CN111986448A - Arm support operation safety indication system, method, storage medium and processor - Google Patents
Arm support operation safety indication system, method, storage medium and processor Download PDFInfo
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- CN111986448A CN111986448A CN202010817988.6A CN202010817988A CN111986448A CN 111986448 A CN111986448 A CN 111986448A CN 202010817988 A CN202010817988 A CN 202010817988A CN 111986448 A CN111986448 A CN 111986448A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
- G08B5/38—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources using flashing light
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Abstract
The embodiment of the invention provides a system and a method for indicating the operation safety of an arm support, a storage medium and a processor, and belongs to the technical field of engineering machinery. The boom operation safety indicating system comprises: the safety monitoring module is used for monitoring the tipping parameters of the engineering machinery equipped with the arm support; the control module is used for determining the rollover risk according to the rollover parameters and generating an indicator light control instruction; and the indicator light module is arranged at the position of the conveying hose for arm support material distribution and is used for responding to the indicator light control instruction to prompt the tipping risk. The indicating lamp module of the arm support operation safety indicating system is arranged at the position of the conveying hose of arm support cloth, so that a manipulator can see a safety indicating signal in an arm support operation area without greatly transferring the sight, and convenience is provided for the manipulator to obtain tipping risk information in site operation.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a system and a method for indicating arm support operation safety, a storage medium and a processor.
Background
In the field operation process of the engineering machinery (such as a pump truck) equipped with the arm support, if the operation area of the arm support is outside the support area of the engineering machinery, the engineering machinery has a rollover risk, so that the rollover limitation and the rollover prompt are of great importance to the safety of engineering construction.
The existing engineering machinery adopts an acousto-optic warning lamp system arranged on a bracket or a rotary table of the engineering machinery to prompt a mechanic with tipping risk information so as to visualize the safety state of equipment, but the technology has the following defects: firstly, the warning lamp system is arranged on a bracket or a rotary table, and a mobile phone can see the warning lamp only by transferring the sight line to a large extent, so that inconvenience is provided for the mobile phone to operate and control on site; secondly the warning form is single, can not distinguish risk type and risk grade through the warning light, also can not guide the cell-phone to carry out correct operation in order to avoid dangerous.
Based on the above situation, it is a technical problem to be solved urgently to develop a boom safety indicating system which provides sufficient safety indicating information for the mobile phone and is convenient for the mobile phone to observe.
Disclosure of Invention
The embodiment of the invention aims to provide a system, a method, a storage medium and a processor for indicating the operation safety of an arm support, and aims to overcome the defects that an indicator lamp system for indicating the operation safety of the arm support of an engineering machine cannot sufficiently indicate safety information and the installation position is in a view blind area.
In order to achieve the above object, an embodiment of the present invention provides a boom operation safety indication system, including: the safety monitoring module is used for monitoring the tipping parameters of the engineering machinery equipped with the arm support; the control module is used for determining the rollover risk according to the rollover parameters and generating an indicator light control instruction; and the indicator light module is arranged at the position of the conveying hose for arm support material distribution and is used for responding to the indicator light control instruction to prompt the tipping risk.
Optionally, the indicator light module includes: the fastening piece is arranged at the position of the conveying hose of the arm support cloth and used for fixing the lamplight bracket; the light bracket is arranged on the fastener and used for installing indicating light equipment; and the indicating light equipment is arranged on the light bracket and used for prompting the tipping risk.
Optionally, the indicator light module further includes: and the orientation structure is positioned on the fastener and/or the conveying hose and used for indicating the corresponding relation between the fastener and the conveying hose on the annular installation position so as to determine the installation direction of the light bracket.
Optionally, the indicator light device includes: an indicator light and/or a projection light.
Optionally, at least one of the indicator light devices is mounted on at least one direction of the light bracket.
Optionally, an indicator light device is respectively installed in the left direction, the right direction and the forward direction of the light support, wherein the forward direction is a horizontal projection direction from the center of the arm support turntable to the end vector of the arm support; or the left direction and the right direction of the light bracket are respectively provided with an indicating light device.
Optionally, the safety monitoring module includes: and the rotation angle detection sensor is used for detecting the rotation angle of the arm support, wherein the tipping parameter comprises the rotation angle.
On the other hand, the invention provides an arm support operation safety indication method, which comprises the following steps: acquiring tipping parameters of the engineering machinery equipped with the arm support; determining a rollover risk of the work machine based on the rollover parameter; and generating an indicator light control instruction according to the tipping risk so as to control the indicator light equipment.
Optionally, the determining the risk of tipping of the working machine according to the tipping parameter includes: determining the tipping risk of the engineering machinery when the arm support moves to different directions according to the tipping parameters; correspondingly, the generating of the indicator light control command according to the rollover risk for controlling the indicator light equipment comprises: and generating an indicator light control instruction according to the tipping risk under the condition that the tipping risk corresponding to the movement in a certain direction exists, and controlling the indicator light equipment in the direction to send out an early warning signal.
Optionally, the acquiring a tipping parameter of the construction machine equipped with the boom and determining a tipping risk of the construction machine according to the tipping parameter include: acquiring the current gravity center position and the supporting boundary of the engineering machinery; determining new gravity center positions corresponding to the three directions of movement of the arm support, namely anticlockwise rotation, clockwise rotation and outward expansion respectively according to a safety gravity center deviation threshold value at the current gravity center position; determining that a rollover risk exists in a direction corresponding to the new center of gravity position if the new center of gravity position exceeds the support boundary; determining that the new center of gravity position corresponds to a direction without risk of tipping in the event that the new center of gravity position does not exceed the support boundary.
Optionally, the acquiring a tipping parameter of the construction machine equipped with the boom and determining a tipping risk of the construction machine according to the tipping parameter include: acquiring a current rotation angle, a lower rotation angle limit and an upper rotation angle limit of the arm support; determining new rotation angles corresponding to the movement of the arm support at the current rotation angle in the counterclockwise rotation direction and the clockwise rotation direction respectively according to the safety angle deviation threshold value by taking the clockwise direction as the increment direction; determining that the moving direction corresponding to the new rotation angle has a tipping risk under the condition that the new rotation angle is lower than the lower limit of the rotation angle or higher than the upper limit of the rotation angle; and under the condition that the new rotation angle is not lower than the lower limit of the rotation angle and not higher than the upper limit of the rotation angle, determining that the movement direction corresponding to the new rotation angle has no tipping risk.
Optionally, different forms of warning signals prompt different safety indication information.
Optionally, the indicator light device includes: an indicator light and/or a projection light.
Optionally, the indicator light control instruction includes at least one of: the indicating lamp is normally on in a first color to prompt that the direction corresponding to the indicating lamp has a first-class rollover risk level, and the indicating lamp flashes in the first color to prompt that the direction corresponding to the indicating lamp has a second-class rollover risk level; the indicating lamp is normally on in a first color to prompt that the direction corresponding to the indicating lamp has a rollover risk and is limited to move, the manipulator controls the arm support to move towards the direction and cannot be responded by equipment, the indicating lamp is normally on in a third color to prompt that the direction corresponding to the indicating lamp is safe, and the manipulator controls the arm support to move towards the direction and can be responded by the equipment; two indicating lamps in a certain direction are normally on in a first color to prompt that the corresponding directions of the two indicating lamps have the first-class rollover risk level, and only one indicating lamp in a certain direction is normally on in the first color to prompt that the corresponding direction of the indicating lamp has the second-class rollover risk level; the projection lamp is normally on in a first color to prompt that the direction corresponding to the linear projection boundary projected by the projection lamp has a first rollover risk level, and the projection lamp is normally on in a second color to prompt that the direction corresponding to the linear projection boundary transmitted by the projection lamp has a second rollover risk level.
In another aspect, the invention provides a construction machine, which includes any one of the boom operation safety indicating systems described above.
In another aspect, the present invention provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions are configured to cause a machine to execute any one of the boom operation safety indication methods described in the present application.
In another aspect, the present invention provides a processor, configured to run a program, where the program is executed to perform any one of the above boom operation safety indication methods.
Through the technical scheme, the indicator lamp module of the arm support operation safety indicating system is arranged at the position of the conveying hose of arm support cloth, so that a manipulator can see a safety indicating signal in an arm support operation area without greatly transferring the sight, and convenience is provided for the manipulator to acquire tipping risk information.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic view of a warning light mounted at a front leg of a pump truck body;
FIG. 2 is a schematic view of a warning light mounted at the rear leg of the pump car body;
FIG. 3 is a schematic view of a warning light in a blind area of the field of vision of the aircraft;
fig. 4 is a block diagram of a boom operation safety indication system according to an embodiment of the present invention;
FIG. 5 is a block diagram of a simple hardware control circuit in a control module according to an embodiment of the present invention;
FIG. 6 is a schematic view of an exemplary embodiment of an indicator light module installed in a room;
FIG. 7 is a schematic view of the installation direction of the indicator light according to one embodiment of the present invention;
fig. 8 is a flowchart of a method for indicating arm support operation safety according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a center of gravity position and a supporting boundary of a construction machine according to an embodiment of the present disclosure;
FIG. 10 is a schematic diagram of a projection lamp according to an embodiment of the present invention projecting a linear projection in the direction D2;
fig. 11 is a schematic diagram of a projection lamp according to an embodiment of the present invention projecting linear projections in directions D1 and D3.
Description of the reference numerals
1 fastener 2 light support
3-indicator light A1 hose part for conveying hose
Rubber tube connector of A2 conveying hose
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The mounting position of a boom operation rollover warning lamp for prompting rollover risk information of the existing engineering machinery is on a bracket or a rotary table of a vehicle body. Taking a pump truck as an example, as shown in fig. 1, a warning light of the pump truck is located at a front leg of a truck body. Or, as shown in fig. 2, the warning light of the pump truck is located at the rear support leg of the truck body, and in the running process of the pump truck, the driver needs to transfer the sight to the truck body of the pump truck to see the warning light. As shown in fig. 3, when the pump truck is rammed on the roof or in a foundation pit, the warning light may be in a blind area of the field of view of the mobile phone due to shielding, and the mobile phone cannot quickly and effectively view the warning light to obtain the operation safety indication information of the boom of the pump truck during operation, so that inconvenience is brought to the field operation of the mobile phone.
Based on this, the embodiment of the invention provides an arm support operation safety indicating system, and the indicating light module is arranged at the position of a conveying hose of arm support cloth, so that a manipulator can conveniently and quickly obtain arm support operation safety indicating information.
As shown in fig. 4, the boom operation safety indication system includes: and the safety monitoring module is used for monitoring the tipping parameters of the engineering machinery equipped with the arm support, and the tipping parameters are used for judging the tipping risk of the engineering machinery. For example, the tipping parameter may be a gravity center position of the boom of the construction machine at different positions, and the safety monitoring module may include a pressure sensor capable of sensing the gravity center position of the construction machine. In addition, the tipping parameter may also be a turning angle of the boom, in which case, preferably, the safety monitoring module may include: and the rotation angle detection sensor is used for detecting the rotation angle of the arm support. The rotation angle detection sensor can be a rotation limit sensor which detects the position state when the arm support rotates to the upper limit or the lower limit of the rotatable angle, and can also be a rotation encoder which can detect any rotation angle of the arm support.
The boom operation safety indicating system further comprises a control module used for determining the tipping risk according to the tipping parameters and generating an indicating light control instruction. FIG. 5 is a simple control circuit of a pure hardware example, where S _ D1 and S _ D2 are the swing limit switches of the arm reaching the extreme positions in the D1 direction and D2 direction, respectively. When the rotation limit sensor detects that the arm support reaches the limit position in the direction of D1 (or D2), the state of the normally closed contact of S _ D1 (or S _ D2) is changed from a normally closed state to opening, the rotation command signal of V _ D1 (or V _ D2) is switched, and the arm support stops responding to a control command given by a mechanical hand to continue rotating towards the limit position. Meanwhile, the normally open contact state of the S _ D1 (or S _ D2) is changed to be closed from the normally open state, the indicator lamp L _ D1 (or L _ D2) is driven to be lightened, the operation of prompting the movement towards the direction D1 (or D2) is forbidden, namely the manipulator controls the arm support to move towards the direction D1 (or D2) and cannot obtain the response of equipment, and the manipulator can obtain arm support operation safety indication information according to the indicator lamp L _ D1 (or L _ D2).
The arm support operation safety indicating system further comprises an indicating light module, wherein the indicating light module is installed at the position of the conveying hose of arm support material distribution and used for responding to the indicating light control instruction to prompt the tipping risk.
As shown in fig. 6, the indicator light module includes: fastener 1, light support 2 and indicator light equipment 3. The fastener 1 of the indicator light module is arranged at the position of a conveying hose of the arm support cloth and used for fixing the light bracket, and the indicator light module can be arranged at a hose part (A1) of the conveying hose and can also be arranged on a hose connecting piece (A2) of the conveying hose. The fastening member 1 may have a plurality of connection methods, for example, a clamp connection, an adhesive connection, a magnetic connection, etc. when the magnetic connection is adopted, the fastening member 1 of the indicator light module is installed at a metal part of the conveying hose.
And the light bracket 2 is arranged on the fastener 1 and used for installing the indicator light equipment 3. The indicating light equipment 3 is a functional device of the scheme, is arranged on the light support 2 and is used for prompting safety indication information.
The arm support operation safety indicating system is displayed as indicating light with directivity, so that the accuracy of the direction corresponding to each indicating light device needs to be ensured, namely the accuracy of the direction of the light support and the fastener needs to be ensured, the requirement can be realized by adding a directional structure, the corresponding relation of the fastener and the conveying hose on the annular mounting position is indicated by arranging the directional structure on the fastener and/or the conveying hose, the mounting direction of the light support can be determined, and the mounting direction of the indicating light device is also determined. There are various implementations of the orientation structure, for example, a key (slot), an arrow, a positioning installation hole can be designed on the fastener, or the orientation structure can be the light bracket itself with direction indication, as shown in fig. 7, D3 is oriented in the forward direction in fig. 7, and based on this direction, D1 is in the left direction and D2 is in the right direction. It can be seen that the light bracket of fig. 7 has its own direction indicating function, so that the D3 faces forward (away from the center of the arm support turntable) when the fastener is installed, thus avoiding uncertainty of the upward position of the light bracket in the loop.
The indicator light equipment is a device capable of emitting warning light. In order to enable the mobile phone to fully acquire the safety indication information, the indicating light equipment can prompt different safety indication information in different warning modes. Preferably, the indicator light device may include: an indicator light and/or a projection light. The indication method can be that an indicator light in a certain direction is turned on to indicate the tipping risk level and/or the safe operation indication of the operation in the certain direction, or a projection light in a certain direction is turned on to indicate the tipping risk level and/or the safe operation indication of the operation in the certain direction.
Of course, the indicator light module for indicating the risk of rollover may be replaced by a voice system capable of indicating safety indication information, and the installation position of the sound generating device may refer to the installation position of the indicator light equipment.
The motion direction of the arm support can be divided into four directions of anticlockwise rotation, clockwise rotation, outward expansion and inward retraction. Since the position of the center of gravity of the construction machine changes inward when the boom is retracted inward, there is no risk of tipping, and it is considered that the risk of tipping is raised in the other three directions. Preferably, at least one of the indicator lights is mounted in at least one direction of the light bracket. Preferably, one indicator light device is respectively installed in the left direction (corresponding to the counterclockwise rotation motion), the right direction (corresponding to the clockwise rotation motion) and the forward direction (corresponding to the outward unfolding motion) of the light bracket, or only one indicator light device is respectively installed in the left direction and the right direction of the light bracket; the forward direction is a horizontal projection direction of a vector from the center of the boom turntable to the tail end of the boom, referring to fig. 11, a direction corresponding to a horizontal projection (shown by a dotted line in the figure) of a vector from the center of the boom turntable to the tail end of the boom is the forward direction, that is, a direction of the tail end of the boom departing from the center of the boom turntable, and fig. 11 is a schematic diagram illustrating that a lighting device (taking a projection lamp as an example) performs operation safety indication in the forward direction and the left direction. Fig. 7 shows a top view of the installation direction of the indicator light, as shown in fig. 7, D3 is the front direction, D1 is the left direction, D2 is the right direction, and most preferably, the indicator light is arranged in all three directions to fully indicate the tilting risk of the arm support moving to all directions.
The power supply of the light of the indicator light equipment is generally supplied by an external power supply, but can also be locally supplied by a device with electric power storage capacity (namely the power supply unit is integrated in the structural part of the indicator light equipment); when the power is supplied by an external power supply, indicating light equipment needs to lead out a power line; the light of the indicator light equipment is controlled by the control module, and the control signal can be accessed in a wired and wireless mode. Preferably, the control signal access mode is matched with the power supply mode, namely, the power supply is controlled by a wire when an external power line supplies power, and the power supply is controlled by a wireless signal when local power is supplied.
According to the arm support operation safety indicating system, the indicating light module is arranged at the position of the conveying hose of arm support cloth, so that convenience is brought to a manipulator to conveniently and quickly obtain arm support operation safety indicating information, and the operation safety is improved. In addition, through installing pilot lamp light equipment in a plurality of directions and according to the multidirectional pilot lamp light of risk suggestion of tumbling of different directions, provide more abundant cantilever crane operation safety instruction information for the cell-phone, can realize the function that the guide cell-phone carries out safe operation, avoid engineering machine to take place to tumble danger.
Based on the above-mentioned boom operation safety indication system, the present application also provides a boom operation safety indication method, which is implemented by a control module and provides richer safety indication information for a handset, as shown in fig. 8, the method includes S102-S106:
and S102, acquiring the tipping parameters of the engineering machinery equipped with the arm support.
The tipping parameter is obtained by a safety monitoring module, and the tipping parameter can be the gravity center position of the engineering machinery, the rotation angle of the arm support, or other tipping parameters which can be used for calculating the tipping risk.
And S104, determining the rollover risk of the engineering machinery according to the rollover parameters.
The control module may determine the rollover risk of the construction machine according to the rollover parameters in various ways, for example, whether the rollover risk exists in the boom movement direction may be determined according to whether the gravity center position of the construction machine exceeds the support boundary, or whether the rollover risk exists according to whether the rotation angle of the construction machine boom exceeds the preset rotation angle range.
Since the boom may tilt when moving in three directions, it is preferred that the risk of tilting is determined based on the tilt parameters of the boom when moving in different directions.
In the first case, in the case that the acquired roll-over parameter is the position of the center of gravity of the construction machine, in particular, one of the methods of S102 and S104 preferably includes the following steps (1) to (3):
(1) acquiring the current gravity center position and the supporting boundary of the engineering machinery;
(2) determining new gravity center positions corresponding to the three directions of movement of the arm support, namely anticlockwise rotation, clockwise rotation and outward expansion respectively according to a safety gravity center deviation threshold value at the current gravity center position;
(3) determining that a rollover risk exists in a direction corresponding to the new center of gravity position if the new center of gravity position exceeds the support boundary; determining that the new center of gravity position corresponds to a direction without risk of tipping in the event that the new center of gravity position does not exceed the support boundary.
The above steps are explained by taking fig. 9 as an example:
(1) the control module acquires a current gravity center position and a support boundary of the engineering machine, the acquired current gravity center position takes 4 positions (an S point, a G point, a Q point and a P point) in fig. 9 as an example, and the support boundary is a quadrilateral outer frame.
(2) If the safe gravity center deviation threshold is dd, and the safe gravity center deviation threshold dd is used as the change amplitude of the gravity center change caused by the movement of the boom, when the current gravity center position is at the point G, G1 is a new gravity center position corresponding to the boom after anticlockwise rotation, G2 is a new gravity center position corresponding to the boom after clockwise rotation, G3 is a new gravity center position corresponding to the boom after outward unfolding, GG1 is GG2 and GG3 and dd, the dd value range is 0.3-1 meter, preferably dd is 0.4-0.5 meter, and the same applies to the point Q and the point S.
(3) For point G, G2 and G3 are outside the support boundary, so it is believed that a clockwise pivoting or outward deployment of the boom will cause the center of gravity of the device to move out of the support area (and thus cause a rollover), then the D2 and D3 directional indicator lights will light up and the D1 directional indicator light will not light up. As shown in fig. 9, abbreviated as [ D1 ═ 0 ], D2 ═ 1, and D3 ═ 1 ], the robot is reminded of the risk of tipping in the clockwise rotation or outward unfolding arm support operation. If the control module of the work machine has limited the movement in both directions, the D2 and D3 directional indicator lights are used to indicate to the pilot that there is a current response limit for the pilot to both clockwise swing and flare operations.
Similarly, for the point P, only P1 is outside the support boundary, the indicator light device in the direction D1 lights up, which is abbreviated as [ D1 is 1, D2 is 0, and D3 is 0 ], and the arm support only has the motion limitation of counterclockwise rotation;
for the point Q, only Q3 is outside the supporting boundary, the indicator light equipment in the direction D3 is lighted up, which is abbreviated as [ D1 is 0, D2 is 0, and D3 is 1 ], so as to avoid the gravity center overflow caused by unfolding or bending over the flat arm frame;
for the point S, S1, S2, and S3 are all within the support boundary, and the indicator lights in three directions are turned off, which is abbreviated as "D1 equals 0, D2 equals 0, and D3 equals 0", indicating that there is no tipping risk when the boom moves in any direction.
In the second case, in the case that the obtained gravity center position is the rotation angle of the boom, the other method of S102 and S104 preferably includes the following steps (1) to (3):
(1) acquiring a current rotation angle, a lower rotation angle limit and an upper rotation angle limit of the arm support;
(2) determining new rotation angles corresponding to the movement of the arm support at the current rotation angle in the counterclockwise rotation direction and the clockwise rotation direction respectively according to the safety angle deviation threshold value by taking the clockwise direction as the increment direction;
(3) determining that the moving direction corresponding to the new rotation angle has a tipping risk under the condition that the new rotation angle is lower than the lower limit of the rotation angle or higher than the upper limit of the rotation angle; and under the condition that the new rotation angle is not lower than the lower limit of the rotation angle and not higher than the upper limit of the rotation angle, determining that the movement direction corresponding to the new rotation angle has no tipping risk.
The arm support of the engineering machinery has the limitation of a rotation angle, and the operation area of the arm support is limited by limiting the rotation angle of the arm support so as to ensure the operation safety. In this embodiment, whether there is a rollover risk is determined according to whether the rotation angle of the boom of the engineering machinery exceeds a preset rotation angle range, and the specific implementation manner of the steps (1) to (3) is as follows:
(1) acquiring the current rotation angle theta and the lower limit theta of the rotation angle of the arm support1And upper limit of rotation angle theta2。
(2) Setting the safety angle deviation threshold value as thetaErrAt a safety angle deviation threshold thetaErrAs the change amplitude of the rotation angle of the arm support movement, clockwise is taken as the increment direction, and the current rotation angle theta of the arm support is respectively calculated according to the safety angle deviation threshold value as thetaErrAfter clockwise rotationAngle of revolution theta + thetaErrAnd the deviation threshold value of the current rotation angle theta of the arm support according to the safety angle is thetaErrNew rotation angle theta-theta after counterclockwise rotationErr。
(3) When theta + thetaErr>θ2When the arm support continues to rotate clockwise, the new rotation angle exceeds the upper limit of the rotation angle, and at the moment, the indicator light equipment in the direction D2 (clockwise rotation direction) is lightened; when theta-thetaErr<θ1When the boom continues to rotate counterclockwise, the new rotation angle is lower than the lower limit of the rotation angle, and at this time, the indicator light device in the direction D1 (counterclockwise rotation direction) is turned on. Therefore, the system can clearly remind the aircraft driver of the rotary operation in which direction the aircraft driver has risks, thereby avoiding equipment damage and property loss caused by misoperation.
And S106, generating an indicator light control instruction according to the tipping risk to control indicator light equipment.
Corresponding to S104, when the tipping risk corresponding to the movement of the arm support to a certain direction exists, an indicator light control instruction is generated according to the tipping risk, and the indicator light equipment in the direction is controlled to send out safety indication information.
Preferably, the indicator light device includes: and an indicator light and/or a projection light, wherein the indicator light or the projection light in a certain direction is lighted up to indicate the rollover risk level and/or the safe operation indication of the operation in the direction.
Preferably, the different forms of warning signals prompt different safety indication information, including the following schemes:
a. the indicator light is normally on in a first color (such as red) to prompt that the direction corresponding to the indicator light has a first rollover risk level, and the indicator light flashes in the first color (such as red) to prompt that the direction corresponding to the indicator light has the second rollover risk level.
The first color is used as a warning color, and two different levels of rollover risk are indicated through two states of constant brightness and flickering. The first level of risk of tipping is higher than the second level of risk of tipping, so the pilot will see both signals carefully to operate the boom movement and the indicator light will be constantly on in the first color with a smaller amplitude of operation and slower speed of movement than if the pilot light were to flash in the first color.
b. The indicating lamp is normally on in a first color (such as red), the indicating lamp is prompted to have a rollover risk in a direction corresponding to the indicating lamp and is limited to move, the manipulator control arm support moves towards the direction and cannot be responded by equipment, the indicating lamp is normally on in a third color (such as green), the indicating lamp is prompted to be safe in the direction corresponding to the indicating lamp, and the manipulator control arm support moves towards the direction and can be responded by the equipment.
The first color is used as a warning color, the third color is used as a safety color, and whether the rollover risk exists or not is prompted by lighting the indicator lamps with different colors. When the tipping risk exists in a certain direction, the direction is limited to move, and even if the manipulator operates the arm support to move towards the direction, the arm support cannot continue to move. When the risk of tipping does not exist in a certain direction, the manipulator can normally control the arm support to move towards the direction.
c. Two indicator lights are normally on in a certain direction with a first color (such as red), so that the situation that the directions corresponding to the two indicator lights have the same rollover risk level is prompted, and only one indicator light is normally on in a certain direction with the first color (such as red), so that the situation that the directions corresponding to the indicator lights have the same rollover risk level is prompted.
The indicating light equipment can be installed in various modes, a plurality of indicating light equipment can be installed in each direction of the light support, two different levels of tipping risks are prompted by lighting indicating lamps with different numbers, and the safety operation indication received by the mobile phone is the same as the scheme a.
d. The projection lamp is normally on in a first color (such as red) to indicate that a direction corresponding to the linear projection boundary projected by the projection lamp has a first rollover risk level, and the projection lamp is normally on in a second color (such as yellow) to indicate that a direction corresponding to the linear projection boundary transmitted by the projection lamp has a second rollover risk level.
The projection lamp is different from the indicating lamp in indicating mode. Taking fig. 10 as an example, the projection lamp in the direction D2 projects a line projection in the first color, which indicates that the boom may be tilted if it continues to rotate clockwise. Similarly, if the projection lamp in the direction D1 projects a line projection in the first color, it indicates that the boom may be tilted if it continues to rotate counterclockwise. Similarly, if the projection lamp in the direction D3 transmits a linear projection in the first color, it indicates that the boom will be at risk of tipping if it continues to expand outward. Similarly, as shown in fig. 11, the projection lamps in the directions D1 and D3 project linear projections in the first color, which indicates that the arm support cannot continue to rotate counterclockwise and cannot continue to unfold outward, otherwise there is a risk of tipping.
The scheme d takes a projection lamp as an example, the projection lamp projects linear projection, the projection lamp in a certain direction is lightened, the tipping risk level and/or safety operation indication of the operation in the direction is prompted, and different levels of tipping risks are prompted by projecting different colors of projections.
Of course, the above solutions a-d are only exemplary solutions, and they may be replaced with each other or combined appropriately, so that the robot can accurately and sufficiently know the rollover risk and/or the safe operation indication. In addition to the methods listed in the above schemes, other indication methods may be included, for example, the projection lamp represents the warning information in the first color, the projection lamp represents safety when the projection lamp is not on, the projection lamp represents danger when the projection lamp slowly flashes in the first color, the projection lamp rapidly represents the approach of danger when the projection lamp flashes in the first color, and the projection lamp represents danger when the projection lamp is normally on in the first color; for example, the indication sound system can cooperate with the indication light module to realize the safety indication function, when there is a rollover risk in a certain direction, the indication light module prompts the warning information through the light signal, and the sound system prompts the warning information and/or the safety operation indication through the sound signal.
According to the boom operation safety indication method provided by the embodiment, the indication lighting equipment prompts various safety indication information according to different tipping risks, and a manipulator can clearly know whether the boom moves in each direction and whether the tipping risks exist and the grade of the tipping risks, so that the boom is controlled to perform safety operation according to the safety indication information, and the tipping risks of the engineering machinery are avoided.
The embodiment of the invention also provides engineering machinery which comprises the arm support operation safety indicating system in the embodiment, and safety indicating information can be prompted to a manipulator, so that the rollover risk is avoided.
The embodiment of the invention provides a machine storage medium, wherein a program is stored on the machine storage medium, and the program is executed by a processor to realize the arm support operation safety indication method.
The embodiment of the invention provides a processor, which is used for running a program, wherein the method for indicating the operation safety of a boom is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the arm support operation safety indication method is realized when the processor executes the program. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The application also provides a computer program product, which is suitable for executing the method for initializing the boom operation safety indication when being executed on the data processing equipment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may 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, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may 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, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (17)
1. An arm support operation safety indicating system is characterized by comprising:
the safety monitoring module is used for monitoring the tipping parameters of the engineering machinery equipped with the arm support;
the control module is used for determining the rollover risk according to the rollover parameters and generating an indicator light control instruction;
and the indicator light module is arranged at the position of the conveying hose for arm support material distribution and is used for responding to the indicator light control instruction to prompt the tipping risk.
2. The boom operation safety indication system of claim 1, wherein the indicator light module comprises:
the fastening piece is arranged at the position of the conveying hose of the arm support cloth and used for fixing the lamplight bracket;
the light bracket is arranged on the fastener and used for installing indicating light equipment;
and the indicating light equipment is arranged on the light bracket and used for prompting the tipping risk.
3. The boom operation safety indication system of claim 2, wherein the indicator light module further comprises:
and the orientation structure is positioned on the fastener and/or the conveying hose and used for indicating the corresponding relation between the fastener and the conveying hose on the annular installation position so as to determine the installation direction of the light bracket.
4. The boom operation safety indication system of claim 2, wherein the indicator light device comprises: an indicator light and/or a projection light.
5. The boom operation safety indication system of claim 2, wherein at least one indicator light is mounted in at least one direction of the light fixture.
6. The boom operation safety indicating system of claim 5, wherein one indicator light device is respectively installed in each of the left direction, the right direction and the forward direction of the light bracket, wherein the forward direction is a horizontal projection direction from the center of a boom turntable to a vector at the tail end of the boom;
or the left direction and the right direction of the light bracket are respectively provided with an indicating light device.
7. The boom operation safety indication system of claim 1, wherein the safety monitoring module comprises: and the rotation angle detection sensor is used for detecting the rotation angle of the arm support, wherein the tipping parameter comprises the rotation angle.
8. A boom operation safety indication method is characterized by comprising the following steps:
acquiring tipping parameters of the engineering machinery equipped with the arm support;
determining a rollover risk of the work machine based on the rollover parameter;
and generating an indicator light control instruction according to the tipping risk so as to control the indicator light equipment.
9. The boom operation safety indication method of claim 8, wherein the determining a rollover risk of the work machine based on the rollover parameter comprises:
determining the tipping risk of the engineering machinery when the arm support moves to different directions according to the tipping parameters;
correspondingly, the generating of the indicator light control command according to the rollover risk for controlling the indicator light equipment comprises:
and generating an indicator light control instruction according to the tipping risk under the condition that the tipping risk corresponding to the movement in a certain direction exists, and controlling the indicator light equipment in the direction to send out an early warning signal.
10. The boom operation safety indication method according to claim 8, wherein the obtaining of a tipping parameter of a construction machine equipped with the boom and the determining of a tipping risk of the construction machine based on the tipping parameter comprise:
acquiring the current gravity center position and the supporting boundary of the engineering machinery;
determining new gravity center positions corresponding to the three directions of movement of the arm support, namely anticlockwise rotation, clockwise rotation and outward expansion respectively according to a safety gravity center deviation threshold value at the current gravity center position;
determining that a rollover risk exists in a direction corresponding to the new center of gravity position if the new center of gravity position exceeds the support boundary; determining that the new center of gravity position corresponds to a direction without risk of tipping in the event that the new center of gravity position does not exceed the support boundary.
11. The boom operation safety indication method according to claim 8, wherein the obtaining of a tipping parameter of a construction machine equipped with the boom and the determining of a tipping risk of the construction machine based on the tipping parameter comprise:
acquiring a current rotation angle, a lower rotation angle limit and an upper rotation angle limit of the arm support;
determining new rotation angles corresponding to the movement of the arm support at the current rotation angle in the counterclockwise rotation direction and the clockwise rotation direction respectively according to the safety angle deviation threshold value by taking the clockwise direction as the increment direction;
determining that the moving direction corresponding to the new rotation angle has a tipping risk under the condition that the new rotation angle is lower than the lower limit of the rotation angle or higher than the upper limit of the rotation angle; and under the condition that the new rotation angle is not lower than the lower limit of the rotation angle and not higher than the upper limit of the rotation angle, determining that the movement direction corresponding to the new rotation angle has no tipping risk.
12. The boom operation safety indication method according to claim 8, wherein different forms of the early warning signal prompt different safety indication information.
13. The boom operation safety indication method according to claim 12, wherein the indication light device comprises: an indicator light and/or a projection light.
14. The boom operation safety indication method according to claim 13, wherein the indication light control command comprises at least one of:
the indicating lamp is normally on in a first color to prompt that the direction corresponding to the indicating lamp has a first-class rollover risk level, and the indicating lamp flashes in the first color to prompt that the direction corresponding to the indicating lamp has a second-class rollover risk level;
the indicating lamp is normally on in a first color to prompt that the direction corresponding to the indicating lamp has a rollover risk and is limited to move, the manipulator controls the arm support to move towards the direction and cannot be responded by equipment, the indicating lamp is normally on in a third color to prompt that the direction corresponding to the indicating lamp is safe, and the manipulator controls the arm support to move towards the direction and can be responded by the equipment;
two indicating lamps in a certain direction are normally on in a first color to prompt that the corresponding directions of the two indicating lamps have the first-class rollover risk level, and only one indicating lamp in a certain direction is normally on in the first color to prompt that the corresponding direction of the indicating lamp has the second-class rollover risk level;
the projection lamp is normally on in a first color to prompt that the direction corresponding to the linear projection boundary projected by the projection lamp has a first rollover risk level, and the projection lamp is normally on in a second color to prompt that the direction corresponding to the linear projection boundary transmitted by the projection lamp has a second rollover risk level.
15. A working machine, characterized in that the working machine comprises a boom operation safety indication system according to any of claims 1-7.
16. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the boom operation safety indication method of any of claims 8-14.
17. A processor configured to execute a program, wherein the program is configured to execute the boom operation safety indication method according to any one of claims 8 to 14.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010817988.6A CN111986448A (en) | 2020-08-14 | 2020-08-14 | Arm support operation safety indication system, method, storage medium and processor |
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| CN202010817988.6A CN111986448A (en) | 2020-08-14 | 2020-08-14 | Arm support operation safety indication system, method, storage medium and processor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113548588A (en) * | 2021-08-09 | 2021-10-26 | 浙江三一装备有限公司 | Rollover risk prediction method, device and system |
| CN114044452A (en) * | 2021-10-27 | 2022-02-15 | 浙江三一装备有限公司 | Work machine work control method and device and work machine |
| CN114460976A (en) * | 2021-12-29 | 2022-05-10 | 湖南中联重科应急装备有限公司 | Control method and device for arm support, storage medium, processor and arm support |
-
2020
- 2020-08-14 CN CN202010817988.6A patent/CN111986448A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113548588A (en) * | 2021-08-09 | 2021-10-26 | 浙江三一装备有限公司 | Rollover risk prediction method, device and system |
| CN114044452A (en) * | 2021-10-27 | 2022-02-15 | 浙江三一装备有限公司 | Work machine work control method and device and work machine |
| CN114044452B (en) * | 2021-10-27 | 2023-06-23 | 浙江三一装备有限公司 | Work machine work control method and device and work machine |
| CN114460976A (en) * | 2021-12-29 | 2022-05-10 | 湖南中联重科应急装备有限公司 | Control method and device for arm support, storage medium, processor and arm support |
| CN114460976B (en) * | 2021-12-29 | 2024-05-14 | 湖南中联重科应急装备有限公司 | Control method and device for arm support, storage medium, processor and arm support |
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