CN112837482A - Electronic enclosure system for excavator, control method and electronic equipment - Google Patents
Electronic enclosure system for excavator, control method and electronic equipment Download PDFInfo
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- CN112837482A CN112837482A CN202110011920.3A CN202110011920A CN112837482A CN 112837482 A CN112837482 A CN 112837482A CN 202110011920 A CN202110011920 A CN 202110011920A CN 112837482 A CN112837482 A CN 112837482A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/02—Mechanical actuation
- G08B13/12—Mechanical actuation by the breaking or disturbance of stretched cords or wires
- G08B13/122—Mechanical actuation by the breaking or disturbance of stretched cords or wires for a perimeter fence
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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Abstract
The invention provides an electronic fence system for an excavator, a control method and electronic equipment, which relate to the technical field of excavator control and comprise the following steps: the system comprises a first laser radar, a second laser radar and a plurality of angle sensors which are arranged in an excavator working device, and further comprises a controller, a buzzer and a display which are arranged in a cockpit; the first laser radar and the second laser radar are located on two sides of the mechanical arm and used for collecting point cloud data on two sides of the excavator; the angle sensors are respectively arranged in the bucket and the mechanical arm; the electronic fence range of the excavator working device is determined through the first laser radar and the second laser radar which are arranged in the excavator working device, and whether the excavator working device meets the alarm requirement is judged through the position of the excavator working device determined by the angle sensors, so that the electronic fence is actively set, and the problems of complex parameter setting and single use scene existing in the existing excavator electronic fence system are solved.
Description
Technical Field
The invention relates to the technical field of excavator control, in particular to an electronic fence system for an excavator, a control method and electronic equipment.
Background
The excavator electronic enclosing wall system in the prior art mainly calculates the distance relation of a working device relative to a vehicle body through an angle sensor arranged on the working device, an excavator operator manually sets distance parameters of an electronic enclosing wall according to obstacles in an actual working scene, and when the distance of the working device is close to the preset distance of the operator, the electronic enclosing wall system gives an alarm and limits the stroke.
The traditional excavator electronic enclosure system based on position calculation has the following defects: the distance of the target object needs to be manually measured and the distance parameter needs to be set, and the distance parameter loses the effect after the excavator moves; the use scene is mainly on plane objects such as ceilings and walls parallel to the vehicle body, and the use scene is single.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an electronic fence system, a control method, and an electronic device for an excavator, where the first laser radar and the second laser radar that are arranged in an excavator working device determine an electronic fence range of the excavator working device, and the position of the excavator working device determined by a plurality of angle sensors is used to determine whether the excavator working device meets an alarm requirement, so that the electronic fence system realizes active setting of electronic fences in different environments around the excavator working device, and solves the problems of complex parameter setting and single use scenario existing in the existing excavator electronic fence system.
In a first aspect, an embodiment of the present invention provides an electronic fence system for an excavator, including: first laser radar, second laser radar and a plurality of angle sensor of setting in excavator equipment still include: the controller, the buzzer and the display are arranged in the cab of the excavator; the first laser radar, the second laser radar, the angle sensor, the buzzer and the display are all connected with the controller;
the first laser radar and the second laser radar are positioned on two sides of a mechanical arm in the excavator working device; the first laser radar and the second laser radar are used for collecting point cloud data on two sides of the excavator;
the angle sensors are respectively arranged in a bucket and a mechanical arm in the excavator working device; the angle sensor is used for acquiring position data of the bucket and the mechanical arm;
the controller is used for determining the electronic enclosure range of the excavator working device according to the point cloud data, and judging the position relation between the excavator working device and the electronic enclosure in real time according to the position of the excavator working device determined by the position data;
the buzzer is used for carrying out buzzing alarm when the position relation between the excavator working device and the electronic enclosing wall meets the alarm condition;
the display is used for displaying the position relation between the excavator working device and the electronic enclosing wall in real time.
In some embodiments, the first laser radar, the second laser radar, the angle sensor, the buzzer and the display are connected with the controller through a CAN bus;
and point cloud data collected by the first laser radar and the second laser radar on the two sides of the excavator is transmitted to the controller through a UDP protocol.
In some embodiments, at least 1 angle sensor is provided in the arm, the boom, and the bucket of the arm of the excavator.
In some embodiments, the first and second laser radars are respectively disposed in a boom and/or an arm of a robot arm of the excavator.
In some embodiments, the display is also used for displaying the position state of the excavator working device.
In some embodiments, the controller includes: the system comprises a working device position determining module, a workable area determining module and an electronic fence control module;
the input end of the working device position determining module is respectively connected with a bucket rod angle sensor and a movable arm angle sensor which are arranged in a mechanical arm of the excavator and a bucket angle sensor which is arranged in a bucket of the excavator;
the input end of the working area determining module is respectively connected with a movable arm angle sensor, a first laser radar and a second laser radar which are arranged in a movable arm in a mechanical arm of the excavator;
the output end of the working device position determining module and the output end of the workable area determining module are respectively connected with the input end of the electronic enclosure control module; the output end of the electronic enclosing wall control module is respectively connected with the buzzer and the display;
the working device position determining module is used for determining the position data of the excavator working device according to the angle data obtained by the bucket rod angle sensor, the movable arm angle sensor and the bucket angle sensor;
the working area determining module is used for determining the working area of the excavator working device according to the angle data of the movable arm angle sensor and the point cloud data of the first laser radar and the second laser radar;
and the electronic enclosure control module is used for judging whether the area corresponding to the position data of the excavator working device exceeds the working area in real time.
In a second aspect, an embodiment of the present invention provides an electronic enclosure control method for an excavator, where the method is applied to the electronic enclosure system for an excavator in any possible implementation manner of the first aspect, and the method includes:
determining position data of an excavator working device according to angle data obtained by a bucket rod angle sensor, a movable arm angle sensor and a bucket angle sensor of an electronic enclosing wall system of the excavator;
determining a workable area of an excavator working device according to point cloud data of a first laser radar and a second laser radar of an electronic enclosing system of an excavator and angle data of a movable arm angle sensor;
judging whether an area corresponding to the position data of the excavator working device exceeds a working area in real time; and if so, a buzzer of the electronic wall system for the excavator alarms.
In some embodiments, the above method further comprises:
the positional relationship between the excavator work device and the electronic enclosure is displayed by a display of an electronic enclosure system for the excavator.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: a processor and a memory; the memory has stored thereon a computer program which, when executed by the processor, implements the steps of the electrical enclosure control method for an excavator as set forth in any of the possible embodiments of the second aspect above.
In a fourth aspect, the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, where the computer program, when executed by a processor, implements the steps of the method for controlling an electronic enclosure for an excavator, where the steps are mentioned in any possible implementation manner of the second aspect.
The embodiment of the invention has the following beneficial effects:
the invention provides an electronic fence system for an excavator, a control method and electronic equipment, wherein the electronic fence system comprises the following components: first laser radar, second laser radar and a plurality of angle sensor of setting in excavator equipment still include: the controller, the buzzer and the display are arranged in the cab of the excavator; the first laser radar, the second laser radar, the angle sensor, the buzzer and the display are all connected with the controller; the first laser radar and the second laser radar are positioned on two sides of a mechanical arm in the excavator working device; the first laser radar and the second laser radar are used for collecting point cloud data on two sides of the excavator; the angle sensors are respectively arranged in a bucket and a mechanical arm in the excavator working device; the angle sensor is used for acquiring position data of the bucket and the mechanical arm; the controller is used for determining the electronic enclosure range of the excavator working device according to the point cloud data, and judging the position relation between the excavator working device and the electronic enclosure in real time according to the position of the excavator working device determined by the position data; the buzzer is used for carrying out buzzing alarm when the position relation between the excavator working device and the electronic enclosing wall meets the alarm condition; the display is used for displaying the position relation between the excavator working device and the electronic enclosing wall in real time. The electronic fence range of the excavator working device is determined through the first laser radar and the second laser radar which are arranged in the excavator working device, and whether the excavator working device meets the alarm requirement is judged through the position of the excavator working device determined by the angle sensors, so that the electronic fence under different environments around the excavator working device is actively set, and the problems of complex parameter setting and single use scene existing in the existing excavator electronic fence system are solved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention as set forth above.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an electronic fence system for an excavator according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another electronic fence system for an excavator according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a controller of an electrical enclosure system for an excavator according to an embodiment of the present invention;
fig. 4 is a flowchart of an electronic fence control method for an excavator according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon:
10-a first lidar; 20-a second lidar; 30-an angle sensor; 31-bucket angle sensor; 32-stick angle sensor; 33-boom angle sensor; 40-a controller; 41-a work device position determination module; 42-a workable region determination module; 43-electronic fence control module; 50-a buzzer; 60-a display; 501, a processor; 502-a memory; 503-bus; 504-communication interface.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The excavator electronic enclosing wall system in the prior art mainly calculates the distance relation of a working device relative to a vehicle body through an angle sensor arranged on the working device, an excavator operator manually sets distance parameters of an electronic enclosing wall according to obstacles in an actual working scene, and when the distance of the working device is close to the preset distance of the operator, the electronic enclosing wall system gives an alarm and limits the stroke.
The traditional excavator electronic enclosure system based on position calculation has the following defects: the distance of the target object needs to be manually measured and the distance parameter needs to be set, and the distance parameter loses the effect after the excavator moves; the use scene is mainly on plane objects such as ceilings and walls parallel to the vehicle body, and the use scene is single.
Based on the above, the embodiment of the invention provides an electronic fence system for an excavator, a control method and electronic equipment, wherein the range of the electronic fence of an excavator working device is determined by a first laser radar and a second laser radar which are arranged in the excavator working device, and whether the excavator working device meets the alarm requirement is judged by the position of the excavator working device determined by a plurality of angle sensors, so that the electronic fence system realizes the active setting of the electronic fence under different environments around the excavator working device, and solves the problems of complex parameter setting and single use scene in the existing excavator electronic fence system.
For the convenience of understanding the present embodiment, the electronic fence system for excavator disclosed in the present embodiment will be described in detail first.
Referring to fig. 1, a schematic structural diagram of an electronic fence system for an excavator includes:
the first laser radar 10, the second laser radar 20, and the plurality of angle sensors 30 provided in the excavator work apparatus further include: a controller 40, a buzzer 50, and a display 60 provided in the cab of the excavator. The first laser radar 10, the second laser radar 20, the angle sensor 30, the buzzer 50 and the display 60 are all connected to the controller 40. Since the first laser radar 10, the second laser radar 20 and the angle sensor 30 are disposed outside the cockpit, connection with the controller 40 can be achieved through a connection line between the excavator working device and the cockpit. And the buzzer 50 and the display 60 are in the cockpit with the controller 40, so that the connections between them can be made directly by wiring.
The first laser radar 10 and the second laser radar 20 are positioned at two sides of a mechanical arm in the excavator working device; the first laser radar 10 and the second laser radar 20 are used for collecting point cloud data on two sides of the excavator.
The first laser radar 10 and the second laser radar 20 can construct a three-dimensional point cloud image of a scene around the excavator working device by transmitting and receiving laser beams. The three-dimensional cloud point map is used for representing the surrounding scene of the excavator working device, has the characteristics of high precision, high density, large range and the like, and the result is quantized by three-dimensional coordinates. By processing the point cloud picture, the envelope surface of the surrounding scene obstacle can be obtained. The first laser radar 10 and the second laser radar 20 are arranged on two sides of the mechanical arm of the excavator, so that a point cloud picture of a scene around the excavator working device can be detected, and a region range in which the working device can normally work can be obtained.
The angle sensors 30 are provided in the bucket and the arm in the excavator working device, respectively; the angle sensor 30 is used to acquire position data of the bucket and the robot arm. Since the types of excavators are different and the structures of the related robot arms are also different, the angle sensor 30 needs to be set in combination with the composition of the robot arm in the setting process, and usually, a plurality of angle sensors 30 need to be provided to better acquire position data of the robot arm.
The controller 40 is used for determining the electronic enclosure range of the excavator working device according to the point cloud data, and judging the position relation between the excavator working device and the electronic enclosure in real time according to the position of the excavator working device determined by the position data. Specifically, the first laser radar 10 and the second laser radar 20 which are installed on two sides of the mechanical arm scan surrounding scenes of the excavator working device in real time, point cloud data of the surrounding scenes are sent to the controller 40, the controller 40 processes the point cloud data to obtain working areas of the excavator working device, and boundaries of the working areas are electronic enclosing walls.
The buzzer 50 is used for carrying out buzzing alarm when the position relation between the excavator working device and the electronic enclosing wall meets the alarm condition;
the display 60 is used to display the positional relationship between the excavator work apparatus and the electronic enclosure in real time.
The controller 40 judges whether the actual position of the excavator working device is out of the workable region range, and the buzzer 50 alarms when the working device is out of the workable region range. The determination is performed in real time, and the display 60 can display the positional relationship between the excavator work device and the electronic enclosure in real time so as to provide a reference for the operator.
According to the electronic enclosing wall system for the excavator, provided in the embodiment, the electronic enclosing wall range of the excavator working device is determined by the first laser radar and the second laser radar which are arranged in the excavator working device, and whether the excavator working device meets the alarm requirement is judged by the position of the excavator working device determined by the angle sensors, so that the electronic enclosing walls around the excavator working device in different environments are actively arranged, and the problems of complex parameter setting and single use scene existing in the existing excavator electronic enclosing wall system are solved.
Referring to fig. 2, another electronic fence system for an excavator is shown, in which at least 1 angle sensor is disposed in a boom, and a bucket of the excavator. As shown in fig. 2, the angle sensors at least include 3 sensors, which are respectively: a bucket angle sensor 31, an arm angle sensor 32, and a boom angle sensor 33.
The first laser radar 10, the second laser radar 20, the bucket angle sensor 31, the arm angle sensor 32, the boom angle sensor 33, the buzzer 50, and the display 60 are connected to the controller 40 through a CAN bus; the point cloud data collected by the first laser radar 10 and the second laser radar 20 on the two sides of the excavator is transmitted to the controller 40 through a UDP protocol.
In some embodiments, the first laser radar 10 and the second laser radar 20 are respectively provided in an arm and/or a boom of a robot arm of an excavator. For example, both the first laser radar 10 and the second laser radar 20 may be disposed in the boom according to actual circumstances; both the first lidar 10 and the second lidar 20 may also be arranged in the stick; the first laser radar 10 can be arranged on the arm, and the second laser radar 20 can be arranged on the movable arm; the first lidar 10 may be disposed in a boom and the second lidar 20 may be disposed in an arm.
In some embodiments, the controller 40 is divided into different areas to control different functions of the electronic fence system of the excavator, and specifically, as shown in fig. 3, the controller 40 includes: a working device position determination module 41, a workable area determination module 42, and an electronic fence control module 43;
the input end of the work device position determination module 41 is connected to an arm angle sensor 32 and a boom angle sensor 33 provided in a robot arm of the excavator and a bucket angle sensor 31 provided in a bucket of the excavator, respectively;
the input end of the workable region determining module 42 is respectively connected with a boom angle sensor 33, a first laser radar 10 and a second laser radar 20 arranged in a boom of a mechanical arm of the excavator;
the output end of the working device position determining module 41 and the output end of the workable region determining module 42 are respectively connected with the input end of the electronic fence control module 43; the output end of the electronic fence control module 43 is respectively connected with the buzzer 50 and the display 60;
a work device position determining module 41 for determining position data of the excavator work device based on angle data obtained by the arm angle sensor 32, the boom angle sensor 33, and the bucket angle sensor 31;
a workable region determining module 42, configured to determine a workable region of the excavator work device according to the angle data of the boom angle sensor 33 and the point cloud data of the first laser radar 10 and the second laser radar 20;
and the electronic enclosure control module 43 is configured to determine whether an area corresponding to the position data of the excavator work device exceeds a workable area in real time.
In some embodiments, the display 60 is also used to display the position status of the excavator work implement. The display 60 provides the position reference of the excavator work device for the manipulator by displaying the position relationship between the excavator work device and the electronic enclosure in real time.
According to the electronic enclosing wall system for the excavator, provided in the embodiment, the electronic enclosing wall range of the excavator working device is determined by the first laser radar and the second laser radar which are arranged in the excavator working device, and whether the excavator working device meets the alarm requirement is judged by the position of the excavator working device determined by the angle sensors, so that the electronic enclosing walls around the excavator working device in different environments are actively arranged, and the problems of complex parameter setting and single use scene existing in the existing excavator electronic enclosing wall system are solved.
An embodiment of the present invention provides an electronic fence control method for an excavator, where the method is applied to the electronic fence system for an excavator mentioned in the above embodiment, and a flowchart of the method is shown in fig. 4, where the method includes:
step S401 is to determine position data of the excavator work apparatus based on angle data obtained by the arm angle sensor, the boom angle sensor, and the bucket angle sensor of the electronic fence system for the excavator.
The position data includes data such as attitude, coordinates, and angle to a reference frame of each component of the excavator work implement, which represents the current position of the excavator work implement. The data are obtained by converting angle data collected by a stick angle sensor, a boom angle sensor and a bucket angle sensor through a controller.
Step S402, determining a workable area of the excavator working device according to point cloud data of the first laser radar and the second laser radar of the electronic enclosing wall system of the excavator and angle data of the movable arm angle sensor.
The first laser radar and the second laser radar construct a three-dimensional point cloud picture of a scene around the excavator working device by sending and receiving laser beams. The three-dimensional cloud point map is used for representing the surrounding scene of the excavator working device, has the characteristics of high precision, high density, large range and the like, and the result is quantized by three-dimensional coordinates. By processing the point cloud picture, the envelope surface of the surrounding scene obstacle can be obtained. By arranging the first laser radar 10 and the second laser radar 20 on two sides of the mechanical arm of the excavator, a point cloud picture of a scene around the excavator working device can be detected, and a working area of the excavator working device can be obtained.
Step S403, judging whether the area corresponding to the position data of the excavator working device exceeds the workable area in real time; and if so, a buzzer of the electronic wall system for the excavator alarms.
The controller determines whether the working device of the excavator exceeds the electronic fence or not by acquiring a judgment result of whether the area corresponding to the position data of the working device of the excavator exceeds the workable area or not. If yes, an alarm sound is sent out through the buzzer to remind an operator, and the stroke of the excavator working device is limited.
In some embodiments, the above method further comprises:
the positional relationship between the excavator work device and the electronic enclosure is displayed by a display of an electronic enclosure system for the excavator.
The position relation between the excavator working device and the electronic enclosing wall is displayed in real time through the displayer, so that an operator can be guided to better master the position of the current excavator working device, the operator can conveniently control the excavator working device in advance, and the condition that the excavator working device exceeds the electronic enclosing wall is reduced as far as possible.
The electronic enclosure system for the excavator provided by the embodiment of the method of the invention has the same technical characteristics as the electronic enclosure system for the excavator provided by the embodiment of the system, so that the same technical problems can be solved, and the same technical effects can be achieved. For the sake of a brief description, reference is made to the corresponding contents in the foregoing system embodiments, where this method embodiment is not mentioned in part.
According to the method for controlling the electronic enclosing wall of the excavator, the range of the electronic enclosing wall of the excavator working device can be determined through the first laser radar and the second laser radar which are arranged in the excavator working device, and whether the excavator working device meets the alarm requirement or not is judged through the position of the excavator working device determined by the angle sensors, so that the electronic enclosing wall around the excavator working device in different environments can be actively set, and the problems that the parameter setting is complex and the use scene is single in the existing excavator electronic enclosing wall system are solved.
The embodiment also provides an electronic device, which is shown in fig. 5 as a schematic structural diagram, and includes a processor 501 and a memory 502; the memory 502 is used for storing one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the above-mentioned electronic fence control method for the excavator.
The electronic device shown in fig. 5 further comprises a bus 503 and a communication interface 504, and the processor 501, the communication interface 504 and the memory 502 are connected by the bus 503.
The Memory 502 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Bus 503 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 5, but this does not indicate only one bus or one type of bus.
The communication interface 504 is used for connecting with at least one user terminal and other network units through a network interface, and sending the packaged IPv4 message or IPv4 message to the user terminal through the network interface.
The processor 501 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 501. The Processor 501 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present disclosure may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present disclosure may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502 and completes the steps of the method of the foregoing embodiment in combination with the hardware thereof.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method of the foregoing embodiments.
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 invention 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 invention or a part thereof, which essentially contributes to the prior art, can 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 invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention 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 of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An electronic fence system for an excavator, comprising: first laser radar, second laser radar and a plurality of angle sensor of setting in excavator equipment still include: the controller, the buzzer and the display are arranged in the cab of the excavator; the first laser radar, the second laser radar, the angle sensor, the buzzer and the display are all connected with the controller;
the first laser radar and the second laser radar are positioned on two sides of a mechanical arm in the excavator working device; the first laser radar and the second laser radar are used for collecting point cloud data on two sides of the excavator;
the angle sensors are respectively arranged in a bucket and a mechanical arm in the excavator working device; the angle sensor is used for acquiring position data of the bucket and the mechanical arm;
the controller is used for determining the electronic enclosure range of the excavator working device according to the point cloud data, and judging the position relation between the excavator working device and the electronic enclosure in real time according to the position of the excavator working device determined by the position data;
the buzzer is used for carrying out buzzing alarm when the position relation between the excavator working device and the electronic enclosing wall meets the alarm condition;
the display is used for displaying the position relation between the excavator working device and the electronic enclosing wall in real time.
2. The electronic fence system for excavators of claim 1, wherein the first lidar, the second lidar, the angle sensor, the buzzer, and the display are connected to the controller via a CAN bus;
and point cloud data collected by the first laser radar and the second laser radar on the two sides of the excavator is transmitted to the controller through a UDP protocol.
3. The electronic fence system for excavators of claim 1, wherein at least 1 angle sensor is provided in a stick, a boom, and a bucket of the excavator in the arm of the excavator.
4. The electronic fence system for excavators of claim 1, wherein the first lidar and the second lidar are respectively disposed in a boom and/or a boom in a robotic arm of the excavator.
5. The electronic fence system for excavators of claim 1, wherein the display is further configured to display a position status of the excavator work implement.
6. The electronic fence system for excavators of claim 1, wherein the controller comprises: the system comprises a working device position determining module, a workable area determining module and an electronic fence control module;
the input end of the working device position determining module is respectively connected with a bucket rod angle sensor and a movable arm angle sensor which are arranged in a mechanical arm of the excavator and a bucket angle sensor which is arranged in a bucket of the excavator;
the input end of the working area determining module is respectively connected with a movable arm angle sensor, the first laser radar and the second laser radar which are arranged in a movable arm in a mechanical arm of the excavator;
the output end of the working device position determining module and the output end of the workable area determining module are respectively connected with the input end of the electronic fence control module; the output end of the electronic enclosing wall control module is respectively connected with the buzzer and the display;
the working device position determining module is used for determining the position data of the excavator working device according to the angle data obtained by the bucket rod angle sensor, the movable arm angle sensor and the bucket angle sensor;
the workable area determining module is used for determining the workable area of the excavator working device according to the angle data of the movable arm angle sensor and the point cloud data of the first laser radar and the second laser radar;
and the electronic enclosure control module is used for judging whether the area corresponding to the position data of the excavator working device exceeds the working area in real time.
7. An electronic fence control method for an excavator, which is applied to the electronic fence system for the excavator of any one of claims 1 to 6, comprising:
determining position data of the excavator working device according to angle data obtained by the bucket rod angle sensor, the movable arm angle sensor and the bucket angle sensor of the electronic enclosing wall system for the excavator;
determining a workable area of the excavator working device according to the point cloud data of the first laser radar and the second laser radar of the electronic enclosing system for the excavator and the angle data of the movable arm angle sensor;
judging whether an area corresponding to the position data of the excavator working device exceeds the working area in real time; and if so, the buzzer of the electronic wall system for the excavator alarms.
8. The electrical enclosure control method for excavators of claim 7, wherein the method further comprises:
and displaying the position relation between the excavator working device and the electronic enclosure by using the display of the electronic enclosure system for the excavator.
9. An electronic device, comprising: a processor and a storage device; the storage device has stored thereon a computer program which, when executed by the processor, performs the steps of the electrical enclosure control method for an excavator of any one of claims 7 to 8.
10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to perform the steps of the electrical enclosure control method for an excavator according to any one of claims 7 to 8.
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| CN202110011920.3A CN112837482A (en) | 2021-01-06 | 2021-01-06 | Electronic enclosure system for excavator, control method and electronic equipment |
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