CN110820824A - Land leveler anti-collision control system - Google Patents
Land leveler anti-collision control system Download PDFInfo
- Publication number
- CN110820824A CN110820824A CN201911034802.3A CN201911034802A CN110820824A CN 110820824 A CN110820824 A CN 110820824A CN 201911034802 A CN201911034802 A CN 201911034802A CN 110820824 A CN110820824 A CN 110820824A
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- China
- Prior art keywords
- land
- control module
- detector
- scraper
- vehicle speed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2083—Control of vehicle braking systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses an anti-collision control system of a land leveler, which comprises a detection module, a control module and an execution mechanism, wherein the execution mechanism comprises a power system, a front frame, a rear frame, a bulldozer blade, a scraper and a scarifier; the detection module comprises a distance detector, a video monitor and a vehicle speed detector; the distance detector is mounted on the land leveler and used for detecting the distance D between the land leveler and peripheral objects; the vehicle speed detector is arranged on the land scraper and used for detecting the movement speed v1 of the land scraper relative to the ground, the video detector is arranged at the rear part of the land scraper, and the control module processes the video signal of the video detector and calculates the movement speed v2 of the peripheral objects; the control module calculates the safety state value F of the land scraper in real time, and when F > is equal to F, the control module outputs an execution signal to control the land scraper to reduce the speed until the actual speed v1 is lower than the maximum allowable speed Vmax according to the preset safety state threshold value F of the land scraper.
Description
Technical Field
The invention belongs to the field of safety protection of a land leveler, and particularly relates to an anti-collision control system of the land leveler.
Background
The land leveler is widely applied to various fields of engineering construction and has the advantages of high operation efficiency, high construction speed and the like.
With the development of society, the construction safety of the land leveller is increasingly important, and one of the technical development routes of the land leveller is the safety of the operation of the land leveller. Among them, preventing the grader from colliding with personnel, buildings and other graders in the work site is always an important safety index of the grader.
To ensure that the grader does not collide with other objects, many technical measures have been taken in the prior art of graders, including:
1. collecting a video of a visual blind area of a driver by using a camera;
2. measuring the distance from the vehicle to the obstacle by using a ranging radar;
3. reminding a driver in a sound and light alarm mode;
the above prior art does not cover all the unsafe factors of the construction site and therefore does not ensure the safety of the grader in other emergency situations, even without technical measures for possible dangers. These missed risk factors include:
1. insufficient detection of moving objects;
2. the attention of the driver is not totally in the blind area but in the operation area, which may cause careless omission;
3. lack of emergency detection and automatic handling measures;
disclosure of Invention
The scheme provides a land leveler anti-collision control system, which can detect static objects and moving objects, can continuously monitor the safety of a man-machine-environment of a construction site, and can timely take appropriate measures when necessary to avoid accidents and further improve the safety. The technical scheme of the invention is as follows:
an anti-collision control system of a land leveler comprises a detection module, a control module and an execution mechanism, wherein the detection module is connected with the control module, and a signal detected by the detection module is input into the control module; the control module is connected with the executing mechanism and sends an executing signal to the executing mechanism for operating and controlling the land leveler;
the actuating mechanism comprises a power system, a front frame, a rear frame, a bulldozer blade, a scraper and a scarifier;
the detection module comprises a distance detector, a video monitor and a vehicle speed detector;
the distance detector is mounted on the land leveler and used for detecting the distance D between the land leveler and peripheral objects; the vehicle speed detector is arranged on the land scraper and used for detecting the movement speed v1 of the land scraper relative to the ground, the video detector is arranged at the rear part of the land scraper, and the control module processes the video signal of the video detector and calculates the movement speed v2 of the peripheral objects;
the control module calculates the safe state value f of the grader in real time,
wherein a and b are preset coefficients;
according to a preset safety state threshold value F of the grader, when F > is F, the control module outputs an execution signal and controls the grader to reduce the speed until the actual speed v1 is lower than the maximum allowable speed Vmax;
further, the maximum allowable vehicle speed Vmax is a function of F, and when F > F, Vmax decreases as F increases.
Further, the maximum allowable vehicle speed Vmax is c (1-f), and c is a preset coefficient.
The principle of the invention is as follows:
1. system composition and connection relationships
The land leveler is provided with a detection module, and the detection module comprises a part or all of a distance detector, a video monitor and a vehicle speed detector. The detection module is used for detecting signals such as video images around the land scraper, the distance of objects, the speed of the land scraper and the like.
The detection module is connected with a control module of the land leveler, and a signal detected by the detection module is input into the control module.
The land leveler is provided with a control module used for receiving the detection signal sent by the detection module.
In order to realize the safety protection of the land leveler, the control module outputs an execution signal which is used for the control module to operate and control the land leveler, so that the safety of the land leveler and a construction site is improved.
2. Working principle of safety protection system in scheme
The detection module detects the environment around the land scraper in real time, the main detection area comprises a driver vision blind area and a land scraper operation range area, the running speed of the land scraper, the conditions of surrounding objects and the moving speed of the land scraper are mainly detected, and the detection data are input into the control module.
After the real-time data of the detection module is input into the control module, the control module carries out local real-time operation on the environment data to obtain a safe state value of the land leveler in the driving direction, the safe state value is compared with a preset safe state threshold value, and according to a comparison result, an execution signal is output to intervene the speed of the land leveler.
The control module outputs an execution signal, and the execution signal is sent to the corresponding execution mechanism and used for controlling the speed reduction of the land leveler, so that the danger is avoided, and the safety of the land leveler is improved.
3. Control method adopted in working process of scheme
The distance detector is arranged on the land leveler and used for detecting the distance D between the land leveler and peripheral objects; the vehicle speed detector is arranged on the land scraper and is used for detecting the movement speed v1 of the land scraper relative to the ground, and the video detector is arranged at the rear part of the land scraper and is used for detecting the video information around the land scraper and identifying and measuring the speed of objects around the land scraper.
The control module calculates the safe state value of the grader according to a specific algorithm according to the data D of the distance detector, the v1 of the vehicle speed detector and the measured object moving speed v 2:
wherein: a. b is a preset coefficient.
A safety state threshold value F of the grader is preset, and when the real-time safety state value F > calculated by the control module is equal to F, the control module outputs an execution signal to control the grader to reduce the speed until the actual speed v1 is lower than the maximum allowable speed Vmax.
Vmax is a function of F, and when F > F, Vmax decreases as F increases.
Further, Vmax is c (1-f), and c is a preset coefficient.
Drawings
FIG. 1 is a schematic diagram of the connection relationship between modules of the present invention
FIG. 2 is a flow chart of a control method of the present invention
Detailed Description
The technical solution of the present invention is further illustrated by the following specific embodiments:
1. system composition and connection relationships
The land scraper is provided with a distance detector, a video monitor and a vehicle speed detector, and the distance detector, the video monitor and the vehicle speed detector are used for detecting signals such as video images around the land scraper, the distance of objects, the vehicle speed and the like.
The land leveler is provided with a controller which is connected with the distance detector, the video monitor and the vehicle speed detector.
In order to realize the safety protection of the land leveler, the controller outputs an execution signal to the execution mechanism for limiting the speed of the land leveler so as to improve the safety of the land leveler and a construction site; the actuating mechanism comprises a power system, a front frame, a rear frame, a bulldozer blade, a scraper and a scarifier; the connection relationship of the modules is shown in fig. 1.
2. Working principle of safety protection system in scheme
The vehicle speed detector detects the driving speed v1 of the land scraper, the distance detector detects the distance D between the surrounding objects and the land scraper, the video monitor captures video around the land scraper and identifies the category and the moving speed v2 of the surrounding objects, and the detection data are input into the controller.
After the detected real-time data are input into the controller, the controller carries out real-time operation on the data to obtain a safe state value F of the land leveler in the driving direction, the safe state value F is compared with a preset safe state threshold value F, and according to a comparison result, an execution signal is output to intervene the speed of the land leveler.
The control module outputs an execution signal, and the execution signal is sent to the corresponding execution mechanism and used for controlling the speed reduction of the land leveler, so that the danger is avoided, and the safety of the land leveler is improved.
3. Control method adopted in working process of scheme
The control method flow chart of the scheme is shown in fig. 2, and the distance detector is installed on the land leveler and used for detecting the distance D between the land leveler and the peripheral objects; the vehicle speed detector is arranged on the land scraper and is used for detecting the movement speed v1 of the land scraper relative to the ground, and the video detector is arranged at the rear part of the land scraper and is used for detecting the video information around the land scraper and identifying and measuring the speed of objects around the land scraper.
The control module calculates the safe state value of the grader according to a specific algorithm according to the data D of the distance detector, the v1 of the vehicle speed detector and the measured object moving speed v 2:
wherein: a. b is a preset coefficient, and in the embodiment, a is 1, and b is 1.
And when the real-time safety state value F > calculated by the control module is equal to F, the control module outputs an execution signal to control the grader to reduce the speed until the actual speed v1 is lower than the maximum allowable speed Vmax.
Vmax is a function of F, and when F > F, Vmax decreases as F increases. In this embodiment, the functional relationship between Vmax and f is:
Vmax＝1-f
the invention has been described in an illustrative manner, and it is to be understood that the invention is not limited to the above-described embodiments, and that various modifications may be made without departing from the spirit and scope of the invention.
Claims (4)
1. The anti-collision control system of the land leveler is characterized by comprising a detection module, a control module and an execution mechanism, wherein the detection module is connected with the control module, and a signal detected by the detection module is input into the control module; the control module is connected with the executing mechanism and sends an executing signal to the executing mechanism for operating and controlling the land leveler;
the actuating mechanism comprises a power system, a front frame, a rear frame, a bulldozer blade, a scraper and a scarifier;
the detection module comprises a distance detector, a video monitor and a vehicle speed detector;
the distance detector is mounted on the land leveler and used for detecting the distance D between the land leveler and peripheral objects; the vehicle speed detector is arranged on the land scraper and used for detecting the movement speed v1 of the land scraper relative to the ground, the video detector is arranged at the rear part of the land scraper, and the control module processes the video signal of the video detector and calculates the movement speed v2 of the peripheral objects;
the control module calculates the safe state value f of the grader in real time,
wherein a and b are preset coefficients;
according to the preset safe state threshold value F of the grader, when F > is F, the control module outputs an execution signal and controls the grader to reduce the vehicle speed until the actual vehicle speed v1 is lower than the maximum allowable vehicle speed Vmax.
2. The grader crash control system of claim 1 wherein the maximum allowable vehicle speed Vmax is a function of F, and when F > F, Vmax decreases as F increases.
3. The crash control system of a grader according to claim 2 wherein the maximum allowable vehicle speed Vmax is c (1-f), and c is a predetermined coefficient.
4. The grader crash control system of claim 3 wherein the predetermined coefficient c is 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034802.3A CN110820824A (en) | 2019-10-29 | 2019-10-29 | Land leveler anti-collision control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034802.3A CN110820824A (en) | 2019-10-29 | 2019-10-29 | Land leveler anti-collision control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110820824A true CN110820824A (en) | 2020-02-21 |
Family
ID=69550876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911034802.3A Withdrawn CN110820824A (en) | 2019-10-29 | 2019-10-29 | Land leveler anti-collision control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110820824A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113202156A (en) * | 2021-05-07 | 2021-08-03 | 徐州徐工筑路机械有限公司 | Anti-collision control system for land leveler working device |
| CN113323073A (en) * | 2021-06-02 | 2021-08-31 | 徐州徐工挖掘机械有限公司 | Anti-collision safety control method and system suitable for remote control excavator |
-
2019
- 2019-10-29 CN CN201911034802.3A patent/CN110820824A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113202156A (en) * | 2021-05-07 | 2021-08-03 | 徐州徐工筑路机械有限公司 | Anti-collision control system for land leveler working device |
| CN113323073A (en) * | 2021-06-02 | 2021-08-31 | 徐州徐工挖掘机械有限公司 | Anti-collision safety control method and system suitable for remote control excavator |
| CN113323073B (en) * | 2021-06-02 | 2023-08-08 | 徐州徐工挖掘机械有限公司 | Anti-collision safety control method and system suitable for remote control excavator |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200221 |
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| WW01 | Invention patent application withdrawn after publication |