CN113323073A - Anti-collision safety control method and system suitable for remote control excavator - Google Patents
Anti-collision safety control method and system suitable for remote control excavator Download PDFInfo
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- CN113323073A CN113323073A CN202110614951.8A CN202110614951A CN113323073A CN 113323073 A CN113323073 A CN 113323073A CN 202110614951 A CN202110614951 A CN 202110614951A CN 113323073 A CN113323073 A CN 113323073A
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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
- E02F9/24—Safety devices, e.g. for preventing overload
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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
-
- 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
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an anti-collision safety control method and system suitable for a remote control excavator. The method comprises the following steps: receiving a monitoring image determined by the anti-collision host according to the real-time position detection of the obstacles around the excavator, wherein the monitoring image is fused with obstacle position information and obstacle image information; according to the monitoring image, determining a boundary distance and alarm duration for avoiding collision between the excavator and the obstacle in motion; and executing a corresponding strategy according to the position information of the obstacle, the boundary distance and the alarm duration. The system comprises: radar and camera; the anti-collision host is connected with the radar and the camera; the controller is connected with the anti-collision host through a CAN bus; the display and the instrument are both connected with the second wireless transmission device, and the second wireless transmission device is wirelessly connected with the first wireless transmission device. The invention effectively reduces the occurrence of collision danger in the excavation process and improves the safety of a driver for controlling the vehicle.
Description
Technical Field
The invention relates to an anti-collision safety control method and system suitable for a remote control excavator, and belongs to the technical field of engineering machinery.
Background
At present, the construction of the excavator is mainly to build a safety protection wall at the periphery of a construction area after the excavator enters a construction site, or to arrange a necessary warning area at the periphery of the construction area so as to remind or place other personnel and equipment to enter the construction area. The excavator is required to keep vigilance all the time while performing related construction work so as to prevent the excavator actuating mechanism from colliding with or exceeding the safety protection device. The construction mode can seriously consume materials required by protection, can share the attention of the excavator manipulator, and has high economic cost and great construction safety hidden danger.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an anti-collision safety control method and system suitable for a remote control excavator, so that the collision danger in the excavating process is effectively reduced, and the safety of a driver for controlling a vehicle is improved.
In order to achieve the above object, the present invention adopts the following technical solutions:
an anti-collision safety control method suitable for a remote control excavator is executed by a controller and comprises the following steps:
receiving a monitoring image determined by the anti-collision host according to the real-time position detection of the obstacles around the excavator, wherein the monitoring image is fused with obstacle position information Range and obstacle image information; according to the monitoring image, determining a boundary distance and alarm duration for avoiding collision between the excavator and the obstacle in motion; and executing a corresponding strategy according to the position information Range of the obstacle, the boundary distance and the alarm duration.
Preferably, the controller receives the obstacle position information and the monitoring image sent by the anti-collision host through the CAN bus, and the monitoring image is obtained by fusing the obstacle position information and the obstacle image information by the anti-collision host.
Preferably, the method for determining the boundary distance and the alarm duration comprises the following steps:
according to the operable range of the excavator, the controller receives a primary boundary distance range1 initial value, a secondary boundary distance range2 initial value, a primary alarm Time duration Time1 initial value and a secondary alarm Time duration Time2 initial value which are preset by the instrument, wherein range1 is less than range2, and Time1 is less than Time 2;
the controller transmits the monitoring image to a display, and the final boundary distance and the alarm time length are determined through an instrument according to the working environment displayed by the monitoring image;
if the modification is not needed, the preset initial values of range1, range2, Time1 and Time2 on the meter are used as the limit distance and the alarm Time length of the final transmission of the meter; when the number of obstacles in the working environment displayed by the monitoring image is lower than a preset value, increasing a range1 and a range2, prolonging the Time1 and the Time2, wherein the range1 is less than the range2, and the Time1 is less than the Time 2; when the number of the obstacles in the working environment displayed by the monitoring image is higher than the preset value, reducing range1 and range2, shortening Time1 and Time2, wherein range1 is less than range2, and Time1 is less than Time 2; and taking range1, range2, Time1 and Time2 which are recalibrated on the meter as the limit distance and the alarm duration of the final transmission of the meter.
Preferably, the specific operations of the controller for processing data and executing the corresponding strategy according to the obstacle position information Range, the boundary distance and the alarm duration are as follows:
determining whether Range is less than or equal to Range 1;
when Range is less than or equal to Range1, first-level alarm information is sent, if the alarm information display Time T exceeds Time1, a CODE1 alarm CODE is sent to a display, and shutdown and power off are executed;
when the Range is larger than Range1 and is smaller than or equal to Range2, secondary alarm information is sent, if the alarm information display Time T exceeds Time2, a CODE2 alarm CODE is sent to a display, and rotation and walking are prohibited;
when Range is larger than Range2, whether there is an obstacle is judged according to the monitoring image displayed by the display: if yes, sending CODE3 alarm CODE to a display to realize alarm reminding for the driver; otherwise, no information is sent.
Preferably, when the Range is less than or equal to Range1, if the alarm information display Time T is less than the set value Time1, it is determined whether the Range is less than or equal to Range1 again.
Preferably, when the Range is less than or equal to Range2, if the alarm information display Time T is less than the set value Time2, it is determined whether the Range is less than or equal to Range2 again.
An anti-collision safety control system suitable for a remote-controlled excavator, comprising: the vehicle-mounted end and the remote control end carry out information interaction through a wireless technology; the vehicle-mounted end comprises a radar and a camera which are arranged on the excavator; the anti-collision host is connected with the radar and the camera; the controller is used for receiving and processing the position information Range, the boundary distance and the alarm duration information of the obstacle and executing a corresponding strategy, and the controller is connected with the anti-collision host through a CAN bus; the controller is connected with the remote control end through the first wireless transmission device; the remote control end comprises a display, an instrument and a second wireless transmission device, wherein the display and the instrument are both connected with the second wireless transmission device, and the second wireless transmission device is wirelessly connected with the first wireless transmission device.
An anti-collision safety control system suitable for remotely controlling an excavator comprises a controller, and the controller executes the method of any one of the preceding items.
A remote control excavator comprises the anti-collision safety control system suitable for the remote control excavator.
The invention achieves the following beneficial effects:
1. the excavator can determine the position of the obstacle through real-time position detection, and automatically process information and execute a strategy according to the set boundary distance and the alarm duration without manual intervention; the wireless transmission device receives and transmits information, so that the isolation between an operator and the excavator is realized, and the construction safety is effectively ensured through double guarantee.
2. The radar has a first-level detection range and a second-level detection range, and the accuracy of obstacle identification is improved.
3. Two-stage alarm setting is adopted, so that the accuracy of alarm information is improved; meanwhile, after each level of alarm, the alarm can be manually adjusted through the remote control end, direct shutdown is not needed, and shutdown time and construction cost of a user are reduced.
Drawings
FIG. 1 is a system architecture diagram of the present invention;
fig. 2 is a flow chart of the implementation of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The embodiment discloses an anti-collision safety control system suitable for a remote control excavator, which comprises a vehicle-mounted end and a remote control end, wherein the vehicle-mounted end and the remote control end receive signals with each other through a wireless transmission technology, as shown in fig. 1. The vehicle-mounted end comprises 4 short-distance millimeter wave radars and 4 paths of high-definition cameras, and the short-distance millimeter wave radars and the 4 paths of high-definition cameras are respectively installed in the front direction, the rear direction, the left direction and the right direction of the excavator in a matched mode and integrated with the anti-collision host. The radar transmits the detected obstacle position information in a certain range to the anti-collision host, the high-definition camera transmits the detected obstacle image information in the certain range to the anti-collision host, and the anti-collision host fuses the received obstacle position information and the obstacle image information to form a new monitoring image. And the anti-collision host transmits the monitoring image to the remote control end through the CAN bus and the wireless transmission device on the vehicle-mounted end. The second wireless transmission device of the remote control end receives the monitoring image information transmitted by the vehicle-mounted end and outputs the monitoring image information to the display for displaying, so that a driver at the remote control end can conveniently watch the surrounding environment of the excavator, and barriers in the monitoring image are obviously distinguished by red frame rings, thereby playing a warning role. In addition, the vehicle-mounted end controller synchronously sends key information (rotating speed, hour meter, fuel level, excavator posture and the like) of the vehicle to the display of the remote control end through the CAN bus and the wireless transmission device for displaying, helps a driver to know the excavator state, and improves the safety of a remote control system and the whole machine.
Fig. 2 is a flow chart of an implementation of an anti-collision safety control method suitable for a remote control excavator, according to an operable range of the excavator, initial values of a primary boundary distance range1, a secondary boundary distance range2, a primary alarm Time duration Time1 and a secondary alarm Time duration Time2 (wherein range1< range2, Time1< Time 2) may be preset by a meter, and a radar performs obstacle scanning within a predetermined range according to values of the primary boundary distance range1 and the secondary boundary distance range 2. According to the working environment displayed by the monitoring image, the numerical value of one or more information of range1, range2, Time1 and Time2 can be revised at any Time through an instrument, the safety numerical value of the number of obstacles is preset according to the surrounding working environment, if the working environment is open, namely the number of red frames in the monitoring image is smaller than the preset value, the range1 and the range2 are increased, and the Time1 and the Time2 are prolonged; if the working environment is narrow, namely the number of red frames in the monitored image is greater than a preset value, reducing the range1 and the range2, shortening the Time1 and the Time2, and always ensuring that the range1 is less than the range2 and the Time1 is less than the Time 2. The initial values or the revision values of the range1 and the range2 are transmitted to the radar through a CAN bus and a wireless transmission device, and the radar controls the detection range of the first stage and the second stage through the received numerical values; the initial values or the revised values of the range1, the range2, the Time1 and the Time2 are transmitted to the controller through the CAN bus and the wireless transmission device, and the controller executes new logic judgment and executes corresponding strategies according to the received values. As CAN be seen from fig. 1, the anti-collision host transmits the analysis state of the obstacle to the onboard controller via the CAN line, and the controller receives the obstacle position information Range. The controller integrates various information to perform alarm analysis of a first-level range1 and a second-level range 2: firstly, judging whether Range is larger than Range 1; when Range is smaller than or equal to Range1, if the alarm information display Time T is larger than or equal to a first-level alarm Time setting value Time1, sending the alarm information display Time T to a display of a remote end to display a CODE1 alarm CODE and send out a prompt tone, and meanwhile, carrying out power off and power off control, otherwise, judging whether Range is larger than Range1 again; when the Range is larger than the Range1, judging whether the Range is larger than the Range 2; when Range is smaller than or equal to Range2, if the alarm information display Time T is larger than or equal to a secondary alarm Time length setting value Time2, sending the alarm information display Time T to a display of a remote end to display a CODE2 alarm CODE and send out a prompt tone, and simultaneously, controlling to prohibit rotation and walking, otherwise, judging whether Range is larger than Range2 again; when the Range is larger than Range2, judging whether the monitoring image in the display can observe the obstacle; when the monitoring image can observe obstacles, a CODE3 alarm CODE is sent to a display to remind a driver to observe the surrounding and operate, otherwise, the driver operates normally. After each alarm information is displayed, the excavator can be operated by the remote control end to move correspondingly so as to avoid the obstacle.
The invention can determine the position of the barrier through real-time position detection, and automatically process the information execution strategy according to the set boundary distance and the alarm duration without manual intervention; the wireless transmission device receives and transmits information, so that the isolation between an operator and the excavator is realized, and the construction safety is effectively ensured through double guarantee; the radar has a primary detection range and a secondary detection range, so that the accuracy of obstacle identification is improved; two-stage alarm setting is adopted, so that the accuracy of alarm information is improved; meanwhile, after each level of alarm, the alarm can be manually adjusted through the remote control end, direct shutdown is not needed, and shutdown time and construction cost of a user are reduced.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. An anti-collision safety control method suitable for a remote control excavator is executed by a controller, and is characterized by comprising the following steps:
receiving a monitoring image determined by an anti-collision host according to real-time position detection of obstacles around an excavator, wherein the monitoring image is fused with obstacle position information Range and obstacle image information;
according to the monitoring image, determining a boundary distance and alarm duration for avoiding collision between the excavator and the obstacle in motion;
and executing a corresponding strategy according to the obstacle position information Range, the boundary distance and the alarm duration.
2. The anti-collision safety control method suitable for the remote control excavator according to claim 1, wherein the controller receives the obstacle position information and the monitoring image sent by the anti-collision host through a CAN bus, and the monitoring image is obtained by fusing the obstacle position information and the obstacle image information by the anti-collision host.
3. The anti-collision safety control method suitable for the remote control excavator according to claim 1, wherein the determination method of the boundary distance and the alarm duration comprises the following steps:
according to the operable range of the excavator, the controller receives a primary boundary distance range1 initial value, a secondary boundary distance range2 initial value, a primary alarm Time duration Time1 initial value and a secondary alarm Time duration Time2 initial value which are preset by the instrument, wherein range1 is less than range2, and Time1 is less than Time 2;
the controller transmits the monitoring image to a display, and the final boundary distance and the alarm time length are determined through an instrument according to the working environment displayed by the monitoring image;
if the modification is not needed, the preset initial values of range1, range2, Time1 and Time2 on the meter are used as the limit distance and the alarm Time length of the final transmission of the meter; when the number of obstacles in the working environment displayed by the monitoring image is lower than a preset value, increasing a range1 and a range2, prolonging the Time1 and the Time2, wherein the range1 is less than the range2, and the Time1 is less than the Time 2; when the number of the obstacles in the working environment displayed by the monitoring image is higher than the preset value, reducing range1 and range2, shortening Time1 and Time2, wherein range1 is less than range2, and Time1 is less than Time 2; and taking range1, range2, Time1 and Time2 which are recalibrated on the meter as the limit distance and the alarm duration of the final transmission of the meter.
4. The anti-collision safety control method suitable for the remote control excavator as claimed in claim 3, wherein according to the obstacle position information Range, the boundary distance and the alarm duration, the controller performs data processing and executes corresponding strategies as follows:
determining whether Range is less than or equal to Range 1;
when Range is less than or equal to Range1, first-level alarm information is sent, if the alarm information display Time T exceeds Time1, a CODE1 alarm CODE is sent to a display, and shutdown and power off are executed;
when the Range is larger than Range1 and is smaller than or equal to Range2, secondary alarm information is sent, if the alarm information display Time T exceeds Time2, a CODE2 alarm CODE is sent to a display, and rotation and walking are prohibited;
when Range is larger than Range2, whether there is an obstacle is judged according to the monitoring image displayed by the display: if yes, sending CODE3 alarm CODE to a display to realize alarm reminding for the driver; otherwise, no information is sent.
5. The anti-collision safety control method for the remote-controlled excavator as claimed in claim 4, wherein when Range is less than or equal to Range1, if the alarm information display Time T is less than the set value Time1, it is determined whether Range is less than or equal to Range1 again.
6. The anti-collision safety control method for the remote-controlled excavator as claimed in claim 4, wherein when Range is less than or equal to Range2, if the alarm information display Time T is less than the set value Time2, it is determined whether Range is less than or equal to Range2 again.
7. An anti-collision safety control system suitable for a remote-controlled excavator, comprising:
the vehicle-mounted end and the remote control end carry out information interaction through a wireless technology; the vehicle-mounted end comprises a radar and a camera which are arranged on the excavator;
the anti-collision host is connected with the radar and the camera;
the controller is used for receiving and processing obstacle position information Range, boundary distance and alarm duration information and executing corresponding strategies, and is connected with the anti-collision host through a CAN bus;
the controller is connected with the remote control end through the first wireless transmission device;
the remote control end comprises a display, an instrument and a second wireless transmission device, wherein the display and the instrument are both connected with the second wireless transmission device, and the second wireless transmission device is wirelessly connected with the first wireless transmission device.
8. An anti-collision safety control system suitable for a remote controlled excavator, comprising a controller performing the method of any one of claims 1 to 6.
9. A remote controlled excavator comprising an anti-collision safety control system for a remote controlled excavator as claimed in claim 7 or 8.
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Cited By (1)
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