Excavator position limiting method, device and system

Abstract

The application discloses a kind of excavator position limiting method, device and system, belong to excavator intelligent control technical field, aim at solving the problem of excavator limit control.It includes: obtaining the multi-source data of each actuator of excavator and calculating the distance and speed information of each actuator peripheral point to the set position based on the kinematic model of excavator, then calculating the pilot limit value of each actuator peripheral point to obtain the pilot limit value of all peripheral points of each actuator, and judging the distance of each actuator peripheral point to the set position, pilot handle limit value calculation and selection, finally obtaining the minimum value of the minimum value in each actuator pilot limit value, pilot handle original value and all smaller values in pilot handle limit value and current mapping, obtaining the electromagnetic valve current value corresponding to the action of each actuator limit, to control the movement limit position of each actuator.The application can accurately limit the position of each actuator of excavator, reduce the risk of collision and improve work safety.

Description

Technical Field

[0001] This invention relates to a method, device, and system for limiting the position of an excavator, belonging to the field of excavator intelligent control technology. Background Technology

[0002] When excavators are working in a small area, special care must be taken to avoid collisions with surrounding objects, such as overhead power cables or underground communication pipelines. However, during construction, operators cannot always keep a close eye on the surrounding objects or fully grasp the distance between the excavator and these objects. If a collision occurs, it is highly likely to cause property damage or disrupt normal production and daily life, causing great inconvenience to the construction workers.

[0003] To address this issue, existing technologies, such as the published patent CN116163361A, disclose a method and apparatus for setting and implementing an electronic fencing system for excavators. This system uses electronic fencing to enclose the excavator's outer contour. While it provides some protection, it cannot flexibly adjust to the excavator's operating conditions. In actual excavator operation, various complex situations may arise, such as different terrains, work objects, and the operator's skill level. These factors all affect the excavator's movement and safety requirements. Therefore, electronic fencing cannot effectively adapt to these changes.

[0004] Furthermore, patent CN111593783A discloses a method, device, system, and excavator for preventing collisions. This method first detects the location information of obstacles in the excavator's external environment, then calculates the extreme positions of each actuator of the excavator relative to the obstacles based on the obstacle location information, thereby controlling the movement stroke of each actuator and ultimately ensuring the safety of the excavator during construction. While this obstacle-based detection method can reduce the risk of collisions to some extent, real-time detection involves a large amount of computation and network latency during obstacle detection, resulting in low detection accuracy and limited timeliness. Simultaneously, existing technologies cannot dynamically control the excavator based on its own movement, therefore, excavators still face significant safety risks and low work efficiency during construction. Summary of the Invention

[0005] The purpose of this invention is to provide a method, device, and system for limiting the position of an excavator. This invention integrates multi-source data and, based on the multi-source data, sequentially performs kinematic calculations of each actuator, calculates the pilot limit value of the peripheral point, and judges the multi-level distance limit threshold. It then selects the minimum value among the pilot limit value, the pilot handle limit value, and the original value of the pilot handle. Finally, it performs current mapping on the limit value corresponding to the minimum value to obtain the solenoid valve current corresponding to the minimum limit, thereby achieving precise limitation of the excavator's own movement position.

[0006] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution.

[0007] In a first aspect, the present invention provides a method for limiting the position of an excavator, comprising: The system acquires the set position information, angle information, geometric parameter information, peripheral point information, distance information, and reads the original values ​​of the pilot handles associated with each actuator. Based on the kinematic model of the excavator, kinematic calculations are performed on the angle information, geometric parameter information, peripheral point information, distance information and set position information of each actuator of the excavator to obtain the distance and speed information of all peripheral points of each actuator to the set position; The leading limit value is calculated based on the distance from all peripheral points of each actuator to the set position, and the leading limit value of all peripheral points of each actuator is obtained. Based on multi-level distance limit thresholds, the distance from all peripheral points of each actuator to the set position is judged, the pilot handle limit value is calculated and selected, and the original value of the pilot handle of each actuator and the pilot handle limit value are obtained, which are less than the other values. The minimum value is selected from the pilot limit values ​​of each actuator that are less than other values, and the pilot limit values ​​of all peripheral points of each actuator. This yields the minimum value among the pilot limit values ​​of each actuator, the pilot limit values ​​of the pilot handle, and the pilot limit values ​​that are less than other values. Current mapping is performed on the minimum value among the pilot limit value, the original value of the pilot handle, and the pilot handle limit value that is less than the others for each actuator to obtain the solenoid valve current value corresponding to the limiting action of each actuator. By controlling the solenoid valve current of each actuator, high-precision limitation of the excavator's own movement position is achieved to prevent the excavator from colliding with surrounding objects.

[0008] Optionally, the following can be acquired: set position information, angle information, geometric parameter information, peripheral point information, distance information, and read the original values ​​of the pilot handles associated with each actuator, including: The system acquires the following information: set position information, excavator boom, stick, bucket, and upper vehicle angle information, excavator boom and stick length information, excavator boom, stick, and bucket rotation peripheral point information, track plane distance to rotation center information, rotation center distance to boom root hinge point information, rotation angle information, and the original values ​​of the pilot handle associated with the excavator boom, stick, bucket, and rotation center.

[0009] Optionally, the set position information includes the height information from the horizontal plane above the excavator to the track plane, the vertical distance information from the vertical plane in front of the excavator to the excavator's rotation center, the vertical distance information from the vertical plane in front of the excavator's cab to the excavator's rotation center, and the height information from the horizontal plane below the excavator to the track plane.

[0010] Optionally, based on multi-level distance limit thresholds, the distance from all peripheral points of each actuator to the set position is judged, the pilot handle limit value is calculated and selected, and the original value of the pilot handle and the pilot handle limit value of each actuator are obtained, which are less than several other values, including: Based on the preset limit parameter groups of each actuator, the quadratic equations of the maximum parameter distance, minimum limit distance, and maximum limit distance are substituted into the equations to calculate the maximum parameter distance, minimum limit distance, and maximum limit distance associated with each actuator. Based on the comparison results of the maximum parameter distance, minimum limit distance, and maximum limit distance with the distances from all peripheral points of each actuator to the set position, the distances from the peripheral points of each actuator to the set position that satisfy the multi-level distance limits are obtained; where each actuator is the boom, stick, bucket, and / or slewing center; Substitute the distances from the outer perimeter of each actuator to the set position that satisfy the multi-level distance limit into the pilot handle limit value formula to calculate the limit values ​​of all pilot handles for each actuator. Among them, the distances from the outer perimeter of each actuator to the set position that satisfy the multi-level distance limit are: the distance from the outer perimeter to the set position is less than the maximum parameter distance and not less than the minimum limit distance, and is also less than the maximum limit distance. By selecting the original value of the pilot handle and the limit values ​​of all pilot handles for each actuator, several smaller values ​​among the original value of the pilot handle and the limit values ​​of the pilot handles for each actuator are obtained.

[0011] Optionally, the preset limit parameter sets of each actuator are obtained through more than one test and stored in a storage device for direct reading by the controller; The preset limit parameter groups for each actuator include: boom raising parameter group information, boom lowering parameter group information, stick parameter group information, bucket parameter group information, and slewing center parameter group information; wherein, the boom raising parameter group information includes: boom first raising position factor, boom first raising minimum limit factor, boom second raising minimum limit factor, boom second raising position factor, boom first raising maximum limit factor, boom second raising maximum limit factor, and boom raising speed factor; The boom descent parameter group information includes: boom first descent position factor, boom first descent minimum limit factor, boom second descent minimum limit factor, boom second descent position factor, boom first descent maximum limit factor, boom second descent maximum limit factor, and boom descent speed factor; The stick parameter group information includes: stick first position factor, stick first minimum limit factor, stick second minimum limit factor, stick second position factor, stick first maximum limit factor, stick second maximum limit factor, and stick speed factor; The bucket parameter group information includes: bucket first position factor, bucket first minimum limit factor, bucket second minimum limit factor, bucket second position factor, bucket first maximum limit factor, bucket second maximum limit factor, and bucket speed factor; The slewing center parameter group information includes: slewing center first position factor, slewing center first minimum restriction factor, slewing center second minimum restriction factor, slewing center second position factor, slewing center first maximum restriction factor, slewing center second maximum restriction factor, and slewing center speed factor.

[0012] Optionally, the equations for the maximum parameter distance, the minimum limit distance, and the maximum limit distance are respectively: The maximum parameter distance = second position factor + first maximum restriction factor × velocity factor + second maximum restriction factor × velocity factor × velocity factor; The minimum limiting distance = first position factor + first minimum limiting factor × speed value to the set position + second minimum limiting factor × speed value to the set position × speed value to the set position The maximum limiting distance = second position factor + first maximum limiting factor × speed value to the set position + second maximum limiting factor × speed value to the set position × speed value to the set position.

[0013] Optionally, the calculation expression for the leader constraint value is: The lead limit value for each actuator = ((distance to the set position - minimum limit distance) / (maximum limit distance - minimum limit distance)); The calculation expressions for the pilot handle limit values ​​of each actuator are as follows: The pilot handle limit value for each actuator is calculated as follows: ((distance to the set position - minimum limit distance) / (maximum limit distance - minimum limit distance)) × maximum value of the pilot handle.

[0014] Optionally, based on the comparison results of the maximum parameter distance, minimum limit distance, and maximum limit distance with the distances from all peripheral points of each actuator to the set position, the pilot handle limit values ​​of each actuator that satisfy the multi-level distance limits are obtained, including: If the distance from all peripheral points and / or the rotation center to the set position is not less than the maximum parameter distance, then the output pilot handle limit value is set to the maximum value; If the distance from all peripheral points and / or the rotation center to the set position is less than the maximum parameter distance and less than the minimum limit distance, then the pilot handle limit value is set to zero and output. If the distance from all peripheral points and / or the rotation center to the set position is less than the maximum parameter distance, and not less than the minimum limit distance and not less than the maximum limit distance, then the pilot handle limit value is set to the maximum value output. If the distance from all peripheral points and / or the rotation center to the set position is less than the maximum parameter distance and not less than the minimum limit distance, and is also less than the maximum limit distance, then the distance from the peripheral points and / or the rotation center to the set position is substituted into the pilot limit value formula of each actuator to calculate the corresponding pilot handle limit value of the peripheral point and / or the rotation center. Since there are several peripheral points for each actuator, all peripheral points of each actuator are selected separately to obtain multiple smaller values ​​among the pilot handle limit values ​​associated with each actuator.

[0015] In a second aspect, the present invention provides an excavator position limiting system, comprising: Data acquisition unit, control unit, storage unit, execution unit; The data acquisition unit includes an angle sensor group and an input device; The control unit is electrically connected to the data acquisition unit and the execution unit to perform the steps of the first aspect method; The storage unit is used to store the excavator's own geometric parameters, peripheral point information, and distance information; The execution unit includes multiple solenoid valves on the power source components of each actuator, and limits the operating position of each actuator according to the solenoid valve current value output by the control unit.

[0016] Optionally, the angle sensor group includes a boom angle sensor, a stick angle sensor, a bucket angle sensor, a top vehicle angle sensor, and a slewing center angle sensor, used to acquire information on the boom, stick, bucket, top vehicle, and slewing angles of the excavator; The input devices include instruments, buttons, and touch screens, used to input set location information.

[0017] Thirdly, the present invention provides an excavator position limiting system, comprising: Data acquisition module, distance and speed calculation module, and limiting module; The data acquisition module is used to acquire set position information, angle information, geometric parameter information, peripheral point information, distance information, and read the original values ​​of the pilot handle associated with each actuator. The distance and speed calculation module is used to perform kinematic calculations on the angle information, geometric parameter information, peripheral point information, distance information and set position information of each actuator of the excavator based on the excavator kinematic model, so as to obtain the distance and speed information from all peripheral points of each actuator to the set position; The limiting module is used to calculate the pilot limit value based on the distance from all peripheral points of each actuator to the set position, thereby obtaining the pilot limit value of all peripheral points of each actuator; based on multi-level distance limit thresholds, it judges the distance from all peripheral points of each actuator to the set position, calculates and selects the pilot handle limit value, and obtains the pilot handle original value and pilot handle limit value of each actuator that are less than other values; it selects the minimum value among the pilot handle original value and pilot handle limit value of each actuator and the pilot limit value of all peripheral points of each actuator, thereby obtaining the minimum value among the pilot limit value, pilot handle original value and pilot handle limit value of each actuator that are less than other values; it performs current mapping on the pilot limit value, pilot handle original value and pilot handle limit value of each actuator that are less than other values, to obtain the solenoid valve current value corresponding to the limiting action of each actuator, so as to control the movement limit position of each actuator.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This invention acquires set position information, angle information, geometric parameter information, peripheral point information, and distance information of each actuator of the excavator. It also reads the original value of the pilot handle associated with each actuator and combines it with the excavator's kinematic model to perform kinematic calculations for each actuator, calculate the pilot limit value of the peripheral point, determine the multi-level distance limit threshold, select the minimum value among the pilot limit value, the pilot handle limit value, and the original value of the pilot handle, and finally perform current mapping on the limit value corresponding to the minimum value to obtain the solenoid valve current corresponding to the minimum limit. This invention achieves effective limitation of the excavator's own movement position. Compared with the existing technology, it is not restricted by the working environment, working conditions, and operator skill level, reduces the risk of collision, and improves operational safety.

[0019] By combining pre-defined position information with the physical operation characteristics of the pilot handle, safety constraints are applied, reducing reliance on external sensors and complex algorithms. Compared to existing technologies that detect the excavator's external environment in real time, this method directly limits the movement range of each actuator by using the solenoid valve current signal corresponding to the pilot handle's limit value. This eliminates the need for real-time environment modeling, reducing the computational load required for obstacle detection. Furthermore, it allows for flexible dynamic control based on the excavator's own movement, enabling application in complex and dynamically changing working conditions. This reduces equipment costs and operational complexity, while improving work efficiency. Attached Figure Description

[0020] Figure 1The diagram shows a flowchart of the excavation location restriction method of the present invention; Figure 2 The diagram shown is a structural diagram of the functional modules of the excavator position limiting device of the present invention; Figure 3 The diagram shown is a structural diagram of the excavator position limiting device calculation module of the present invention; Figure 4 The diagram shown is a structural diagram of the excavator position limiting device limiting module of the present invention; Figure 5 The diagram shows a flowchart of taking the minimum value of the leading limit value for all peripheral points of each actuator of the excavator according to the present invention; Figure 6 The diagram shows a flowchart of the excavator's slewing center obtaining the pilot limit value and output current according to the present invention. Figure 7 The diagram shows a flowchart of obtaining the smaller value between the original value and the limit value of the excavator pilot handle according to the present invention. Figure 8 The diagram shows the hardware connection of the excavator position restriction system of the present invention. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example

[0022] This embodiment provides a method for limiting the position of an excavator, such as... Figure 1 The following are included: Step 1: Obtain the set position information, angle information, geometric parameter information, peripheral point information, distance information, and read the original values ​​of the pilot handles associated with each actuator; Step 2: Based on the kinematic model of the excavator, perform kinematic calculations on the angle information, geometric parameter information, peripheral point information, distance information and set position information of each actuator of the excavator to obtain the distance and speed information of all peripheral points of each actuator to the set position; Step 3: Calculate the pilot limit value based on the distance from all peripheral points of each actuator to the set position, and obtain the pilot limit value for all peripheral points of each actuator; Step 4: Based on the multi-level distance limit threshold, judge the distance from all peripheral points of each actuator to the set position, calculate and select the pilot handle limit value, and obtain multiple smaller values ​​between the original value of the pilot handle and the limit value of the pilot handle for each actuator; Step 5: Select the minimum value among the multiple smaller values ​​of the pilot handle original value and pilot handle limit value of each actuator, and the pilot limit value of all peripheral points of each actuator, to obtain the minimum value among the multiple smaller values ​​of the pilot limit value, the pilot handle original value and the pilot handle limit value of each actuator; Step 6: Perform current mapping on the minimum value among the pilot limit value, the original value of the pilot handle, and the pilot handle limit value of each actuator to obtain the solenoid valve current value corresponding to the limiting action of each actuator. By controlling the solenoid valve current of each actuator, the excavator's own movement position can be effectively limited to prevent the excavator from colliding with surrounding objects.

[0023] In some possible implementations, the following are included: acquiring set position information, angle information, geometric parameter information, peripheral point information, distance information, and reading the original values ​​of the pilot handles associated with each actuator. The system acquires the following information: set position information, excavator boom, stick, bucket, and upper vehicle angle information, excavator boom and stick length information, excavator boom, stick, and bucket rotation peripheral point information, track plane distance to rotation center information, rotation center distance to boom root hinge point information, rotation angle information, and the original values ​​of the pilot handle associated with the excavator boom, stick, bucket, and rotation center.

[0024] In some possible implementations, the set position information includes the height information from the horizontal plane above the excavator to the track plane, the vertical distance information from the vertical plane directly in front of the excavator to the excavator's slewing center, the vertical distance information from the vertical plane in front of the excavator's cab to the excavator's slewing center, and the height information from the horizontal plane below the excavator to the track plane.

[0025] Figure 3 The top center shows the height information from the horizontal plane above the excavator to the track plane; the front shows the vertical distance from the vertical plane directly in front of the excavator to the excavator's slewing center; the inward shows the vertical distance from the vertical plane in front of the excavator's cab to the excavator's slewing center; and the ground shows the height information from the horizontal plane below the excavator to the track plane.

[0026] In some possible implementations, the distances from all peripheral points of each actuator to the set position are judged based on multi-level distance limit thresholds, and the pilot handle limit value is calculated and selected to obtain multiple smaller values ​​between the original pilot handle value and the pilot handle limit value of each actuator, including: Based on the preset limit parameter groups of each actuator, the quadratic equations of the maximum parameter distance, minimum limit distance, and maximum limit distance are substituted into the equations to calculate the maximum parameter distance, minimum limit distance, and maximum limit distance associated with each actuator. Based on the comparison results of the maximum parameter distance, minimum limit distance, and maximum limit distance with the distances from all peripheral points of each actuator to the set position, the distances from the peripheral points of each actuator to the set position that satisfy the multi-level distance limits are obtained; where each actuator is the boom, stick, bucket, and / or slewing center; Substitute the distances from the outer perimeter points of each actuator that meet the multi-level distance limits to the set position into the pilot handle limit value formula to calculate the pilot handle limit value of each actuator. Among them, the distances from the outer perimeter points of each actuator that meet the multi-level distance limits to the set position are: the distance from the outer perimeter point to the set position is less than the maximum parameter distance and not less than the minimum limit distance, and is also less than the maximum limit distance. The original value of the pilot handle and the limit values ​​of all pilot handles of each actuator are selected separately to obtain several smaller values ​​among the original value of the pilot handle and the limit values ​​of the pilot handle of each actuator. Here, the original value of the pilot handle and the limit values ​​of all pilot handles of each actuator are sorted in ascending order, and the smaller values ​​with the highest ranking are selected.

[0027] The pilot limit value is calculated based on the distance from all peripheral points of each actuator to the set position, resulting in the pilot limit value for all peripheral points of each actuator, specifically: (e.g.) Figure 5 and Figure 6 The actuators shown are the boom, stick, bucket, and swing center; Figure 5 All peripheral points of the boom, stick, and bucket are subjected to pilot limit value calculations via a limit module, yielding all pilot limit values ​​associated with the boom peripheral points, stick peripheral points, and bucket peripheral points, respectively. These pilot limit values ​​for each peripheral point include: the pilot limit value between the boom peripheral point and the boom, the pilot limit value between the stick peripheral point and the boom, the pilot limit value between the stick peripheral point and the stick, the pilot limit value between the bucket peripheral point and the boom, and the pilot limit value between the bucket peripheral point and the boom. The minimum values ​​of the outer points relative to the boom pilot limit, the minimum values ​​of the outer points of the bucket relative to the bucket pilot limit, the minimum values ​​of the outer points of the boom pilot limit, the minimum values ​​of the outer points of the boom pilot limit, the minimum values ​​of the outer points of the bucket pilot limit, the minimum values ​​of the outer points of the bucket pilot limit, the minimum values ​​of the outer points of the bucket pilot limit, the minimum values ​​of the outer points of the bucket pilot limit, the minimum values ​​of the outer points of the bucket pilot limit, and the minimum values ​​of the outer points of the bucket pilot limit; The minimum value of the boom pilot limit is obtained by further filtering from the minimum values ​​of the boom outer point limit, the boom pilot limit, and the boom pilot limit. The minimum value of the stick pilot limit is obtained by further filtering from the minimum value of the stick outer point relative to the boom pilot limit, the minimum value of the stick outer point relative to the stick pilot limit, and the minimum value of the bucket outer point relative to the stick pilot limit. The minimum value among the bucket peripheral point pilot limit values ​​is directly output, ultimately yielding the minimum values ​​of the boom peripheral point pilot limit, stick peripheral point pilot limit, and bucket peripheral point pilot limit. These are then compared with the smaller values ​​of the pilot handle limit values ​​for each actuator and the original pilot handle value to obtain the minimum value among the minimum values ​​of the peripheral point pilot limit, the smaller values ​​of the pilot handle limit, and the original pilot handle value for each actuator. The minimum value within these three ranges is then used to generate the solenoid valve current value. Similarly, considering the motion characteristics of the slewing center compared to other actuators, the slewing angle information is substituted into the excavator kinematic model based on its motion trajectory to calculate the distance and speed from the slewing center to the set position. The pilot limit value is then calculated based on the distance from the slewing center to the set position, resulting in the pilot limit value for the distance from the slewing center to the set position. The solenoid valve current generation process is the same as the selection process for the boom peripheral point, stick peripheral point, and bucket peripheral point.

[0028] This embodiment takes into account that during excavator operation, the coordinated movement of actuators such as the boom, stick, bucket, and slewing center can easily collide with surrounding objects, especially when operating in a small area, where the risk of collision is even higher. The boom is the main support and lifting component of the excavator, with a large range of motion; the stick is connected to the boom and can extend and retract to further adjust the working range; the bucket is mounted at the front end of the stick and is used for digging and loading materials; the slewing center allows the entire superstructure to rotate around a vertical axis, enabling changes in the working direction.

[0029] Among all the outer points of the boom, the boom's outer point leading limit value is the limit value exerted by the boom's own outer point on the boom's movement, used to prevent the boom's own outer point from colliding with surrounding objects during movement. The stick's outer point leading limit value takes into account that the stick's movement affects the relative positional relationship between its outer point and the boom. When the stick extends or retracts, some outer points on the stick may restrict the boom's movement. The bucket's outer point leading limit value takes into account that the bucket's outer point may restrict the boom's movement. Among all the stick's outer points, considering the limit value exerted by the stick's own outer point on the stick's movement, a stick outer point leading limit value is proposed. The bucket's outer point leading limit value also takes into account that the bucket's movement affects the relative positional relationship between its outer point and the stick. When the bucket is rotating or tilting, the bucket's outer point may restrict the stick's movement. Finally, the bucket peripheral point limit value for bucket pilot is the limit value generated by the bucket's own peripheral point on the bucket movement, which is used to prevent the bucket's own peripheral point from colliding with surrounding objects during digging, loading or unloading.

[0030] In some possible implementations, the preset limit parameter sets of each actuator are obtained through more than one test and stored in a storage device for direct reading by the controller; The preset limit parameter groups for each actuator include: boom raising parameter group information, boom lowering parameter group information, stick parameter group information, bucket parameter group information, and slewing center parameter group information; wherein, the boom raising parameter group information includes: boom first raising position factor, boom first raising minimum limit factor, boom second raising minimum limit factor, boom second raising position factor, boom first raising maximum limit factor, boom second raising maximum limit factor, and boom raising speed factor; The boom descent parameter group information includes: boom first descent position factor, boom first descent minimum limit factor, boom second descent minimum limit factor, boom second descent position factor, boom first descent maximum limit factor, boom second descent maximum limit factor, and boom descent speed factor; The stick parameter group information includes: stick first position factor, stick first minimum limit factor, stick second minimum limit factor, stick second position factor, stick first maximum limit factor, stick second maximum limit factor, and stick speed factor; The bucket parameter group information includes: bucket first position factor, bucket first minimum limit factor, bucket second minimum limit factor, bucket second position factor, bucket first maximum limit factor, bucket second maximum limit factor, and bucket speed factor; The slewing center parameter group information includes: slewing center first position factor, slewing center first minimum restriction factor, slewing center second minimum restriction factor, slewing center second position factor, slewing center first maximum restriction factor, slewing center second maximum restriction factor, and slewing center speed factor.

[0031] In some possible implementations, the equations for the maximum parameter distance, the minimum limit distance, and the maximum limit distance are respectively: The maximum parameter distance = second position factor + first maximum restriction factor × velocity factor + second maximum restriction factor × velocity factor × velocity factor; The minimum limiting distance = first position factor + first minimum limiting factor × speed value to the set position + second minimum limiting factor × speed value to the set position × speed value to the set position The maximum limiting distance = second position factor + first maximum limiting factor × speed value to the set position + second maximum limiting factor × speed value to the set position × speed value to the set position.

[0032] In this embodiment, the relevant parameters in the preset limit parameter group of each actuator are substituted one by one for calculation, so as to accurately obtain the maximum parameter distance, minimum limit distance and maximum limit distance of each actuator.

[0033] In some possible implementations, the calculation expression for the leader constraint value is: The lead limit value for each actuator = ((distance to the set position - minimum limit distance) / (maximum limit distance - minimum limit distance)); The calculation expressions for the pilot handle limit values ​​of each actuator are as follows: The pilot handle limit value for each actuator is calculated as follows: ((distance to the set position - minimum limit distance) / (maximum limit distance - minimum limit distance)) × maximum value of the pilot handle.

[0034] In some possible implementations, this embodiment, for example Figure 7 The comparison results shown are based on the maximum parameter distance, minimum limit distance, and maximum limit distance, respectively, with the distances from all peripheral points of each actuator to the set position. The resulting pilot handle limit values ​​for each actuator that satisfy the multi-level distance limits are as follows: If the distance from all peripheral points and / or the rotation center to the set position is not less than the maximum parameter distance, then the output pilot handle limit value is set to the maximum value; If the distance from all peripheral points and / or the rotation center to the set position is less than the maximum parameter distance and less than the minimum limit distance, then the pilot handle limit value is set to zero and output. If the distance from all peripheral points and / or the rotation center to the set position is less than the maximum parameter distance, and not less than the minimum limit distance and not less than the maximum limit distance, then the pilot handle limit value is set to the maximum value output. If the distance from all peripheral points and / or the rotation center to the set position is less than the maximum parameter distance and not less than the minimum limit distance, and is also less than the maximum limit distance, then the distance from the peripheral points and / or the rotation center to the set position is substituted into the pilot limit value formula of each actuator to calculate the corresponding pilot handle limit value of the peripheral point and / or the rotation center. Example

[0035] This embodiment provides an excavator position limiting device, such as... Figure 2 The following are included: Data acquisition module, distance and speed calculation module, and limiting module; The data acquisition module is used to acquire set position information, angle information, geometric parameter information, peripheral point information, distance information, and read the original values ​​of the pilot handle associated with each actuator. The distance and speed calculation module is used to perform kinematic calculations on the angle information, geometric parameter information, peripheral point information, distance information and set position information of each actuator of the excavator based on the excavator kinematic model, so as to obtain the distance and speed information from all peripheral points of each actuator to the set position; The limiting module is used to calculate the pilot limit value based on the distance from all peripheral points of each actuator to the set position, thereby obtaining the pilot limit value of all peripheral points of each actuator; based on multi-level distance limit thresholds, it judges the distance from all peripheral points of each actuator to the set position, calculates and selects the pilot handle limit value, and obtains the pilot handle original value and pilot handle limit value of each actuator that are less than other values; it selects the minimum value among the pilot handle original value and pilot handle limit value of each actuator and the pilot limit value of all peripheral points of each actuator, thereby obtaining the minimum value among the pilot limit value, pilot handle original value and pilot handle limit value of each actuator that are less than other values; it performs current mapping on the pilot limit value, pilot handle original value and pilot handle limit value of each actuator that are less than other values, to obtain the solenoid valve current value corresponding to the limiting action of each actuator, so as to control the movement limit position of each actuator.

[0036] In this embodiment, because the rotation center has different motion characteristics from other actuators, the distance and speed calculation module, as shown in the example... Figure 4The module can be divided into a boom, stick, and bucket position calculation module and a swing center position calculation module. These modules calculate the distance and speed information from the outer points of the boom, stick, and bucket to the set positions, and the distance and speed information from the swing center to the set positions, respectively. Similarly, the limiting module can be further subdivided into a boom, stick, and bucket pilot handle and current limiting module, and a swing center pilot handle and current limiting module. These modules also output the pilot information for the boom, stick, bucket, and swing center and perform current calculations. Example

[0037] This embodiment provides an excavator position restriction system, including: Data acquisition unit, control unit, storage unit, execution unit; The data acquisition unit includes an angle sensor group and an input device; The control unit is electrically connected to the data acquisition unit and the execution unit to perform the steps of the method of Embodiment 1; The storage unit is used to store the excavator's own geometric parameters, peripheral point information, and distance information; The execution unit includes multiple solenoid valves on the power source components of each actuator, and limits the operating position of each actuator according to the solenoid valve current value output by the control unit.

[0038] In this embodiment, the control unit is the excavator controller, such as... Figure 8 The input of the controller shown is directly connected to the angle sensors of each actuator in the data acquisition unit, while the output of the controller is connected to the valve core solenoid valve of each actuator in the execution unit, thus realizing a closed-loop control process from data acquisition to position limitation of each actuator.

[0039] In some possible implementations, the angle sensor group includes a boom angle sensor, a stick angle sensor, a bucket angle sensor, a top vehicle angle sensor, and a slewing center angle sensor, used to acquire information on the boom, stick, bucket, top vehicle, and slewing angles of the excavator. The input devices include instruments, buttons, and touch screens, used to input set location information.

[0040] In this embodiment, the peripheral point information of each actuator, namely the coordinate information of important peripheral points of the boom, stick, and bucket in their respective local coordinate systems, can be obtained from the 3D model or measured from the actual excavator. This is the information directly pre-input into the storage unit (the peripheral point information differs for different excavator models). The geometric parameter information, namely the length information, includes the length between the centers of the pins at both ends of the boom and the length between the centers of the pins at both ends of the stick. Both can be obtained from the 3D model or measured from the actual excavator. This is the information directly pre-input into the storage unit (the length information differs for different excavator models). The distance information is the vertical distance from the track plane to the swing center and the distance from the swing center to the boom root pivot point. Both can be obtained from the 3D model or measured from the actual excavator. This is the information directly pre-input into the storage unit (the distance information differs for different excavator models). Finally, the original value of the pilot handle is the handle travel information obtained by the controller from the electronically controlled pilot handle. The electronically controlled pilot handle, similar to a sensor, can emit information related to the handle travel.

[0041] In summary, this invention achieves effective limitation on the excavator's own movement position by acquiring set position information, angle information, geometric parameter information, peripheral point information, distance information, reading the original value of the pilot handle associated with each actuator, and combining the excavator's kinematic model to sequentially perform kinematic calculations for each actuator, calculate the pilot limit value of the peripheral point, determine the multi-level distance limit threshold, select the minimum value among the pilot limit value, the pilot handle limit value, and the original value of the pilot handle, and finally perform current mapping on the limit value corresponding to the minimum value to obtain the solenoid valve current corresponding to the minimum limit.

[0042] By combining the set position information with the physical operation characteristics of the pilot handle, safety constraints are applied, reducing reliance on external sensors and complex algorithms. Compared to existing technologies for real-time detection of the excavator's external environment, this method directly limits the movement range of each actuator by using the solenoid valve current signal corresponding to the pilot handle's limit value. This eliminates the need for real-time environment modeling, reduces the computational load required for obstacle detection, and can be applied to complex and dynamically changing working conditions, thereby reducing equipment costs and operational complexity.

[0043] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0044] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0045] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0046] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0047] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for limiting the position of an excavator, characterized by comprising: The system acquires the set position information, angle information, geometric parameter information, peripheral point information, distance information, and reads the original values ​​of the pilot handles associated with each actuator. Based on the kinematic model of the excavator, kinematic calculations are performed on the angle information, geometric parameter information, peripheral point information, distance information and set position information of each actuator of the excavator to obtain the distance and speed information of all peripheral points of each actuator to the set position; The leading limit value is calculated based on the distance from all peripheral points of each actuator to the set position, and the leading limit value of all peripheral points of each actuator is obtained. Based on multi-level distance limit thresholds, the distance from all peripheral points of each actuator to the set position is judged, the pilot handle limit value is calculated and selected, and the original value of the pilot handle of each actuator and the pilot handle limit value are obtained, which are less than the other values. The minimum value is selected from the pilot limit values ​​of each actuator that are less than other values, and the pilot limit values ​​of all peripheral points of each actuator. This yields the minimum value among the pilot limit values ​​of each actuator, the pilot limit values ​​of the pilot handle, and the pilot limit values ​​that are less than other values. Current mapping is performed on the minimum value among the pilot limit value, the original value of the pilot handle, and the pilot handle limit value of each actuator that is less than the others to obtain the solenoid valve current value corresponding to the limited action of each actuator, so as to control the movement limit position of each actuator.

2. The excavator position restriction method according to claim 1, characterized in that, The system acquires the set position information, angle information, geometric parameter information, peripheral point information, distance information, and reads the original values ​​of the pilot handles associated with each actuator, including: The system acquires the following information: set position information, excavator boom, stick, bucket, and upper vehicle angle information, excavator boom and stick length information, excavator boom, stick, and bucket rotation peripheral point information, track plane distance to rotation center information, rotation center distance to boom root hinge point information, rotation angle information, and the original values ​​of the pilot handle associated with the excavator boom, stick, bucket, and rotation center.

3. The excavator position restriction method according to claim 1, characterized in that, The set position information includes the height information from the horizontal plane above the excavator to the track plane, the vertical distance information from the vertical plane directly in front of the excavator to the excavator's rotation center, the vertical distance information from the vertical plane in front of the excavator's cab to the excavator's rotation center, and the height information from the horizontal plane below the excavator to the track plane.

4. The excavator position restriction method according to claim 1, characterized in that, Based on multi-level distance limit thresholds, the distances from all peripheral points of each actuator to the set position are judged, and the pilot handle limit value is calculated and selected. This results in several values ​​among the original pilot handle value and pilot handle limit value of each actuator that are less than the others, including: Based on the preset limit parameter groups of each actuator, the quadratic equations of the maximum parameter distance, minimum limit distance, and maximum limit distance are substituted into the equations to calculate the maximum parameter distance, minimum limit distance, and maximum limit distance associated with each actuator. Based on the comparison results of the maximum parameter distance, minimum limit distance, and maximum limit distance with the distances from all peripheral points of each actuator to the set position, the distances from the peripheral points of each actuator to the set position that satisfy the multi-level distance limits are obtained; where each actuator is the boom, stick, bucket, and / or slewing center; Substitute the distances from the outer perimeter points of each actuator that meet the multi-level distance limits to the set position into the pilot handle limit value formula to calculate the pilot handle limit value of each actuator. Among them, the distances from the outer perimeter points of each actuator that meet the multi-level distance limits to the set position are: the distance from the outer perimeter point to the set position is less than the maximum parameter distance and not less than the minimum limit distance, and is also less than the maximum limit distance. By selecting the original value of the pilot handle and the limit values ​​of all pilot handles for each actuator, several smaller values ​​among the original value of the pilot handle and the limit values ​​of the pilot handle for each actuator are obtained.

5. The excavator position limiting method according to claim 4, characterized in that, The preset limit parameter groups of each actuator are obtained through more than one test and stored in the storage device for direct reading by the controller; The preset limit parameter groups for each actuator include: boom raising parameter group information, boom lowering parameter group information, stick parameter group information, bucket parameter group information, and slewing center parameter group information; wherein, the boom raising parameter group information includes: boom first raising position factor, boom first raising minimum limit factor, boom second raising minimum limit factor, boom second raising position factor, boom first raising maximum limit factor, boom second raising maximum limit factor, and boom raising speed factor; The boom descent parameter group information includes: boom first descent position factor, boom first descent minimum limit factor, boom second descent minimum limit factor, boom second descent position factor, boom first descent maximum limit factor, boom second descent maximum limit factor, and boom descent speed factor; The stick parameter group information includes: stick first position factor, stick first minimum limit factor, stick second minimum limit factor, stick second position factor, stick first maximum limit factor, stick second maximum limit factor, and stick speed factor; The bucket parameter group information includes: bucket first position factor, bucket first minimum limit factor, bucket second minimum limit factor, bucket second position factor, bucket first maximum limit factor, bucket second maximum limit factor, and bucket speed factor; The slewing center parameter group information includes: slewing center first position factor, slewing center first minimum restriction factor, slewing center second minimum restriction factor, slewing center second position factor, slewing center first maximum restriction factor, slewing center second maximum restriction factor, and slewing center speed factor.

6. The excavator position limiting method according to claim 5, characterized in that, The equations for the maximum parameter distance, the minimum limit distance, and the maximum limit distance are as follows: The maximum parameter distance = second position factor + first maximum restriction factor × velocity factor + second maximum restriction factor × velocity factor × velocity factor; The minimum limiting distance = first position factor + first minimum limiting factor × speed value to the set position + second minimum limiting factor × speed value to the set position × speed value to the set position The maximum limiting distance = second position factor + first maximum limiting factor × speed value to the set position + second maximum limiting factor × speed value to the set position × speed value to the set position.

7. The excavator position limiting method according to claim 5, characterized in that, The calculation expression for the leader constraint value is: The lead limit value for each actuator = ((distance to the set position - minimum limit distance) / (maximum limit distance - minimum limit distance)); The calculation expressions for the pilot handle limit values ​​of each actuator are as follows: The pilot handle limit value for each actuator is calculated as follows: ((distance to the set position - minimum limit distance) / (maximum limit distance - minimum limit distance)) × maximum value of the pilot handle.

8. The excavator position limiting method according to claim 4, characterized in that, Based on the comparison results of the maximum parameter distance, minimum limit distance, and maximum limit distance with the distances from all peripheral points of each actuator to the set position, the pilot handle limit values ​​of each actuator that meet the multi-level distance limits are obtained, including: If the distance from all peripheral points and / or the rotation center to the set position is not less than the maximum parameter distance, then the output pilot handle limit value is set to the maximum value; If the distance from all peripheral points and / or the rotation center to the set position is less than the maximum parameter distance and less than the minimum limit distance, then the pilot handle limit value is set to zero and output. If the distance from all peripheral points and / or the rotation center to the set position is less than the maximum parameter distance, and not less than the minimum limit distance and not less than the maximum limit distance, then the pilot handle limit value is set to the maximum value output. If the distance from all peripheral points and / or the rotation center to the set position is less than the maximum parameter distance and not less than the minimum limit distance, and is also less than the maximum limit distance, then the distance from the peripheral points and / or the rotation center to the set position is substituted into the pilot limit value formula of each actuator to calculate the corresponding pilot handle limit value of the peripheral point and / or the rotation center.

9. An excavator position limiting system, characterized in that it comprises: Data acquisition unit, control unit, storage unit, execution unit; The data acquisition unit includes an angle sensor group and an input device; The control unit is electrically connected to the data acquisition unit and the execution unit to perform the steps of the excavator position limiting method according to any one of claims 1 to 8; The storage unit is used to store the excavator's own geometric parameters, peripheral point information, and distance information; The execution unit includes multiple solenoid valves on the power source of each actuator, and limits the operating position of each actuator according to the solenoid valve current value output by the control unit.

10. An excavator position limiting system, characterized in that it comprises: Data acquisition module, distance and speed calculation module, and limiting module; The data acquisition module is used to acquire set position information, angle information, geometric parameter information, peripheral point information, distance information, and read the original values ​​of the pilot handle associated with each actuator. The distance and speed calculation module is used to perform kinematic calculations on the angle information, geometric parameter information, peripheral point information, distance information and set position information of each actuator of the excavator based on the excavator kinematic model, so as to obtain the distance and speed information from all peripheral points of each actuator to the set position; The limiting module is used to calculate the pilot limit value based on the distance from all peripheral points of each actuator to the set position, thereby obtaining the pilot limit value of all peripheral points of each actuator; based on multi-level distance limit thresholds, it judges the distance from all peripheral points of each actuator to the set position, calculates and selects the pilot handle limit value, and obtains the pilot handle original value and pilot handle limit value of each actuator that are less than other values; it selects the minimum value among the pilot handle original value and pilot handle limit value of each actuator and the pilot limit value of all peripheral points of each actuator, thereby obtaining the minimum value among the pilot limit value, pilot handle original value and pilot handle limit value of each actuator that are less than other values; it performs current mapping on the pilot limit value, pilot handle original value and pilot handle limit value of each actuator that are less than other values, to obtain the solenoid valve current value corresponding to the limiting action of each actuator, so as to control the movement limit position of each actuator.

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