion restriction space information and the current posture information of the excavator, so as to obtain the motion restriction recognition result; the motion restriction recognition result is used to characterize the spatial relationship between the current posture position of the excavator and the spatial boundary corresponding to the motion restriction space information. The attitude control module is used to perform attitude warning control operations on the excavator based on the limited movement recognition result. The attitude warning control operation includes one of a warning prompt operation and a limited movement control operation. The warning prompt operation is used to output a warning prompt message to the excavator operator, and the limited movement control operation is used to output an alarm prompt message to the excavator operator and limit the movement attitude of the excavator.

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