CN112942481B - Excavator, anti-tipping control method and device thereof and storage medium - Google Patents
Excavator, anti-tipping control method and device thereof and storage medium Download PDFInfo
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- CN112942481B CN112942481B CN202110472414.4A CN202110472414A CN112942481B CN 112942481 B CN112942481 B CN 112942481B CN 202110472414 A CN202110472414 A CN 202110472414A CN 112942481 B CN112942481 B CN 112942481B
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2257—Vehicle levelling or suspension systems
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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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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Abstract
The invention discloses an excavator, an anti-tipping control method and device thereof and a storage medium, wherein the anti-tipping control method of the excavator comprises the following steps: acquiring the current gravity center position of the excavator; judging whether the current gravity center position exceeds a preset gravity center range or not; and when the current gravity center position exceeds the gravity center range, performing anti-tipping treatment on the excavator. Because the gravity center can more accurately reflect whether the excavator rolls over or not relative to the inclination angle, the overturn prevention of the excavator can be more accurately controlled.
Description
Technical Field
The invention relates to the technical field of control of mechanical equipment, in particular to an excavator, an anti-tipping control method and device thereof and a storage medium.
Background
At present, an angle sensor is directly installed on a vehicle body platform, acquires the inclination angle of a vehicle body, compares the inclination angle with a set anti-tipping angle value, and sends alarm information to an operator to remind the operator to pay attention. However, at present, when the excavator is in some working conditions (for example, more complicated working conditions), the anti-rollover alarm is only performed by using the method, and the alarm cannot be performed on all impending rollovers, that is, the excavator and operators are in danger by using the existing anti-rollover alarm, so that property loss and personal damage are caused, and the risk of excavation operation is increased.
Disclosure of Invention
In view of this, embodiments of the present invention provide an excavator, an anti-tipping control method and apparatus thereof, and a storage medium, so as to solve the problem that the existing anti-tipping control method fails to provide an alarm under some working conditions.
According to a first aspect, an embodiment of the present invention provides an excavator anti-tipping control method, including:
acquiring the current gravity center position of the excavator;
judging whether the current gravity center position exceeds a preset gravity center range or not;
and when the current gravity center position exceeds the gravity center range, performing anti-tipping treatment on the excavator.
According to the anti-tipping control method for the excavator, the current gravity center position of the excavator is obtained; judging whether the current gravity center position exceeds a preset gravity center range or not; and when the current gravity center position exceeds the gravity center range, performing anti-tipping treatment on the excavator. The gravity center can more accurately reflect whether the excavator is tipped or not relative to the inclination angle, so that the tipping prevention of the excavator can be more accurately controlled.
With reference to the first aspect, in a first implementation manner of the first aspect, before determining whether the current barycentric location exceeds a preset barycentric range, the method further includes: determining current attitude information of the excavator; and determining the gravity center range and/or the current gravity center position according to the current attitude information of the excavator. That is, the gravity center range corresponds to the current posture, and different gravity center ranges can be set under different postures, so that the anti-tipping alarm of the excavator under various working conditions is more accurate.
With reference to the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the determining current attitude information of the excavator includes:
respectively acquiring first angle information of a vehicle body, second angle information of a movable arm, third angle information of an arm, fourth angle information of a bucket and fifth angle information of a slewing device in the excavator;
determining the current attitude information of the excavator according to the first angle information, the second angle information, the third angle information, the fourth angle information and the fifth angle information.
With reference to the first aspect, in a third embodiment of the first aspect, when the center of gravity position exceeds the center of gravity range, performing an anti-rollover treatment on the excavator includes:
acquiring a handle output curve of the excavator and/or a pedal output curve of the excavator;
determining the movement trend of the excavator according to the handle output curve and/or the pedal output curve;
determining an anti-tipping treatment measure of the excavator according to the movement trend, and performing anti-tipping treatment on the excavator by using the anti-tipping treatment measure.
With reference to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the determining the anti-rollover treatment measure of the excavator according to the motion trend comprises:
when the movement trend is that the gravity center position is adjusted to be within the gravity center range, sending a first prompt message;
when the movement trend is that the gravity center position is maintained to be out of the gravity center range and the gravity center position does not exceed a preset rollover threshold value, sending a second prompt message;
when the movement trend is that the gravity center position is maintained to be out of the gravity center range and exceeds a preset tipping threshold, judging whether the excavator is in a movement state, when the excavator is in the movement state, obtaining a deceleration signal according to the current posture, and controlling the movement of the excavator by using the deceleration signal.
With reference to the fourth implementation manner of the first aspect, in a fifth implementation manner of the first aspect, obtaining a deceleration signal according to the current posture includes:
determining a safe posture corresponding to the current posture;
calculating a difference between the current attitude and the safe attitude;
and determining the difference range of the difference value, and obtaining a deceleration signal by using the adjustment amount corresponding to the difference range.
With reference to the third embodiment of the first aspect, in a sixth embodiment of the first aspect, the excavator anti-rollover control method further includes: and determining and displaying the angle adjusting range of the slewing device, and/or the angle adjusting range of the movable arm, and/or the angle adjusting range of the bucket according to the difference value between the current posture and the safe posture.
According to a second aspect, an embodiment of the present invention further provides an excavator anti-tipping control device, including:
the acquisition module is used for acquiring the current gravity center position of the excavator;
the judging module is used for judging whether the current gravity center position exceeds a preset gravity center range or not;
and the processing module is used for performing anti-tipping processing on the excavator when the current gravity center position exceeds the gravity center range.
According to a third aspect, an embodiment of the present invention further provides an excavator, including:
the first angle sensor is arranged on the body of the excavator;
a second angle sensor provided on a boom of the excavator;
the third angle sensor is arranged on a bucket rod of the excavator;
a fourth angle sensor provided on a bucket of the excavator;
a fifth angle sensor provided on a swing device of the excavator;
the controller is configured to collect angle information of the first angle sensor, the second angle sensor, the third angle sensor, the fourth angle sensor, the fifth angle sensor, and the controller, and execute the computer instructions to execute the excavator rollover prevention control method according to the first aspect or any one of the embodiments of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the method for controlling excavator rollover according to the first aspect or any one of the embodiments of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are schematic and are not to be understood as limiting the invention in any way, and in which:
FIG. 1 is a schematic flow chart illustrating an anti-rollover control method for an excavator according to embodiment 1 of the present invention;
FIG. 2 is a schematic plan view of the excavator work apparatus;
FIG. 3 is a schematic view of a display screen showing the direction in which the excavator may be operated;
FIG. 4 is a schematic flowchart of an example of an anti-tipping control method for an excavator according to embodiment 1 of the present invention;
fig. 5 is a schematic structural view of an anti-tipping control device for an excavator in embodiment 2 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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.
Example 1
Research shows that when the excavator performs excavating operation on a slope, the gravity center of the excavator changes due to the change of the load during the operation of the excavator. In addition, the rotation inertia of the excavator is large, and the gravity center of the excavator is easy to change greatly. When the excavator is at the operation in-process, if the focus position changes, then the focus position is different, the excavator takes place the angle of tumbling also is different, consequently current anti-tilt alarm method (directly install angle sensor on automobile body platform, angle sensor gathers the inclination of automobile body, compare with the anti-tilt angle value of settlement, send alarm information to operating personnel) does not play the alarming action under some operation operating condition, still can make excavator and operating personnel fall into danger in the middle of, cause loss of property and personal damage, increase excavation operation risk.
Based on this, the embodiment 1 of the present invention provides an anti-tipping control method for an excavator. Fig. 1 is a schematic flow chart of an excavator anti-rollover control method in embodiment 1 of the present invention, and as shown in fig. 1, the excavator anti-rollover control method in embodiment 1 of the present invention includes the following steps:
s101: and acquiring the current gravity center position of the excavator.
In embodiment 1 of the present invention, the current gravity center position of the excavator may adopt any scheme in the prior art, and details are not described herein. For example, the current center of gravity position of the excavator is determined according to the current attitude information of the excavator.
S102: and judging whether the current gravity center position exceeds a preset gravity center range.
As a specific implementation manner, before determining whether the current barycentric position exceeds a preset barycentric range, the method further includes: determining current attitude information of the excavator; and determining the gravity center range and/or the current gravity center position according to the current attitude information of the excavator. In embodiment 1 of the present invention, any technical scheme in the prior art may be adopted to determine the current gravity center position and/or gravity center range of the excavator according to the current posture information of the excavator, and details are not repeated here.
In embodiment 1 of the present invention, the current attitude information may be understood as a relative position between the upper vehicle part and the lower vehicle part of the excavator, and may be understood as an angle value. For example, when the upper part of the excavator is perpendicular to the lower part of the excavator, the excavator is most prone to tipping.
As a specific implementation, the determining of the current attitude information of the excavator may adopt the following technical scheme: respectively acquiring first angle information of a vehicle body, second angle information of a movable arm, third angle information of an arm, fourth angle information of a bucket and fifth angle information of a slewing device in the excavator; determining the posture of the excavator according to the first angle information, the second angle information, the third angle information, the fourth angle information and the fifth angle information. Specifically, a first angle sensor CAN be mounted on a vehicle body of the excavator, a second angle sensor CAN be mounted on a movable arm, a third angle sensor CAN be mounted on a bucket rod, a fourth angle sensor CAN be mounted on a bucket, a fifth angle sensor CAN be mounted on a slewing device, and a controller collects the angle values transmitted by CAN lines of the first angle sensor, the second angle sensor, the third angle sensor, the fourth angle sensor and the fifth angle sensor, and calculates the current posture of the excavator by a dynamic method after filtering operation and information fusion.
Specifically, the corresponding relationship between the angle value and the attitude, such as the corresponding relationship between the angle value of the vehicle body, the angle value of the movable arm, the angle value of the bucket, the angle value of the slewing device and the attitude of the entire vehicle, can be determined through a large number of simulation and test works in the early period. Based on the above correspondence, in step S101, the current posture information of the excavator may be determined from the first angle information of the vehicle body, the second angle information of the boom, the third angle information of the arm, the fourth angle information of the bucket, and the fifth angle information of the swing device.
S103: and when the current gravity center position exceeds the gravity center range, performing anti-tipping treatment on the excavator.
As a specific embodiment, when the current center of gravity position exceeds the center of gravity range, the following technical solutions may be adopted for performing the anti-tipping process on the excavator: acquiring a handle output curve of the excavator input by an operator and a pedal output curve of the excavator; determining the movement trend of the excavator according to the handle output curve and the pedal output curve; determining the anti-tipping treatment measures of the excavator according to the movement trend, and performing anti-tipping treatment on the excavator by using the anti-tipping treatment measures.
According to the anti-tipping control method for the excavator, provided by the embodiment 1 of the invention, the current gravity center position of the excavator is obtained; judging whether the current gravity center position exceeds a preset gravity center range or not; and when the current gravity center position exceeds the gravity center range, performing anti-tipping treatment on the excavator. Because the gravity center can more accurately reflect whether the excavator rolls over or not relative to the inclination angle, the overturn prevention of the excavator can be more accurately controlled even under the condition of larger load or larger rotation inertia of the excavator.
Further, determining the anti-rollover treatment measure of the excavator according to the movement tendency may be classified into the following three cases.
The first case is: and when the movement trend is to adjust the gravity center position to be within the gravity center range, sending out a first prompt message. That is, when the tendency of movement progresses toward the rollover prevention direction (i.e., the good direction), only the prompt message needs to be issued. Illustratively, when the anti-rollover protection is on (when not on, the screen interface indicator lights are grey), if the first prompt message is generated, the indicator lights are green. The purpose is that the user is instructed to open the anti-rollover protection, and the situation different from the normal work of the excavator can occur, please pay attention to.
The second case is: and when the movement trend is to maintain the gravity center position outside the gravity center range and the gravity center position does not exceed a preset rollover threshold value, sending a second prompt message. That is, when the trend of motion is toward worsening but the rollover threshold is not exceeded, a prompt message needs to be sent to the attention of the operator. In the example, when the anti-rollover protection is started, if a second prompt message is generated, a yellow prompt is given to a screen indicator lamp, and meanwhile, an alarm lamp above the excavator cab is turned on through audible and visual alarm. The purpose is as follows: prompting the user that the excavator is about to tip over, attention being paid to operation!
In the embodiment 1 of the invention, the rollover threshold can be understood as the position of the gravity center of the excavator during the just rollover, wherein the rollover threshold corresponds to the postures of the excavator, namely, each posture of the excavator has a fixed rollover threshold. In inventive example 1, the maximum value of the range of the center of gravity is less than the rollover threshold.
The third case is: and when the movement trend is that the gravity center position is maintained to be out of the gravity center range and the gravity center position exceeds a preset tipping threshold value, judging whether the excavator is in a movement state, when the excavator is in the movement state, obtaining a rotation deceleration signal according to the current posture and a preset deceleration distance, and controlling the rotation of the excavator by using the rotation deceleration signal. That is, when the trend of motion is going to be worsened and the rollover threshold is exceeded, it is necessary to control the motion according to the deceleration signal, so that the motion impact can be greatly reduced, the stable stop of the excavator posture can be maintained, and the rollover of the excavator can be prevented.
Further, when the movement trend is that the gravity center position is maintained to be out of the gravity center range and the gravity center position exceeds a preset tipping threshold value, a third prompt message is sent when the excavator is not in a moving state. For example, the third prompting message can be the same as the second prompting message.
As a specific implementation manner, obtaining the deceleration signal according to the current posture and the preset deceleration distance includes: determining a safety gesture corresponding to the current gesture; calculating a difference between the current attitude and the safe attitude; and determining the difference range of the difference, and obtaining a deceleration signal by using the adjustment quantity corresponding to the difference range, so that different rotation speeds can be matched with a proper deceleration distance, and finally, the inertia impact of rotation and operation is overcome, and the rollover is prevented.
In embodiment 1 of the present invention, the safe attitude corresponding to the current attitude can be understood as the value of the angle at which the excavator just rolls over. The difference between the current attitude and the safe attitude may also be referred to as a deceleration distance or a braking angle or a deceleration angle difference.
As a specific embodiment, the movement state of the excavator comprises one or both of the following: the excavator ascends and descends, works on a slope, excavates, loads and rotates, and the like.
For example, when the movement state of the excavator is the swing state, one operation direction of the electric control handle is taken as an example. As shown in fig. 4, the difference between the current angle (i.e., the current posture) and the safety margin (i.e., the safety posture) is an abscissa, and the output value of the electric control handle is an ordinate. When the difference Delta theta is more than K 3 When the percentage is less than the preset threshold, the controller does not change the output value of the electric control handle; when K is 2 ％＜Δθ＜K 3 % time, the electric control handle signal is output in a descending way by a curve; when K is 1 ％＜Δθ＜K 2 % of the time, the electric control handle signal is decreased with a gentle slope, wherein the dead zoneThe value (the operation direction of the electric control handle) is the middle point of the ordinate; when K is 1 When the percent is more than delta theta and less than 0, the signal output value of the electric control handle is directly changed into 0. Therefore, the action impact can be reduced to a greater extent, the stable stop of the posture of the excavator is kept, and the excavator is prevented from tipping. Specifically, the dead zone value is designed according to a characteristic curve of the electric control handle. The handle slides in a single plane, and no signal is output at the middle position, so that the mistaken collision is prevented, and the sensitivity is reduced.
As a further embodiment, the excavator anti-rollover control method further includes the steps of: and determining and displaying the angle adjusting range of the slewing device, and/or the angle adjusting range of the movable arm, and/or the angle adjusting range of the bucket according to the difference value between the current posture and the safe posture.
As a further embodiment, the excavator anti-rollover control method of embodiment 1 of the present invention further includes the steps of: displaying the anti-rollover treatment measures. Specifically, fig. 3 is a schematic diagram showing the operational direction of the excavator on the display screen. Specifically, in the action process of the excavator, four states of the excavator overturn-preventing icon are displayed on the display screen by using four colors of grey, green, orange and red respectively. Grey indicates that the anti-tipping is not activated, green indicates that the tipping state of the excavator is normal, orange indicates a warning state, and red indicates a static state. When the stationary state is reached, the display screen shows the direction in which the rotation is possible. In the anti-tipping page, the two-dimensional profile of the excavator and the devices and directions that can be actuated are displayed. In fig. 3, an angle range a in which the swing device can be operated, an angle range b in which the boom can be operated, an angle range c in which the arm can be operated, and an angle range d in which the bucket can be operated can be obtained from a difference between the current posture and the safe posture. In embodiment 1 of the present invention, the excavator anti-rollover control method provides an alarm prompt (i.e., a first prompt message and a second prompt message) for anti-rollover classification in addition to the functions of prompting the anti-rollover turning direction, emergency stop, and the like. And displaying animation of the current posture of the excavator and graded alarm prompt information on a display screen of the excavator.
To describe the anti-rollover control method of the excavator according to embodiment 1 of the present invention in more detail, a specific example is given, and as shown in fig. 4, the anti-rollover control method of the excavator includes the following steps: in the specific example, under various postures and rotation speeds of the excavator, the sensor acquires posture information, and when the current gravity center position exceeds the gravity center range, different processing modes are adopted for the excavator to perform anti-tipping processing according to different movement trends.
As can be seen from the above, the excavator anti-rollover control method according to embodiment 1 of the present invention has the following advantages:
(1) The problem that the anti-tipping alarm angles of the excavator are set differently under various postures is solved;
(2) The excavator has different anti-tipping angles under different postures, the alarm angles of different postures (the upper vehicle is parallel to the crawler, and the upper vehicle is vertical to the crawler) are set differently, and the alarm prompt is carried out in advance under the condition of calculating the limit tipping.
(3) The change of the attitude and the gravity center of the excavator caused by rotation or other actions is increased, and the alarm is given out to prompt the tipping risk.
(4) Based on a grading alarm mechanism, the display screen displays the handle direction which can be operated by an excavator operator, and the risk of tipping caused by misoperation under the condition of approaching tipping is solved.
According to the anti-tipping control method provided by the embodiment 1 of the invention, when the excavator is likely to tip over due to the fact that the inertia of rotation or operation action is larger, manual operation is directly replaced by controlling the output of the electric control handle or pedal of the excavator. And simultaneously displaying the tipping information of the excavator and the operation prompt of the excavator.
Example 2
Corresponding to embodiment 1 of the present invention, embodiment 2 of the present invention provides an anti-tipping control device for an excavator. Fig. 5 is a schematic structural diagram of an excavator anti-rollover control device according to embodiment 2 of the present invention, and as shown in fig. 5, the excavator anti-rollover control device according to embodiment 2 of the present invention includes an obtaining module 20, a determining module 22, and a processing module 24.
Specifically, the obtaining module 20 is configured to obtain a current gravity center position of the excavator;
the judging module 22 is configured to judge whether the current center of gravity position exceeds a preset center of gravity range;
and the processing module 24 is used for performing anti-tipping processing on the excavator when the current gravity center position exceeds the gravity center range.
The details of the anti-tipping control device for an excavator can be understood by referring to the corresponding descriptions and effects of the embodiments shown in fig. 1 to 4, which are not described herein again.
Example 3
The embodiment of the invention also provides an excavator, which comprises a first angle sensor, a second angle sensor and a third angle sensor, wherein the first angle sensor is arranged on the body of the excavator; the second angle sensor is arranged on a movable arm of the excavator; the third angle sensor is arranged on the bucket rod of the excavator; a fourth angle sensor provided on a bucket of the excavator; a fifth angle sensor provided on a swing device of the excavator; the first angle sensor, the second angle sensor, the third angle sensor, the fourth angle sensor, the fifth angle sensor and the controller are in communication connection, wherein the controller comprises a memory and a processor.
The processor may be a Central Processing Unit (CPU). The Processor may also be other chips such as a general purpose controller, 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, a discrete hardware component, or a combination of the above chips.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the obtaining module 20, the judging module 22, and the processing module 24 shown in fig. 5) corresponding to the anti-rollover control method of the excavator in the embodiment of the present invention. The controller executes various functional applications and data processing of the controller by running non-transitory software programs, instructions and modules stored in the memory, so as to implement the anti-tipping control method of the excavator in the above method embodiment.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the controller, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the controller, and these remote memories may be connected to the controller via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory and, when executed by the controller, perform a rollover control method of the excavator in the embodiment shown in fig. 1-4.
The specific details of the excavator can be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 5, which are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk Drive (Hard Disk Drive, abbreviated as HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (8)
1. An excavator anti-rollover control method is characterized by comprising the following steps:
acquiring the current gravity center position of the excavator;
judging whether the current gravity center position exceeds a preset gravity center range or not;
when the current gravity center position exceeds the gravity center range, performing anti-tipping treatment on the excavator based on the movement trend of the excavator; the movement trend is determined according to a handle output curve and/or a pedal output curve;
when the current gravity center position exceeds the gravity center range, performing anti-tipping treatment on the excavator based on the movement trend of the excavator, specifically comprising the following steps:
acquiring a handle output curve of the excavator and/or a pedal output curve of the excavator;
determining the movement trend of the excavator according to the handle output curve and/or the pedal output curve;
determining an anti-tipping treatment measure of the excavator according to the movement trend, and performing anti-tipping treatment on the excavator by using the anti-tipping treatment measure;
determining an anti-rollover treatment measure for the excavator according to the movement trend comprises:
when the movement trend is that the gravity center position is adjusted to be within the gravity center range, sending a first prompt message;
when the movement trend is that the gravity center position is maintained to be out of the gravity center range and the gravity center position does not exceed a preset rollover threshold value, sending a second prompt message; the first prompt message and the second prompt message are both used for prompting a user that the excavator does not tip over but has a tipping risk, and the tipping risk corresponding to the second prompt message exceeds the tipping risk corresponding to the first prompt message; the rollover threshold value corresponds to the postures of the excavator, each posture of the excavator has a corresponding rollover threshold value, and the maximum value of the gravity center range is smaller than the rollover threshold value;
when the movement trend is that the gravity center position is maintained to be out of the gravity center range and exceeds a preset tipping threshold, judging whether the excavator is in a movement state, when the excavator is in the movement state, obtaining a deceleration signal according to the current posture, and controlling the movement of the excavator by using the deceleration signal.
2. The method of claim 1, further comprising, prior to determining whether the current center of gravity position exceeds a preset center of gravity range:
determining current attitude information of the excavator;
and determining the gravity center range and/or the current gravity center position according to the current attitude information of the excavator.
3. The method of claim 2, wherein the determining the current attitude information of the excavator comprises:
respectively acquiring first angle information of a vehicle body, second angle information of a movable arm, third angle information of an arm, fourth angle information of a bucket and fifth angle information of a slewing device in the excavator;
determining the current attitude information of the excavator according to the first angle information, the second angle information, the third angle information, the fourth angle information and the fifth angle information.
4. The method of claim 1, wherein deriving a deceleration signal based on the current attitude comprises:
determining a safe posture corresponding to the current posture;
calculating a difference between the current attitude and the safe attitude;
and determining the difference range of the difference value, and obtaining a deceleration signal by using the adjustment amount corresponding to the difference range.
5. The method of claim 4, further comprising:
and determining and displaying an angle adjusting range of the slewing device, and/or an angle adjusting range of a movable arm, and/or an angle adjusting range of an arm, and/or an angle adjusting range of a bucket according to the difference value between the current posture and the safe posture.
6. An excavator anti-rollover control device, characterized by comprising:
the acquisition module is used for acquiring the current gravity center position of the excavator;
the judging module is used for judging whether the current gravity center position exceeds a preset gravity center range or not;
the processing module is used for performing anti-tipping processing on the excavator based on the movement trend of the excavator when the current gravity center position exceeds the gravity center range; the movement trend is determined according to a handle output curve and/or a pedal output curve;
the processing module specifically comprises:
the first processing unit is used for acquiring a handle output curve of the excavator and/or a pedal output curve of the excavator;
the second processing unit is used for determining the movement trend of the excavator according to the handle output curve and/or the pedal output curve;
the third processing unit is used for determining anti-tipping measures of the excavator according to the movement trend and carrying out anti-tipping processing on the excavator by utilizing the anti-tipping measures;
the third processing unit specifically includes:
the fourth processing unit is used for sending out a first prompt message when the movement trend is that the gravity center position is adjusted to be within the gravity center range;
the fifth processing unit is used for sending out a second prompt message when the movement trend is that the gravity center position is maintained to be out of the gravity center range and the gravity center position does not exceed a preset rollover threshold value; the first prompt message and the second prompt message are both used for prompting a user that the excavator does not tip over but has a tipping risk, and the tipping risk corresponding to the second prompt message exceeds the tipping risk corresponding to the first prompt message; the tipping threshold value corresponds to the postures of the excavator, each posture of the excavator has a corresponding tipping threshold value, and the maximum value of the gravity center range is smaller than the tipping threshold value;
and the sixth processing unit is used for judging whether the excavator is in a motion state or not when the motion trend is that the gravity center position is maintained to be out of the gravity center range and the gravity center position exceeds a preset tipping threshold, obtaining a deceleration signal according to the current posture when the excavator is in the motion state, and controlling the motion of the excavator by using the deceleration signal.
7. An excavator, comprising:
the first angle sensor is arranged on the body of the excavator;
a second angle sensor provided on a boom of the excavator;
the third angle sensor is arranged on a bucket rod of the excavator;
a fourth angle sensor provided on a bucket of the excavator;
a fifth angle sensor provided on a swing device of the excavator;
a controller, the first angle sensor, the second angle sensor, the third angle sensor, the fourth angle sensor, the fifth angle sensor and the controller being communicatively connected to each other, the controller collecting angle information of the first angle sensor, the second angle sensor, the third angle sensor, the fourth angle sensor and the fifth angle sensor, and executing computer instructions to thereby perform the excavator anti-rollover control method of any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that it stores computer instructions for causing the computer to execute the excavator anti-rollover control method of any one of claims 1-5.
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| CN114442616A (en) * | 2022-01-05 | 2022-05-06 | 中联重科土方机械有限公司 | Control method and device for excavator, processor and excavator |
| CN115183732B (en) * | 2022-06-27 | 2023-10-20 | 三一重机有限公司 | Pose calibration method and system for excavator and excavator |
| CN117449371B (en) * | 2023-12-25 | 2024-03-19 | 山西太重数智科技股份有限公司 | Intelligent electric shovel attitude adjusting control system and method |
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