CN110908318A - Control method and control device for dumping of excavator and readable storage medium - Google Patents
Control method and control device for dumping of excavator and readable storage medium Download PDFInfo
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- CN110908318A CN110908318A CN201911298855.6A CN201911298855A CN110908318A CN 110908318 A CN110908318 A CN 110908318A CN 201911298855 A CN201911298855 A CN 201911298855A CN 110908318 A CN110908318 A CN 110908318A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
Abstract
The application provides a control method, a control device and a readable storage medium for dumping of an excavator, wherein the control method comprises the following steps: when the excavator operation is detected, acquiring an inclined included angle between a plane where an excavator chassis is located and a ground plane and a slope included angle between a slope of the excavator operation and the ground plane in real time; determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle, and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval; detecting whether the early warning level of the excavator reaches a preset level or not; and if the early warning level of the excavator reaches the preset level, controlling a hydraulic cylinder and a rotary motor of the excavator, and limiting the excavator to perform operation within the preset displacement range and the preset rotary supporting angle range. Therefore, the early warning grade of the excavator is determined according to the detected inclined included angle of the excavator, and then the excavator can be controlled to work within a safety range, so that the safety of the excavator is improved.
Description
Technical Field
The application relates to the technical field of engineering mechanical equipment, in particular to a control method and a control device for dumping of an excavator and a readable storage medium.
Background
The current engineering equipment working environment is increasingly complex, the requirement on working safety is gradually improved, the excavator is important engineering mechanical equipment, and the work is relatively dangerous. During the excavator, construction operation is often carried out on an unbalanced slope surface, and in addition, the contact between a working device and the ground can cause the inclination of an automobile body, and the complete automobile can be overturned to cause serious personal safety and property loss in serious cases.
At the present stage, the dumping control of the excavator is mostly carried out when the excavator is about to overturn, and when the excavator is found to dump, alarm information is sent to an operator to remind the operator to pay attention.
Disclosure of Invention
In view of this, an object of the present application is to provide a control method, a control device, and a readable storage medium for controlling dumping of an excavator, in which an early warning angle interval to which a sum of an inclined angle of the excavator and a slope angle of a slope where the excavator operates belongs is detected, so as to determine an early warning level of the excavator, when the early warning level reaches a preset level, the excavator is limited to operate within a preset range, and the excavator can be controlled to operate within a safety range according to the early warning level of the excavator corresponding to the inclined angle of the excavator in advance, which is beneficial to improving the safety of the excavator operation.
The embodiment of the application provides a control method for dumping of an excavator, which comprises the following steps:
when the excavator operation is detected, acquiring an inclined included angle between a plane where a chassis of the excavator is located and a ground plane and a slope included angle between a slope of the excavator operation and the ground plane in real time;
determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle, and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval;
detecting whether the early warning level of the excavator reaches a preset level or not;
and if the early warning level of the excavator reaches the preset level, controlling a hydraulic cylinder and a rotary motor of the excavator to limit the excavator to operate within a preset displacement range and a preset rotary support angle range.
Further, based on the slope contained angle and domatic contained angle is confirmed the early warning contained angle interval that the excavator corresponds to according to the interval determination of early warning contained angle the excavator early warning grade that the excavator corresponds includes:
acquiring a plurality of preset vehicle body angle intervals and an excavator early warning grade corresponding to each vehicle body angle interval;
determining a target inclination angle interval to which a sum value between the inclination included angle and the slope included angle belongs;
and determining the early warning grade of the excavator to which the inclined included angle belongs based on the mapping relation between the target inclined angle interval and the early warning grade of the excavator.
Further, the vehicle body angle interval is determined through the following steps:
when the plane where the chassis of the excavator is located is parallel to the ground plane, controlling the excavator to carry out excavating operation within a preset action amplitude range, and recording a rotary support angle and hydraulic cylinder displacement data corresponding to each vehicle body angle within the preset action amplitude range;
determining a plurality of tooth tip coordinates based on the rotary support angle corresponding to each vehicle body angle and hydraulic cylinder displacement data;
and determining a plurality of vehicle body angle intervals based on the corresponding relation between the plurality of tooth tip coordinates and the vehicle body angle of the excavator and the plurality of vehicle body angles of the excavator.
Further, after detecting whether the early warning level of the excavator reaches a preset level, the control method further includes:
and if the early warning grade of the excavator does not reach the preset grade, controlling the excavator component corresponding to the early warning grade of the excavator to work based on the early warning grade of the excavator.
Further, the excavator component corresponding to the excavator early warning grade is controlled to work in the following mode:
when the early warning level of the excavator does not reach the control level, controlling a reminding device of the excavator to generate early warning information;
and when the early warning level of the excavator reaches the control level and does not reach the preset level, controlling a controller of the excavator, and limiting the excavator to operate within the preset pump rotating speed range through a control program.
The embodiment of this application still provides a controlling means that excavator was emptyd, controlling means includes:
the included angle acquisition module is used for acquiring an inclined included angle between a plane where a chassis of the excavator is located and a ground plane and a slope included angle between a slope of the excavator during operation and the ground plane in real time when the excavator is detected to operate;
the grade determining module is used for determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval;
the grade detection module is used for detecting whether the early warning grade of the excavator reaches a preset grade or not;
and the operation control module is used for controlling the hydraulic cylinder and the rotary motor of the excavator to limit the excavator to operate within a preset displacement range and a preset rotary supporting angle range if the early warning level of the excavator reaches the preset level.
Further, when the grade determining module is configured to determine an early warning included angle interval corresponding to the excavator based on the inclination included angle and the slope included angle, and determine an excavator early warning grade corresponding to the excavator according to the early warning included angle interval, the grade determining module is specifically configured to:
acquiring a plurality of preset vehicle body angle intervals and an excavator early warning grade corresponding to each vehicle body angle interval;
determining a target inclination angle interval to which a sum value between the inclination included angle and the slope included angle belongs;
and determining the early warning grade of the excavator to which the inclined included angle belongs based on the mapping relation between the target inclined angle interval and the early warning grade of the excavator.
Further, the grade determination module is used for determining the angle interval of the vehicle body through the following steps:
when the plane where the chassis of the excavator is located is parallel to the ground plane, controlling the excavator to carry out excavating operation within a preset action amplitude range, and recording a rotary support angle and hydraulic cylinder displacement data corresponding to each vehicle body angle within the preset action amplitude range;
determining a plurality of tooth tip coordinates based on the rotary support angle corresponding to each vehicle body angle and hydraulic cylinder displacement data;
and determining a plurality of vehicle body angle intervals based on the corresponding relation between the plurality of tooth tip coordinates and the vehicle body angle of the excavator and the plurality of vehicle body angles of the excavator.
Further, the control device further comprises a component control module, and the component control module is configured to:
and if the early warning grade of the excavator does not reach the preset grade, controlling the excavator component corresponding to the early warning grade of the excavator to work based on the early warning grade of the excavator.
Further, the grade determination module is used for determining the angle interval of the vehicle body through the following steps:
further, the component control module is used for controlling the excavator components corresponding to the excavator early warning levels to work in the following modes:
when the early warning level of the excavator does not reach the control level, controlling a reminding device of the excavator to generate early warning information;
and when the early warning level of the excavator reaches the control level and does not reach the preset level, controlling a controller of the excavator, and limiting the excavator to operate within the preset pump rotating speed range through a control program.
An embodiment of the present application further provides an electronic device, including: the control method comprises a processor, a memory and a bus, wherein the memory stores machine readable instructions executable by the processor, the processor and the memory are communicated through the bus when the electronic device runs, and the machine readable instructions are executed by the processor to execute the steps of the control method for the dumping of the excavator.
The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the control method for the dumping of the excavator are executed.
According to the control method, the control device and the readable storage medium for dumping of the excavator, when the excavator operation is detected, the inclined included angle between the plane where the chassis of the excavator is located and the ground plane and the slope included angle between the slope of the excavator operation and the ground plane are obtained in real time; determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle, and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval; detecting whether the early warning level of the excavator reaches a preset level or not; and if the early warning level of the excavator reaches the preset level, controlling a hydraulic cylinder and a rotary motor of the excavator to limit the excavator to operate within a preset displacement range and a preset rotary support angle range.
Therefore, when the excavator is detected to operate, the early warning grade of the excavator at the current stage of the excavator is determined according to the inclined included angle between the plane where the chassis of the excavator is located and the ground plane and the inclined included angle between the slope where the excavator operates and the horizontal plane, if the early warning grade of the excavator reaches the preset grade, the hydraulic cylinder and the rotary motor of the excavator are controlled, the excavator is limited and controlled to operate within the preset safe displacement range and the preset rotary supporting angle range, the early warning grade of the excavator can be determined according to the detected inclined included angle of the excavator, then the excavator is controlled to operate within the safe range, and the safety of the excavator operation is improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a flowchart of a method for controlling dumping of an excavator according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method for controlling dumping of an excavator according to another embodiment of the present disclosure;
FIG. 3 is a schematic view of an angle of a slope excavator;
FIG. 4 is a schematic view of a kinematic coordinate system of the excavator work apparatus;
FIG. 5 is a schematic structural diagram of a control device for controlling dumping of an excavator according to an embodiment of the present disclosure;
fig. 6 is a second schematic structural diagram of a control device for controlling dumping of an excavator according to the embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. Every other embodiment that can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present application falls within the protection scope of the present application.
First, an application scenario to which the present application is applicable will be described. The excavator body tilting control device can be applied to the technical field of engineering machinery equipment, when an excavator carries out excavating operation, due to the fact that articles shoveled by the bucket have certain weight, the excavator body can tilt in the operation process, when the excavator body tilts to a certain angle, the excavator body can possibly turn over laterally, injury is brought to operators of the excavator, and therefore it is necessary to control the dumping of the excavator to guarantee the safety of the excavator operation.
Research shows that in the present stage, dumping control of the excavator is mostly carried out when the excavator is about to tip over, and alarm information is sent to an operator to remind the operator to pay attention when the excavator is found to dump.
Based on this, the application aims to provide a control method for dumping of an excavator, which determines an early warning grade of the excavator by detecting a tilt included angle of the excavator and an early warning included angle interval to which a sum value between slope included angles of slopes where the excavator works belongs, limits the excavator to work within a preset range when the early warning grade reaches a preset grade, can determine the early warning grade of the excavator according to the detected tilt included angle of the excavator, further controls the excavator to work within a safety range, and is beneficial to improving the safety of the excavator work.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for controlling dumping of an excavator according to an embodiment of the present disclosure. As shown in fig. 1, a control method provided in an embodiment of the present application includes:
In the step, when the excavator works, an inclined included angle between a plane where a chassis of the excavator is located and a ground plane and a slope included angle between a slope where the excavator works and the ground plane are obtained in real time.
The inclined included angle of the excavator can be obtained by measuring an inclination angle gyroscope arranged on the excavator. When the excavator carries out actual work, different inclined included angles can be generated according to different working range ranges.
When the excavator stops on the slope surface, the plane where the two tracks of the excavator are located is parallel to the slope surface where the excavator works, so that the measured inclination angle of the inclination angle gyroscope arranged on the excavator at the moment can be approximately regarded as the included angle between the slope surface where the excavator works and the ground level.
And 102, determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle, and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval.
In the step, early warning included angle intervals corresponding to the excavator are determined according to an inclined included angle between a plane where an excavator chassis is located and a ground plane and a slope included angle between a slope where the excavator works and the ground plane, each early warning included angle interval corresponds to an excavator early warning grade, and the early warning grade of the early warning included angle interval corresponding to the excavator is determined as the excavator early warning grade corresponding to the excavator.
The early warning grade is a slope included angle between a plane where the chassis of the excavator is located and the ground plane, the slope included angle reflects the slope degree of the excavator to a certain extent, the slope degree is different, the side-tipping risk of the excavator is different, the early warning grade is divided according to the included angle, and corresponding measures can be better taken according to different danger degrees of the excavator.
And 103, detecting whether the early warning level of the excavator reaches a preset level or not.
In this step, it is detected whether the excavator early warning level determined in step 102 reaches a preset level.
Here, the preset level may be determined according to the maximum inclination angle of the excavator, and when the excavator early warning level corresponding to the maximum inclination angle is reached, the working range of the corresponding component of the excavator needs to be forcibly controlled, so as to ensure the safety of the excavator operation.
And 104, if the early warning level of the excavator reaches the preset level, controlling a hydraulic cylinder and a rotary motor of the excavator, and limiting the excavator to perform operation within a preset displacement range and a preset rotary supporting angle range.
In the step, when the dumping angle of the excavator is greater than a certain angle, the excavator can be dumped, so that the critical dumping angle is generally the highest early warning level, if the preset early warning level of the excavator is reached, the hydraulic cylinder and the rotary motor of the excavator are controlled, the rotary support angle of the excavator and the displacement control quantity of each hydraulic cylinder are controlled according to different rotary priorities, and the excavator can work within a safe range.
Here, when the excavator is already at a dangerous level to be dumped, the swing support angle of the excavator and the displacement control amount of each hydraulic cylinder need to be controlled, the excavator is controlled to work within a preset safe working range in a small range, a displacement dangerous set or a swing angle set is avoided, and the operation safety of the excavator is ensured. Under the condition of ensuring the operation safety of the excavator, the excavator is also controlled to work within the preset safe displacement and rotation angle range, and the working efficiency of the excavator is ensured.
According to the control method for dumping of the excavator, when the excavator is detected to operate, an inclined included angle between a plane where a chassis of the excavator is located and a ground plane and a slope included angle between a slope surface of the excavator during operation and the ground plane are obtained in real time; determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle, and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval; detecting whether the early warning level of the excavator reaches a preset level or not; and if the early warning level of the excavator reaches the preset level, controlling a hydraulic cylinder and a rotary motor of the excavator to limit the excavator to operate within a preset displacement range and a preset rotary support angle range.
Therefore, when the excavator is detected to operate, the early warning grade of the excavator at the current stage of the excavator is determined according to the inclined included angle between the plane where the chassis of the excavator is located and the ground plane and the inclined included angle between the slope where the excavator operates and the horizontal plane, if the early warning grade of the excavator reaches the preset grade, the hydraulic cylinder and the rotary motor of the excavator are controlled, the excavator is limited and controlled to operate within the preset safe displacement range and the preset rotary supporting angle range, the early warning grade of the excavator can be determined according to the detected inclined included angle of the excavator, then the excavator is controlled to operate within the safe range, and the safety of the excavator operation is improved.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for controlling dumping of an excavator according to another embodiment of the present application. As shown in fig. 2, a control method provided in an embodiment of the present application includes:
And 203, detecting whether the early warning level of the excavator reaches a preset level.
And 204, if the early warning level of the excavator does not reach the preset level, controlling the excavator component corresponding to the early warning level of the excavator to work based on the early warning level of the excavator.
In this step, if the preset early warning level of the excavator is not reached, that is, the dumping angle of the excavator does not reach the critical angle of the highest early warning level, the corresponding specific control mode for the excavator and the components related to the control mode can be determined according to the specific early warning level of the excavator to which the inclined included angle belongs, and the excavator is controlled.
The control mode of the excavator can comprise the control of a mechanical control part for excavator operation to limit the working range of the excavator, and can also comprise the control of an alarm module of the excavator to give an early warning to an operator.
The descriptions of step 201 to step 203 may refer to the descriptions of step 101 to step 103, and the same technical effects can be achieved, which is not described in detail herein.
Further, step 202 includes: acquiring a plurality of preset vehicle body angle intervals and an excavator early warning grade corresponding to each vehicle body angle interval; determining a target inclination angle interval to which a sum value between the inclination included angle and the slope included angle belongs; and determining the early warning grade of the excavator to which the inclined included angle belongs based on the mapping relation between the target inclined angle interval and the early warning grade of the excavator.
In the step, a plurality of preset vehicle body angle intervals and an excavator early warning level corresponding to each vehicle body angle interval are obtained when the excavator leaves a factory, an inclined included angle between a plane where an excavator chassis is located and a ground plane and a target inclination angle interval to which the angle and the value of a slope included angle between a slope surface and the ground plane of the excavator works are obtained when the excavator works, and the excavator early warning level to which the inclined included angle belongs is determined according to the early warning level corresponding to the target inclination angle interval.
Referring to fig. 3, fig. 3 is a schematic angle diagram of a slope excavator, as shown in fig. 3, X represents a plane of an excavator chassis, Y represents a slope surface on which the excavator works, and Z represents a ground plane, wherein an included angle between the slope surface Y on which the excavator works and the ground plane Z is α1The included angle between the plane X where the chassis of the excavator is located and the ground plane Z is α2When the early warning interval to which the inclination angle of the excavator during the current operation belongs is calculated, α is calculated1+α2The value of (c).
Here, if the current working plane of the excavator is a plane with uneven height, a plane where the lowest position (the most concave position) of the plane is located or a plane where the highest position (the most convex position) of the plane is located may be selected as a reference plane, and the inclination angle between the excavator and the ground plane may be obtained.
For example, if the vehicle body angle ranges determined according to the action amplitude of the excavator on the flat ground when the excavator leaves a factory are (5 °, 10 °), (10 °, 15 °), (15 °, 20 °), and (20 °, 25 °), the included angle between the plane where the excavator chassis is located and the ground plane is 10 °, and the included angle between the slope surface and the horizontal plane when the excavator works is 7 °, it can be determined that the included angle determined at the excavator early warning level in the current working state is 17 °, and the determined target inclination angle range is (15 °, 20 °).
Further, the tilt section of the vehicle body is determined by the following steps: when the plane where the chassis of the excavator is located is parallel to the ground plane, controlling the excavator to carry out excavating operation within a preset action amplitude range, and recording a rotary support angle and hydraulic cylinder displacement data corresponding to each vehicle body angle within the preset action amplitude range; determining a plurality of tooth tip coordinates based on the rotary support angle corresponding to each vehicle body angle and hydraulic cylinder displacement data; and determining a plurality of vehicle body angle intervals based on the corresponding relation between the plurality of tooth tip coordinates and the vehicle body angle of the excavator and the plurality of vehicle body angles of the excavator.
In the step, when the excavator leaves a factory, the excavator is subjected to whole machine detection on the flat ground of a workshop, the excavator is controlled to carry out a series of large-amplitude excavation operation, data such as a vehicle body angle, a slewing bearing angle and hydraulic cylinder displacement are recorded simultaneously, the vehicle body inclination angle corresponds to the hydraulic cylinder displacement one by one, a plurality of tooth tip coordinates are determined according to the plurality of slewing bearing angles and the plurality of hydraulic cylinder displacements, the position of the tooth tip of the excavator is determined through the tooth tip coordinates, more accurate excavator pose is identified, so that the range of dangerous inclination angles of the excavator is more accurately located, and the recorded plurality of inclination angles are divided into a plurality of vehicle body angle intervals based on the pose of the excavator indicated by the plurality of tooth tip coordinates.
Referring to fig. 4, fig. 4 is a schematic diagram of a kinematic coordinate system of a working device of an excavator, as shown in fig. 4, O1、O2、O3For joints on arms or arms of excavators, with O1、O2、O3Establishing a link coordinate system for the origin, shown as θ1、θ2、θ3For angular displacement in the coordinate system of adjacent links, O4The tooth tip coordinates (x, y, z) need to be solved for the origin of the tooth tip coordinate system.
The tooth tip coordinate is located in a three-dimensional coordinate system, and a solving formula of the tooth tip coordinate is as follows:
C0＝cosθ0；C123＝cos(θ1+θ2+θ3)；S0＝sinθ0；S123＝sin(θ1+θ2+θ3)；
wherein, theta0The angle is a rotary support angle which can be measured by a rotary support angle sensor; theta1、θ2、θ3The angle data can be obtained by measuring the displacement of the hydraulic cylinder by a displacement sensor and calculating geometric coordinates; and can also be directly measured by a tilt sensor. Through theta1、θ2、θ3And substituting the corresponding angle data into a solving formula of the tooth tip coordinate to obtain a tooth tip coordinate, and obtaining data for determining the pose of the excavator.
The tooth tip coordinates can more accurately determine the position of the excavator, the positions of the connecting rods, the rotation support angles and the displacement of the hydraulic cylinder can correspond to different positions under different positions, the inclination angles of the excavator under different positions of the excavator can be determined according to the corresponding relations of the positions, the toppling degree of the excavator is determined according to the positions of the excavator, and therefore the interval and the corresponding early warning level of the excavator are divided according to the body angle.
Further, the excavator component corresponding to the excavator early warning grade is controlled to work in the following mode: when the early warning level of the excavator does not reach the control level, controlling a reminding device of the excavator to generate early warning information; and when the early warning level of the excavator reaches the control level and does not reach the preset level, controlling a controller of the excavator, and limiting the excavator to operate within the preset pump rotating speed range through a control program.
In the step, when the corresponding early warning level does not reach the danger level that the excavator is already at to-be-dumped, the early warning level needs to be divided for multiple times, and different countermeasures are taken according to different divided levels so as to ensure normal operation of the excavator.
The secondary division of different grades can be directly divided according to a plurality of recorded early warning included angle intervals, namely, one early warning included angle interval corresponds to one early warning grade; or a plurality of early warning included angle intervals are divided according to the number of the early warning included angle intervals and the preset early warning grade number, wherein one early warning grade can comprise one or a plurality of early warning included angle intervals.
Different control modes are adopted for different early warning levels, the control modes can be divided into two modes of reminding an operator of paying attention and forcibly controlling each component of the excavator to control the excavator, when the early warning level does not reach the control early warning level, the operator is reminded of paying attention to the operation by generating early warning information, and the excavator is controlled to normally work by manual control of the operator in the operation process; and when the early warning level reaches the control early warning level, forcibly controlling a controller of the excavator to control the excavator to work within a preset working flow range.
The generated early warning information can be divided into a voice alarm and an audible and visual alarm, and when the inclined included angle between the plane where the chassis of the excavator is located and the ground plane is in a small range, a voice device is started to output early warning voice to remind an operator of paying attention; and when the inclined included angle exceeds the voice reminding early warning level, starting an audible and visual alarm system, giving an alarm, and reminding an operator to perform operation control again.
When the early warning included angle interval of the inclined included angle between the plane where the chassis of the excavator is located and the ground plane reaches the control early warning level, the rotation speed of the pump can be limited through the control program of the controller, so that the flow is limited, and the excavator is prevented from entering the dangerous angle range of the vehicle body due to misoperation.
According to the control method for dumping of the excavator, when the excavator is detected to operate, an inclined included angle between a plane where a chassis of the excavator is located and a ground plane and a slope included angle between a slope surface of the excavator during operation and the ground plane are obtained in real time; determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle, and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval; detecting whether the early warning level of the excavator reaches a preset level or not; and if the early warning grade of the excavator does not reach the preset grade, controlling the excavator component corresponding to the early warning grade of the excavator to work based on the early warning grade of the excavator.
Therefore, when the excavator operation is detected, the excavator early warning grade of the excavator at the current stage is determined according to the inclined included angle between the plane where the chassis of the excavator is located and the ground plane and the inclined included angle between the slope where the excavator is located and the horizontal plane, if the excavator early warning grade reaches the preset grade, the control mode corresponding to the early warning grade is selected according to the excavator early warning grade, corresponding components in the excavator are controlled, the excavator operation is correspondingly controlled, the excavator early warning grade can be determined according to the detected inclined included angle of the excavator, then the excavator is controlled to operate within a safety range, and the excavator operation safety is improved.
Referring to fig. 5 and 6, fig. 5 is a first schematic structural diagram of a control device for dumping of an excavator according to an embodiment of the present application, and fig. 6 is a second schematic structural diagram of the control device for dumping of an excavator according to the embodiment of the present application. As shown in fig. 5, the control device 500 includes:
an included angle obtaining module 510, configured to obtain, in real time, an inclined included angle between a plane where an undercarriage of the excavator is located and a ground plane and a slope included angle between a slope of the excavator and the ground plane when the excavator is detected to perform operation.
And a grade determining module 520, configured to determine an early warning included angle interval corresponding to the excavator based on the inclination included angle and the slope included angle, and determine an excavator early warning grade corresponding to the excavator according to the early warning included angle interval.
And the level detection module 530 is used for detecting whether the early warning level of the excavator reaches a preset level.
And the operation control module 540 is configured to control the hydraulic cylinder and the swing motor of the excavator to limit the excavator to perform operation within a preset displacement range and a preset swing support angle range if the early warning level of the excavator reaches the preset level.
Further, as shown in fig. 6, the control device 500 further includes:
a component control module 550, the component control module 550 to:
and if the early warning grade of the excavator does not reach the preset grade, controlling the excavator component corresponding to the early warning grade of the excavator to work based on the early warning grade of the excavator.
Further, when the grade determining module 520 is configured to determine an early warning included angle interval corresponding to the excavator based on the inclination included angle and the slope included angle, and determine an excavator early warning grade corresponding to the excavator according to the early warning included angle interval, the grade determining module 520 is specifically configured to:
acquiring a plurality of preset vehicle body angle intervals and an excavator early warning grade corresponding to each vehicle body angle interval;
determining a target inclination angle interval to which a sum value between the inclination included angle and the slope included angle belongs;
and determining the early warning grade of the excavator to which the inclined included angle belongs based on the mapping relation between the target inclined angle interval and the early warning grade of the excavator.
Further, the grade determination module 520 is configured to determine the vehicle body angle interval by:
when the plane where the chassis of the excavator is located is parallel to the ground plane, controlling the excavator to carry out excavating operation within a preset action amplitude range, and recording a rotary support angle and hydraulic cylinder displacement data corresponding to each vehicle body angle within the preset action amplitude range;
determining a plurality of tooth tip coordinates based on the rotary support angle corresponding to each vehicle body angle and hydraulic cylinder displacement data;
and determining a plurality of vehicle body angle intervals based on the corresponding relation between the plurality of tooth tip coordinates and the vehicle body angle of the excavator and the plurality of vehicle body angles of the excavator.
Further, the component control module 550 is configured to control the excavator component corresponding to the excavator early warning level to operate by:
when the early warning level of the excavator does not reach the control level, controlling a reminding device of the excavator to generate early warning information;
and when the early warning level of the excavator reaches the control level and does not reach the preset level, controlling a controller of the excavator, and limiting the excavator to operate within the preset pump rotating speed range through a control program.
According to the control device for dumping of the excavator, when the excavator is detected to operate, an inclined included angle between a plane where a chassis of the excavator is located and a ground plane and a slope included angle between a slope surface of the excavator during operation and the ground plane are obtained in real time; determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle, and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval; detecting whether the early warning level of the excavator reaches a preset level or not; and if the early warning level of the excavator reaches the preset level, controlling a hydraulic cylinder and a rotary motor of the excavator to limit the excavator to operate within a preset displacement range and a preset rotary support angle range.
Therefore, when the excavator is detected to operate, the early warning grade of the excavator at the current stage of the excavator is determined according to the inclined included angle between the plane where the chassis of the excavator is located and the ground plane and the inclined included angle between the slope where the excavator operates and the horizontal plane, if the early warning grade of the excavator reaches the preset grade, the hydraulic cylinder and the rotary motor of the excavator are controlled, the excavator is limited and controlled to operate within the preset safe displacement range and the preset rotary supporting angle range, the early warning grade of the excavator can be determined according to the detected inclined included angle of the excavator, then the excavator is controlled to operate within the safe range, and the safety of the excavator operation is improved.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, the electronic device 700 includes a processor 710, a memory 720, and a bus 730.
The memory 720 stores machine-readable instructions executable by the processor 710, when the electronic device 700 runs, the processor 710 communicates with the memory 720 through the bus 730, and when the machine-readable instructions are executed by the processor 710, the steps of the method for controlling dumping of an excavator in the method embodiments shown in fig. 1 and fig. 2 may be executed.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for controlling dumping of an excavator in the method embodiments shown in fig. 1 and fig. 2 may be executed.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A control method for dumping of an excavator is characterized by comprising the following steps:
when the excavator operation is detected, acquiring an inclined included angle between a plane where a chassis of the excavator is located and a ground plane and a slope included angle between a slope of the excavator operation and the ground plane in real time;
determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle, and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval;
detecting whether the early warning level of the excavator reaches a preset level or not;
and if the early warning level of the excavator reaches the preset level, controlling a hydraulic cylinder and a rotary motor of the excavator to limit the excavator to operate within a preset displacement range and a preset rotary support angle range.
2. The control method according to claim 1, wherein the determining an early warning angle interval corresponding to the excavator based on the inclination angle and the slope angle and determining an excavator early warning level corresponding to the excavator according to the early warning angle interval comprises:
acquiring a plurality of preset vehicle body angle intervals and an excavator early warning grade corresponding to each vehicle body angle interval;
determining a target inclination angle interval to which a sum value between the inclination included angle and the slope included angle belongs;
and determining the early warning grade of the excavator to which the inclined included angle belongs based on the mapping relation between the target inclined angle interval and the early warning grade of the excavator.
3. The method according to claim 2, characterized in that the body angle interval is determined by the following steps:
when the plane where the chassis of the excavator is located is parallel to the ground plane, controlling the excavator to carry out excavating operation within a preset action amplitude range, and recording a rotary support angle and hydraulic cylinder displacement data corresponding to each vehicle body angle within the preset action amplitude range;
determining a plurality of tooth tip coordinates based on the rotary support angle corresponding to each vehicle body angle and hydraulic cylinder displacement data;
and determining a plurality of vehicle body angle intervals based on the corresponding relation between the plurality of tooth tip coordinates and the vehicle body angle of the excavator and the plurality of vehicle body angles of the excavator.
4. The control method according to claim 1, wherein after the detecting whether the excavator early warning level reaches a preset level, the control method further comprises:
and if the early warning grade of the excavator does not reach the preset grade, controlling the excavator component corresponding to the early warning grade of the excavator to work based on the early warning grade of the excavator.
5. The control method according to claim 4, wherein the excavator component corresponding to the excavator early warning level is controlled to operate by:
when the early warning level of the excavator does not reach the control level, controlling a reminding device of the excavator to generate early warning information;
and when the early warning level of the excavator reaches the control level and does not reach the preset level, controlling a controller of the excavator, and limiting the excavator to operate within the preset pump rotating speed range through a control program.
6. A control device for controlling dumping of an excavator, the control device comprising:
the included angle acquisition module is used for acquiring an inclined included angle between a plane where a chassis of the excavator is located and a ground plane and a slope included angle between a slope of the excavator during operation and the ground plane in real time when the excavator is detected to operate;
the grade determining module is used for determining an early warning included angle interval corresponding to the excavator based on the inclined included angle and the slope included angle and determining an excavator early warning grade corresponding to the excavator according to the early warning included angle interval;
the grade detection module is used for detecting whether the early warning grade of the excavator reaches a preset grade or not;
and the operation control module is used for controlling the hydraulic cylinder and the rotary motor of the excavator to limit the excavator to operate within a preset displacement range and a preset rotary supporting angle range if the early warning level of the excavator reaches the preset level.
7. The control device according to claim 6, wherein the grade determination module, when configured to determine an early warning included angle interval corresponding to the excavator based on the inclination included angle and the slope included angle, and determine an excavator early warning grade corresponding to the excavator according to the early warning included angle interval, is specifically configured to:
acquiring a plurality of preset vehicle body angle intervals and an excavator early warning grade corresponding to each vehicle body angle interval;
determining a target inclination angle interval to which a sum value between the inclination included angle and the slope included angle belongs;
and determining the early warning grade of the excavator to which the inclined included angle belongs based on the mapping relation between the target inclined angle interval and the early warning grade of the excavator.
8. The control device of claim 7, wherein the grade determination module is configured to determine the body angle interval by:
when the plane where the chassis of the excavator is located is parallel to the ground plane, controlling the excavator to carry out excavating operation within a preset action amplitude range, and recording a rotary support angle and hydraulic cylinder displacement data corresponding to each vehicle body angle within the preset action amplitude range;
determining a plurality of tooth tip coordinates based on the rotary support angle corresponding to each vehicle body angle and hydraulic cylinder displacement data;
and determining a plurality of vehicle body angle intervals based on the corresponding relation between the plurality of tooth tip coordinates and the vehicle body angle of the excavator and the plurality of vehicle body angles of the excavator.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the method of controlling excavator dumping of any one of claims 1 to 5.
10. A computer-readable storage medium, having stored thereon a computer program for performing, when being executed by a processor, the steps of the method for controlling excavator dumping of any one of claims 1 to 5.
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