CN113323073B - 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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- CN113323073B CN113323073B CN202110614951.8A CN202110614951A CN113323073B CN 113323073 B CN113323073 B CN 113323073B CN 202110614951 A CN202110614951 A CN 202110614951A CN 113323073 B CN113323073 B CN 113323073B
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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]
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
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 real-time position detection of obstacles around the excavator, wherein the monitoring image is fused with obstacle position information and obstacle image information; determining boundary line distance and alarm time length for avoiding collision with an obstacle when the excavator moves according to the monitoring image; and executing a corresponding strategy according to the obstacle position information and the boundary line distance and the alarm duration. The system comprises: radar and camera; an anti-collision host connected with the radar and the camera; the controller is connected with the anti-collision host through the CAN bus; the display and the instrument are both connected with the second wireless transmission device, and the second wireless transmission device is connected with the first wireless transmission device in a wireless way. The invention effectively reduces the occurrence of collision danger in the excavating process and improves the safety of the 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 excavator is mainly used for constructing a safety protection wall around a construction area after entering the construction site, or a necessary warning area is arranged around the construction area to remind or place other personnel and equipment to enter the construction area. The excavator operator needs to keep vigilance at all times while performing related construction work to prevent the excavator actuator from colliding with or exceeding the safety protection device. The construction method can seriously consume materials required by protection, and can also share the attention of the excavator, so that the construction method is high in economic cost and has a large potential safety hazard in construction.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide an anti-collision safety control method and system suitable for a remote control excavator, which effectively reduce the occurrence of collision danger in the excavating process and improve the safety of a driver in controlling a vehicle.
In order to achieve the above object, the present invention adopts the following technical scheme:
an anti-collision safety control method suitable for a remote control excavator, which is executed by a controller, comprises the following steps:
receiving a monitoring image determined by the anti-collision host according to real-time position detection of obstacles around the excavator, wherein the monitoring image is fused with obstacle position information Range and obstacle image information; determining boundary line distance and alarm time length for avoiding collision with an obstacle when the excavator moves according to the monitoring image; and executing a corresponding strategy according to the obstacle position information Range and the boundary line 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 after the obstacle position information and the obstacle image information are fused by the anti-collision host.
Preferably, the method for determining the boundary line distance and the alarm time length comprises the following steps:
according to the operational 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 period Time1 initial value and a secondary alarm Time period Time2 initial value which are preset by the instrument, range1< range2, and Time1< Time2;
the controller transmits the monitoring image to the display, and the final boundary line distance and the alarm time length are determined through the instrument according to the operation environment displayed by the monitoring image;
if the initial values of range1, range2, time1 and Time2 preset on the meter are used as the final transmission limit distance and alarm duration of the meter; when the number of obstacles in the working environment displayed by the monitoring image is lower than a preset value, increasing range1 and range2, and prolonging Time1 and Time2, wherein range1 is less than range2, and Time1 is less than Time2; when the number of obstacles in the working environment displayed by the monitoring image is higher than a preset value, reducing range1 and range2, and shortening Time1 and Time2, wherein range1 is less than range2, and Time1 is less than Time2; and taking range1, range2, time1 and Time2 recalibrated on the meter as the final transmitted limit distance and alarm duration of the meter.
Preferably, the specific operations of the controller for performing data processing and executing corresponding strategies according to the obstacle position information Range, the boundary line distance and the alarm duration are as follows:
judging whether Range is smaller than or equal to Range1;
when Range is smaller than or equal to Range1, sending primary alarm information, and if the alarm information display Time T exceeds Time1, sending a CODE1 alarm CODE to a display and executing shutdown and power-off;
when Range is larger than Range1 and smaller than or equal to Range2, sending secondary alarm information, and if the alarm information display Time T exceeds Time2, sending a CODE2 alarm CODE to a display and executing forbidden rotation and walking;
when Range is larger than Range2, judging whether an obstacle exists according to the monitoring image displayed by the display: if yes, a CODE3 alarm CODE is sent to a display to realize alarm reminding of a driver; otherwise, no information is sent.
Preferably, when Range is smaller than or equal to Range1, if the alarm information display Time T is smaller than the set value Time1, it is determined again whether Range is smaller than or equal to Range1.
Preferably, when Range is smaller than or equal to Range2, if the alarm information display Time T is smaller than the set value Time2, it is determined again whether Range is smaller than or equal to Range2.
An anti-collision safety control system for a remotely controlled excavator, comprising: the vehicle-mounted terminal and the remote control terminal are used for carrying out information interaction through a wireless technology; the vehicle-mounted end comprises a radar and a camera which are arranged on the excavator; an anti-collision host connected with the radar and the camera; the controller is used for receiving and processing barrier position information Range, boundary line distance and alarm duration information, executing corresponding strategies and connecting an 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 connected with the first wireless transmission device in a wireless way.
An anti-collision safety control system suitable for a remotely controlled excavator, comprising a controller that performs the method of any one of the preceding claims.
A remotely controlled excavator comprising an anti-collision safety control system adapted for use with a remotely controlled excavator in accordance with any one of the preceding claims.
The invention has the beneficial effects that:
1. the excavator can determine the position of the obstacle through real-time position detection, and automatically process information execution strategies according to the set boundary line distance and the set alarm duration without manual intervention; the wireless transmission device is used for receiving and transmitting information, so that the isolation between an operator and the excavator is realized, and the construction safety is effectively ensured.
2. The radar has a primary detection range and a secondary detection range, and the accuracy of obstacle recognition is improved.
3. The 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 a remote control end, direct stop is not needed, and the stop time and construction cost of a user are reduced.
Drawings
FIG. 1 is a diagram of a system architecture of the present invention;
fig. 2 is a flow chart of the execution of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
The embodiment discloses an anti-collision safety control system suitable for a remote control excavator, which is shown in fig. 1 and comprises a vehicle-mounted end and a remote control end, wherein the vehicle-mounted end and the remote control end receive signals from each other through a wireless transmission technology. The vehicle-mounted end comprises 4 short-distance millimeter wave radars and 4 paths of high-definition cameras, and the vehicle-mounted end is respectively installed in the front direction, the rear direction, the left direction and the right direction of the excavator in a paired mode and is integrated in an anti-collision host. The radar transmits the detected obstacle position information within a certain range to the anti-collision host, the high-definition camera transmits the detected obstacle image information within a certain range to the anti-collision host, and the anti-collision host fuses the received obstacle position information with the obstacle image information to form a new monitoring image. The anti-collision host transmits the monitoring image to the remote control terminal through the CAN bus and the first wireless transmission device on the vehicle-mounted terminal. The wireless transmission device II 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 display, so that a driver of the remote control end can conveniently watch the surrounding environment of the excavator, and obstacles in the monitoring image are obviously distinguished by red frames in a circling way, thereby playing a role in warning. In addition, the vehicle-mounted end controller synchronously sends key information (such as 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, so that a driver is helped to know the excavator state, and the safety of a remote control system and the whole machine is improved.
Fig. 2 is an execution flow chart of an anti-collision safety control method suitable for a remote control excavator, according to an operational range of the excavator, initial values of a first-level boundary distance range1, a second-level boundary distance range2, a first-level alarm Time period Time1 and a second-level alarm Time period Time2 (where range1< range2, time1< Time 2) can be preset by a meter, and a radar performs obstacle scanning within a predetermined range according to values of the first-level boundary distance range1 and the second-level boundary distance range2. According to the operation environment displayed by the monitoring image, the numerical value of one or more information in range1, range2, time1 and Time2 can be revised at any Time through a meter, according to the surrounding operation environment, the safety numerical value of the number of the predetermined barriers is the safety numerical value of the number of the predetermined barriers, if the operation environment is an open operation environment, namely the number of red frames in the monitoring image is smaller than the preset value, range1 and range2 are increased, and Time1 and Time2 are prolonged; if the operation environment is narrow, that is, the number of red frames in the monitoring image is larger than a preset value, range1 and range2 are reduced, time1 and Time2 are shortened, and range1< range2 and Time1< Time2 are always ensured. Transmitting initial values or revised values of range1 and range2 to a radar through a CAN bus and a wireless transmission device, and controlling the detection range of the first level and the second level through the received numerical value by the radar; the initial value or the revised value of range1, range2, time1 and Time2 is transmitted to the controller through the CAN bus and the wireless transmission device, and the controller executes new logic judgment through the received values and executes corresponding strategies. As CAN be seen from fig. 1, the anti-collision host transmits the obstacle analysis status to the vehicle-mounted controller via the CAN line, and the controller receives the obstacle position information Range. The controller integrates various information and performs primary range1 and secondary range2 alarm analysis: firstly, judging whether Range is larger than Range1; when Range is smaller than or equal to Range1, if the alarm information display Time T is larger than or equal to the first-level alarm duration set value Time1, sending a prompt tone to a display of a remote terminal to display a CODE1 alarm CODE and simultaneously performing shutdown power-off control, otherwise, judging whether Range is larger than Range1 again; when Range is larger than Range1, judging whether Range is larger than Range2 or not; when Range is smaller than or equal to Range2, if the alarm information display Time T is larger than or equal to the second-level alarm duration set value Time2, sending the alarm information to a display of a remote end to display a CODE2 alarm CODE and give out prompt tones, and simultaneously controlling to prohibit rotation and walking, otherwise, judging whether Range is larger than Range2 again; when Range is larger than Range2, judging whether the monitoring image in the display can observe the obstacle or not; when the monitoring image can observe the obstacle, a CODE3 alarm CODE is sent to the display to remind the driver to observe four weeks for operation, otherwise, the driver operates normally. After each alarm information display, the excavator can be operated by the remote control end to move correspondingly so as to avoid the obstacle.
The method can determine the position of the obstacle through real-time position detection, and automatically process information execution strategies according to the set boundary line distance and the alarm duration without manual intervention; the wireless transmission device is used for receiving and transmitting information, so that the isolation between an operator and the excavator is realized, and the construction safety is effectively ensured; the radar has a primary detection range and a secondary detection range, so that the accuracy of obstacle recognition is improved; the 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 a remote control end, direct stop is not needed, and the stop time and construction cost of a user are reduced.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (8)
1. An anti-collision safety control method suitable for a remote control excavator, which is executed by a controller, is characterized by comprising the following steps:
receiving a monitoring image determined by the anti-collision host according to real-time position detection of obstacles around the excavator, wherein the monitoring image is fused with obstacle position information Range and obstacle image information;
determining boundary line distance and alarm time length for avoiding collision between the excavator and the obstacle in motion according to the monitoring image;
displaying alarm information in real time according to the barrier position information Range and the boundary distance, counting the alarm information display time T, counting the time T when the barrier position information Range is smaller than or equal to the boundary distance,
executing a corresponding strategy according to the alarm information display time T and the determined alarm time length:
judging whether Range is smaller than or equal to Range1;
when Range is smaller than or equal to Range1, sending primary alarm information, and if the alarm information display Time T exceeds Time1, sending a CODE1 alarm CODE to a display and executing shutdown and power-off;
when Range is larger than Range1 and smaller than or equal to Range2, sending secondary alarm information, and if the alarm information display Time T exceeds Time2, sending a CODE2 alarm CODE to a display and executing forbidden rotation and walking;
when Range is larger than Range2, judging whether an obstacle exists according to the monitoring image displayed by the display: if yes, a CODE3 alarm CODE is sent to a display to realize alarm reminding of a driver; otherwise, no information is sent;
the range1 is a first-level boundary distance, the range2 is a second-level boundary distance, the Time1 is a first-level alarm duration, the Time2 is a second-level alarm duration, and range1< range2, and Time1< Time2.
2. The anti-collision safety control method 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 the CAN bus, and the monitoring image is obtained after the obstacle position information and the obstacle image information are fused by the anti-collision host.
3. The anti-collision safety control method for a remote control excavator according to claim 1, wherein the boundary line distance and the alarm time period determining method comprises the steps of:
according to the operational 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 period Time1 initial value and a secondary alarm Time period Time2 initial value which are preset by the instrument, range1< range2, and Time1< Time2;
the controller transmits the monitoring image to the display, and the final boundary line distance and the alarm time length are determined through the instrument according to the operation environment displayed by the monitoring image;
if the initial values of range1, range2, time1 and Time2 preset on the meter are used as the final transmission limit distance and alarm duration of the meter; when the number of obstacles in the working environment displayed by the monitoring image is lower than a preset value, increasing range1 and range2, and prolonging Time1 and Time2, wherein range1 is less than range2, and Time1 is less than Time2; when the number of obstacles in the working environment displayed by the monitoring image is higher than a preset value, reducing range1 and range2, and shortening Time1 and Time2, wherein range1 is less than range2, and Time1 is less than Time2; and taking range1, range2, time1 and Time2 recalibrated on the meter as the final transmitted limit distance and alarm duration of the meter.
4. The anti-collision safety control method for a remote control excavator according to claim 1, wherein when Range is smaller than or equal to Range1, if the alarm information display Time T is smaller than the set value Time1, it is re-judged whether Range is smaller than or equal to Range1.
5. The anti-collision safety control method for a remote control excavator according to claim 1, wherein when Range is smaller than or equal to Range2, if the alarm information display Time T is smaller than the set value Time2, it is re-judged whether Range is smaller than or equal to Range2.
6. An anti-collision safety control system adapted for a remotely controlled excavator, characterized by applying a control method according to any one of claims 1-5, comprising:
the vehicle-mounted terminal and the remote control terminal are used for carrying out information interaction through a wireless technology; the vehicle-mounted end comprises a radar and a camera which are arranged on the excavator;
an anti-collision host connected with the radar and the camera;
the controller is used for receiving and processing barrier position information Range, boundary line 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 terminal 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 connected with the first wireless transmission device in a wireless mode.
7. An anti-collision safety control system adapted for a remotely controlled excavator, comprising a controller, the controller performing the method of any one of claims 1 to 5.
8. A remotely controlled excavator comprising an anti-collision safety control system adapted for use with a remotely controlled excavator as claimed in claim 6 or claim 7.
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| CN202110614951.8A CN113323073B (en) | 2021-06-02 | 2021-06-02 | Anti-collision safety control method and system suitable for remote control excavator |
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| CN202110614951.8A CN113323073B (en) | 2021-06-02 | 2021-06-02 | Anti-collision safety control method and system suitable for remote control excavator |
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| CN114875998B (en) * | 2022-06-21 | 2023-11-10 | 徐工集团工程机械股份有限公司科技分公司 | Remote control loader safety protection system |
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