CN113898024B - Anti-collision control method for excavator action - Google Patents

Anti-collision control method for excavator action Download PDF

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CN113898024B
CN113898024B CN202111210283.9A CN202111210283A CN113898024B CN 113898024 B CN113898024 B CN 113898024B CN 202111210283 A CN202111210283 A CN 202111210283A CN 113898024 B CN113898024 B CN 113898024B
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movable arm
excavator
height
end point
maximum
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CN113898024A (en
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曹俊
耿家文
牛东东
赵玉德
邢泽成
王绪通
卞清荣
范党平
王青
范华帝
晁储贝
戴刘伟
闫镜宇
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Xuzhou XCMG Excavator Machinery Co Ltd
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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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2037—Coordinating the movements of the implement and of the frame
    • 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
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • 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
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/10—Numerical modelling

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  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
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  • Computational Mathematics (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention discloses an anti-collision control method for actions of an excavator, which comprises the steps of constructing a movable arm lifting height calculation model, calculating the lifting height of a movable arm which is not easy to measure by using a simple and easily-measured movable arm lifting angle, and carrying out correlation comparison with the maximum working condition excavating height so as to control the maximum lifting height of the movable arm not to exceed a safety height, so that the movable arm or an arm can be effectively prevented from colliding with an obstacle, and meanwhile, an engine of a driving mechanism cannot be easily stopped; in the anti-collision control method, the acquired parameters can be input into the instrument for flexible configuration, the acquired parameters are basically fixed parameters of the excavator, and the parameters can be directly acquired after the type of the excavator is determined, so that the method is very convenient; and the structural characteristics of the excavator are utilized, namely in the whole excavating process of the excavator, in the lifting process of a movable arm, the upper end point of the bucket rod is always the point with the maximum height from the whole machine to the horizontal ground, so that the anti-collision control can be carried out in the simplest mode.

Description

Anti-collision control method for excavator action
Technical Field
The invention relates to the technical field of excavating machinery, in particular to an anti-collision control method for actions of an excavator.
Background
Due to the structural characteristics of the excavator, the excavator plays more and more important roles in the construction of capital construction, agriculture, forestry, municipal administration and the like, the working environment is more and more complex, a narrow space exists in the narrow space, collision avoidance needs to be considered when the excavator works in a highly limited environment, and the collision can bring about very great danger, so that the anti-collision technology of the excavator is very important.
For example, in the Chinese patent application (publication number: CN 110905036A), in 2020, an anti-collision method for a movable arm of an excavator, an anti-collision system for the movable arm of the excavator and the excavator are disclosed, and the minimum distance S between the top end of the movable arm of the excavator and an obstacle in the vertical direction is obtained through an infrared distance measuring tool; when S is less than or equal to S1, the engine of the excavator enters an idling state, and the excavator driving system stops outputting; s1 is a first preset distance. The anti-collision alarm method for the movable arm of the excavator obtains the minimum distance S between the top end of the movable arm of the excavator and an obstacle in the vertical direction, compares the S with the first preset distance S1 for judgment, and when the S is less than or equal to the S1, the engine of the excavator enters an idling state, the driving system of the excavator stops outputting, so that the position of the movable arm of the excavator is not changed any more. The method has the following defects that the minimum distance between the top end of the movable arm of the excavator and the obstacle in the vertical direction is obtained, and the movable arm changes relative to the top end of the obstacle when the excavator performs compound actions, so that the measurement of the minimum distance is inaccurate. If the obstacle is a small object like a high-voltage wire or an object with an uneven surface, the minimum distance cannot be accurately detected under the condition, when a large error occurs in the measured minimum distance, great inconvenience is brought to the operation of the whole excavator, and after all, when the minimum distance is reached, the excavator driving system stops outputting power.
In addition, the existing excavator in the intelligent direction is provided with an anti-collision system for automatically identifying the working condition and establishing the electronic fence, but the common excavator is not provided with the system, and only a driver judges whether the action is collided, but the driver can not accurately judge the lifting height of the movable arm every time in a cab, so that great risk exists. Secondly, the operation technical requirements on drivers are high, not all drivers can achieve very accurate control, the using objects of the excavator are different in shape and color, the operation technology is uneven, and therefore the fact that the non-intelligent excavator has the height-limiting anti-collision technology is quite important, and the non-intelligent excavator has a very large application market.
Disclosure of Invention
The invention aims to provide an anti-collision control method for excavator actions, aiming at solving the problem that the excavator action of non-intelligent excavator is not more than the required height limit when the excavator is applied to various environments with limited height.
In order to achieve the purpose, the invention adopts the technical scheme that:
the anti-collision control method for the action of the excavator comprises a vertical anti-collision control method, and the vertical anti-collision control method comprises the following steps:
(1) Data acquisition and processing:
obtaining the maximum distance between the upper end point of the bucket rod and the upper end point of the movable arm in the vertical direction, and recording the distance as d 1 ；
Acquiring a linear distance between the upper end point of the movable arm and the lower end point of the movable arm, namely the length of the movable arm, and recording the length as L;
acquiring the maximum working condition excavating height of the excavator, and recording the maximum working condition excavating height as h;
measuring the angle theta between the movable arm and the horizontal direction 1 And the angle theta between the straight lines of the lengths of the boom and the boom 2 And the length of the movable arm is straightThe angle between the line and the horizontal is theta = theta 1 -θ 2 ；
Obtaining the distance d between the lower end point of the movable arm and the horizontal ground 2 ；
The real-time height H = d of the upper end point of the bucket rod from the horizontal ground 1 +L×sinθ+d 2 ；
The value d to be obtained 1 、L、θ 2 、d 2 The calculation models of H and H are respectively recorded into the controller;
(2) The control method comprises the following steps:
setting a control coefficient x according to the actual working condition, wherein x is a real number which is greater than 0 and less than 1; when the excavator carries out excavation action, the theta obtained by real-time measurement is obtained 1 Input to the controller, the controller according to θ = θ 1 -θ 2 Obtaining theta, and further calculating a value of real-time height H of the upper end point of the bucket rod from the horizontal ground;
when H is larger than x.h, the engine is decelerated or directly enters an automatic idling state, the excavation action is slowed down, and a power output signal is fed back to a driver to early warn;
when H = H, the controller controls the brake arm to be not lifted any more through the electronic valve, and the single maximum digging height is reached; during excavation, when the boom descends, the engine does not decelerate or enter an auto idle state.
According to the anti-collision control method, the lifting height of the movable arm which is not easy to measure is calculated by constructing a movable arm lifting height calculation model and using a movable arm lifting angle which is simple and easy to measure, and is subjected to correlation comparison with the maximum working condition excavating height so as to control the maximum lifting height of the movable arm not to exceed the safety height, so that the movable arm or an arm can be effectively prevented from colliding with an obstacle, meanwhile, an engine of a driving mechanism cannot be stopped easily, continuous and uninterrupted excavation is facilitated, and the excavating efficiency is not influenced under the condition of ensuring safety.
According to the anti-collision control method, the acquired parameters can be input into the instrument to be flexibly configured, the acquired parameters are basically fixed parameters of the excavator, and the parameters can be directly acquired after the type of the excavator is determined, so that the method is very convenient. And the structural characteristics of the excavator are utilized, namely in the whole excavating process of the excavator, in the lifting process of a movable arm, the upper end point of the bucket rod is always the point with the maximum height from the whole machine to the horizontal ground, so that the anti-collision control can be carried out in the simplest mode.
The anti-collision control method perfectly solves the problem that the non-intelligent excavator performs excavation work under the working condition of limited operation range, can limit the operation range through instrument setting, can adapt to different working conditions, and has no difference between the excavator provided with the control mode and a normal excavator under the working condition of unlimited space; and the excavator only needs to be additionally provided with an angle sensor and a corresponding execution electromagnetic valve, is economical and practical, and solves the big problem with low cost.
Because this application is with the movable arm maximum lifting height down the distance of dipper upper end point and ground and maximum height carry out the comparison in the operating condition, need not directly go to measure or judge the minimum distance of dipper upper end point and barrier, can not accurately detect the problem of minimum distance when having avoided the barrier to be the tiny object of similar high-voltage line or the object of surperficial unevenness.
By the method, the lifting height of the movable arm can be set, the engine actively decelerates or enters an idling state when the threshold value of the set range is reached, early warning is carried out, and the safety performance of the excavator is improved.
Further, the movable arm is a bending arm and comprises a first movable arm connected with the excavating main machine body and a second movable arm connected with the bucket rod; the angle between the first movable arm and the second movable arm is a fixed obtuse angle; the point where the first movable arm is connected with the excavating main body is the lower end point of the movable arm, and the point where the second movable arm is connected with the bucket rod is the upper end point of the movable arm; the upper end point of the bucket rod is the highest point of the bucket rod relative to the ground.
When the type of the excavator is determined, the shape of the movable arm is fixed, the linear distance between the upper end point of the movable arm and the lower end point of the movable arm, and the included angle theta between the movable arm (the first movable arm) and the linear 2 Can be determined to be true in the excavation processQualitatively, only the included angle theta between the movable arm and the horizontal direction needs to be measured and monitored in real time 1 Therefore, the anti-collision control can be completed by measuring the angle, and the method is very convenient and simple and has low cost.
Furthermore, the maximum excavation height under the working condition is the maximum excavation height allowed by the working condition environment, the minimum distance between the obstacle in the height direction and the ground is measured, and a reserved space is added, and the value of the reserved space is not less than the vertical fluctuation range value of the excavator.
The maximum excavation height can be measured on a construction site before excavation, the reserved space is a given safety distance, the excavation cannot completely act according to an expected track in practice, and errors caused by external factors cannot be completely avoided, so that the space distance is reserved, and collision can be effectively prevented; that is, the maximum excavation height h under the working condition is slightly lower than the actual measurement result.
Furthermore, the maximum distance between the upper end point of the bucket rod and the upper end point of the movable arm in the vertical direction is measured when the bucket rod is vertical to the ground, and the included angle theta is measured by a plurality of angle sensors arranged at the lower end point of the movable arm 1 And theta 2 。
Further, when x is within a first threshold range, first early warning is triggered, and the controller feeds back a signal to reduce the rotating speed of the engine by 5% -15%; when x is in a second threshold range, triggering a second early warning, and enabling the rotating speed of the engine to be reduced by hundreds of revolutions through the feedback signal of the controller.
When x is more than or equal to 0.7 and less than 0.9, the rotating speed of the engine is reduced by 100-200 revolutions through the feedback signal of the controller, the rotating speed is gradually reduced, and meanwhile, first early warning information is sent out; when x is more than or equal to 0.9 and less than 1, the rotating speed of the engine is reduced to below 500 revolutions but is not stopped, and second early warning information is sent out.
That is to say, when the lifting real-time height H of the movable arm of the excavator is close to the maximum working condition excavating height H, the engine can perform speed reduction operation, and the operation can enable a driver to obviously feel the change of a power output system, so that the operation is more careful, and the early warning effect is achieved; when the speed is further approached, the speed reduction effect is more obvious, but the machine cannot be directly stopped, and the movable arm cannot be further lifted, so that the driver can control the movable arm to move downwards for next excavation, and the driver can reasonably operate the excavator within a safety range; if the driver carelessly operates to enable H to be larger than H, the driver does not need to worry about collision, because the excavator can immediately execute the lifting forbidding command, and collision still cannot occur due to the preset reserved space.
Further, after multiple excavation actions are completed, a relation curve of the difference between the maximum excavation height H and the real-time height H under the working condition and the change of the rotating speed of the engine is constructed according to a series of real-time height H values obtained or calculated by the controller and the rotating speed value of the engine.
In the actual excavation process, one project excavator usually needs to carry out excavation work for hours or even days, the data values obtained and calculated by the controller in the earlier stage are collected, a relation curve of the difference between the maximum excavation height H and the real-time height H value of the working condition and the change of the rotating speed of the engine is fitted, the change of the rotating speed of the engine when the movable arm is lifted to be close to the maximum height can be simply and clearly observed, the reasonable control of the rotating speed and the lifting height in the subsequent construction is facilitated, the efficiency of the excavator is improved on the premise that an obstacle is not touched, and idle speed waste is reduced.
Further, the logic for the controller to perform control is as follows:
s1: starting the operation of the whole machine;
s2: angle sensor obtains included angle theta 1 And theta 2 And the real-time height H is converted into a movable arm lifting real-time height H;
s3: if H is less than or equal to x.h, executing a continuous lifting command; if H is larger than x.h, executing an engine deceleration command;
s4: if H is equal to H, acquiring the maximum lifting height of single excavation, sending a command descending command, and returning to S1 for next excavation; and if the H is larger than H, executing a movable arm lifting prohibition instruction.
The method comprises the following steps that (1) a maximum right rotary angle R and a maximum left rotary angle L of a movable arm are arranged on an instrument; (2) Acquiring a real-time angle Q of swing of a movable arm through a (swing) angle sensor; (3) When Q is larger than or equal to R or L, the controller controls the rotation action to stop through the electromagnetic valve, and the effect of avoiding circumferential collision is achieved.
Compared with the prior art, the invention has the beneficial effects that: 1. according to the anti-collision control method, the lifting height of the movable arm which is not easy to measure is calculated by constructing a movable arm lifting height calculation model and using a simple movable arm lifting angle which is easy to measure, and the lifting height is correlated and compared with the maximum working condition excavating height so as to control the maximum lifting height of the movable arm not to exceed the safety height, so that the collision between the movable arm or an arm and an obstacle can be effectively prevented, meanwhile, an engine of a driving mechanism cannot be stopped easily, the continuous and uninterrupted excavation is facilitated, and the excavating efficiency is not influenced under the condition of ensuring safety; 2. in the anti-collision control method, the basic parameters are very convenient to obtain, and only the included angle theta between the movable arm and the horizontal direction needs to be measured and monitored in real time 1 The real-time measurement of the angle is simple and easy, and the measurement error is very small; 3. the structural characteristics of the excavator are utilized, namely in the whole excavating process and the movable arm lifting process of the excavator, the upper end point of the bucket rod is always the point with the maximum height from the whole machine to the horizontal ground, so that the anti-collision control can be carried out in the simplest mode; 4. the anti-collision control method perfectly solves the problem that the non-intelligent excavator performs excavation work under the working condition with a limited operation range, can adapt to different working conditions, and has no difference between the excavator with the control mode and a normal excavator under the working condition of a non-limited space; in addition, the excavator is only required to be additionally provided with an angle sensor and a corresponding execution electromagnetic valve, so that the excavator is economical and practical, and solves the big problem with low cost; 5. the method does not need to directly measure or judge the minimum distance between the upper end point of the bucket rod and the obstacle, so that the problem that the minimum distance cannot be accurately detected when the obstacle is a small object similar to a high-voltage wire or an object with a concave-convex surface is solved; 6. through the prejudgment of the method, the lifting height of the movable arm can be set, the engine actively decelerates or enters an idling state when the threshold value of the set range is reached, early warning is carried out, and the safety performance of the excavator is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of an excavator according to the present invention;
fig. 2 is a control process schematic diagram of a vertical anti-collision control method of the present invention;
fig. 3 is a control process schematic diagram of the slewing collision avoidance control method of the present invention;
in the figure: 1. a movable arm; 101. a first movable arm; 102. a second movable arm; 2. a bucket rod; 3. excavating a main machine body;
point a-the upper end point of the boom, the end point at the connection of the boom and the arm;
point B is the lower end point of the movable arm, and the connecting point of the movable arm and the excavating main body;
point C is the upper end point of the dipper, the highest point of the dipper relative to the ground;
line AB-boom length L, linear distance between boom upper end point A and boom lower end point B.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The first embodiment is as follows:
as shown in fig. 1, a method for controlling collision avoidance of excavator actions includes a vertical collision avoidance control method, where the vertical collision avoidance control method includes the following steps:
(1) Data acquisition and processing:
obtaining the maximum distance between an upper end point C of the bucket rod and an upper end point A of the movable arm in the vertical direction, and recording the distance as d 1 Writing the value into the controller program;
acquiring a linear distance AB between the movable arm upper end point A and the movable arm lower end point B, namely a movable arm length, recording as L, wherein the movable arm length L of each machine type is relatively fixed, and directly writing the value of L in a controller program;
acquiring the maximum working condition excavating height of the excavator, and recording the maximum working condition excavating height as h;
measuring the angle theta between the movable arm and the horizontal direction 1 And an angle theta between a straight line AB on which the length of the boom is located 2 If the angle between the straight line of the length of the movable arm and the horizontal direction is theta = theta 1 -θ 2 ；
Obtaining the distance d between the lower end point of the movable arm and the horizontal ground 2 D of each model 2 Is also fixed, will d 2 The value of (a) is also directly programmed into the controller program;
the real-time height H = d of the upper end point of the bucket rod from the horizontal ground 1 +L×sinθ+d 2 ；
The obtained values h and the included angle theta 1 And theta 2 Respectively inputting the calculation models of theta and H into a controller;
(2) The control method comprises the following steps:
setting a control coefficient x according to the actual working condition, wherein x is a real number which is greater than 0 and less than 1; when the excavator carries out excavation action, the theta obtained by real-time measurement is obtained 1 Input to the controller, the controller is based on θ = θ 1 -θ 2 Obtaining theta, and further calculating a real-time height H value of the upper end point of the bucket rod from the horizontal ground;
when H is more than x.h, the engine is decelerated or directly enters an automatic idling state, the excavation action is slowed down, and a power output signal is fed back to a driver to early warn; the driver can obviously feel the change of the power output system, and the operation can be more careful;
when H = H, the controller controls the brake arm to be not lifted any more through the electronic valve, and the single maximum digging height is reached; in the excavation process, when the movable arm descends, the engine cannot decelerate or enter an automatic idling state, so that the problem of low excavation efficiency is prevented.
According to the anti-collision control method, the lifting height of the movable arm which is not easy to measure is calculated by constructing a movable arm lifting height calculation model and using a movable arm lifting angle which is simple and easy to measure, and is subjected to correlation comparison with the maximum working condition excavating height so as to control the maximum lifting height of the movable arm not to exceed the safety height, so that the movable arm or an arm can be effectively prevented from colliding with an obstacle, meanwhile, an engine of a driving mechanism cannot be stopped easily, continuous and uninterrupted excavation is facilitated, and the excavating efficiency is not influenced under the condition of ensuring safety.
In the anti-collision control method, the acquired parameters can be input into the instrument for flexible configuration, the acquired parameters are basically fixed parameters of the excavator, and the parameters can be directly acquired after the type of the excavator is determined, so that the method is very convenient. And the structural characteristics of the excavator are utilized, namely in the whole excavating process of the excavator, in the lifting process of the movable arm, the upper end point of the bucket rod is always the point with the maximum height of the whole machine from the horizontal ground, so that the anti-collision control can be carried out in the simplest mode.
The anti-collision control method perfectly solves the problem that the non-intelligent excavator performs excavation work under the working condition of limited operation range, can limit the operation range through instrument setting, can adapt to different working conditions, and has no difference between the excavator provided with the control mode and a normal excavator under the working condition of unlimited space; and the excavator only needs to be additionally provided with an angle sensor and a corresponding execution electromagnetic valve, is economical and practical, and solves the big problem with low cost.
Because this application is with the movable arm maximum lifting height down the distance of dipper upper end point and ground and maximum height carry out the comparison in the operating condition, need not directly go to measure or judge the minimum distance of dipper upper end point and barrier, can not accurately detect the problem of minimum distance when having avoided the barrier to be the tiny object of similar high-voltage line or the object of surperficial unevenness.
Through the prejudgment of the method, the lifting height of the movable arm can be set, the engine actively decelerates or enters an idling state when the threshold value of the set range is reached, early warning is carried out, and the safety performance of the excavator is improved.
Further, the boom 1 is a bending boom, and includes a first boom 101 connected to the excavating main body 3, and a second boom 102 connected to the arm 2; the angle between the first boom 101 and the second boom 102 is a fixed obtuse angle; a point where the first boom 101 is connected to the excavation main body 3 is the boom lower end point, and a point where the second boom 102 is connected to the arm 2 is the boom upper end point; the upper end point of the bucket rod is the highest point of the bucket rod 2 relative to the ground.
When the type of the excavator is determined, the shape of the movable arm 1 is fixed, the linear distance between the upper end point of the movable arm and the lower end point of the movable arm, and the included angle theta between the movable arm (first movable arm) and the linear distance are 2 Can be determined, and only the included angle theta between the movable arm and the horizontal direction needs to be measured and monitored in real time in the excavation process 1 Therefore, the anti-collision control can be completed through the measurement of the angle, and the method is very convenient and simple and has low cost.
Furthermore, the maximum excavation height under the working condition is the maximum excavation height allowed by the working condition environment, the minimum distance between the obstacle in the height direction and the ground is measured, and a reserved space is added, and the value of the reserved space is not less than the vertical fluctuation range value of the excavator.
The maximum excavation height can be measured on a construction site before excavation, the reserved space is a given safe distance, the excavation cannot completely act according to an expected track in practice, and errors caused by external factors cannot be completely avoided, so that the space distance is reserved, and collision can be effectively prevented; that is, the maximum excavation height h under the working condition is slightly lower than the actual measurement result.
Furthermore, the maximum distance between the upper end point of the bucket rod and the upper end point of the movable arm in the vertical direction is vertical to the bucket rodMeasuring the included angle theta through a plurality of angle sensors arranged at the lower end point of the movable arm 1 And theta 2 。
For example, when x is more than or equal to 0.7 and less than 0.9, the rotating speed of the engine is reduced by about 100 revolutions through the feedback signal of the controller, the rotating speed is gradually reduced, and meanwhile, first early warning information is sent out; when x is more than or equal to 0.9 and less than 1, the rotating speed of the engine is reduced to below 200 revolutions without stopping, and second early warning information is sent out.
That is to say, when the lifting real-time height H of the movable arm of the excavator is close to the maximum working condition digging height H, the engine can perform speed reduction operation, and the operation can enable a driver to obviously feel the change of a power output system, so that the operation is more careful, and the early warning effect is achieved; when the distance between the movable arm and the excavator is further close, the deceleration effect is more obvious, but the movable arm cannot be directly stopped, and the movable arm cannot be further lifted, so that the driver can control the movable arm to move downwards to carry out next excavation, and the driver can reasonably operate the excavator within a safety range; if the driver carelessly operates to enable H to be larger than H, the driver does not need to worry about collision, because the excavator can immediately execute the lifting forbidding command, and collision still cannot occur due to the preset reserved space.
Further, after the excavation actions are finished for multiple times, according to a series of real-time height H values and engine rotating speed values obtained or calculated by the controller, a relation curve of the difference between the maximum excavation height H and the real-time height H value under the working condition and the change of the rotating speed of the engine is constructed.
In the actual excavation process, one project excavator usually needs to carry out excavation work for hours or even days, the data values obtained and calculated by the early-stage controller are collected, a relation curve of the difference between the maximum excavation height H and the real-time height H value of the working condition and the change of the engine rotating speed is fitted, the change of the rotating speed of the engine when the movable arm is lifted to be close to the maximum height can be simply and clearly observed, the reasonable control of the rotating speed and the lifting height in the subsequent construction is facilitated, the efficiency of the excavator is improved on the premise that an obstacle is not touched, and idle speed waste is reduced. And a safe lifting operation range can be set according to the safety height value and the included angle value obtained by calculation, so that the safety and the efficiency are ensured in the process of repeatedly excavating the same region.
Further, as shown in fig. 2, the logic for the controller to perform control is as follows:
s1: starting the operation of the whole machine;
s2: angle sensor obtains included angle theta 1 And theta 2 And converted into a movable arm lifting real-time height H;
s3: if H is less than or equal to x.h, executing a continuous lifting command; if H is larger than x.h, executing an engine deceleration command;
s4: if H is equal to H, acquiring the maximum lifting height of single excavation, sending a command descending command, and returning to S1 for next excavation; and if the H is larger than H, executing a movable arm lifting prohibition instruction.
The second embodiment:
in the embodiment, the angle sensor is used for measuring the angle, and the revolution anti-collision control can be performed, and as shown in fig. 3, the specific method is as follows: (1) The instrument is provided with a movable arm maximum right rotary angle R and a movable arm maximum left rotary angle L; (2) Acquiring a real-time angle Q of swing of a movable arm through a (swing) angle sensor; (3) When Q is larger than or equal to R or L, the controller controls the rotation action to stop through the electromagnetic valve, and the effect of avoiding circumferential collision is achieved.
Namely, the maximum angle capable of rotating is set in the instrument, and the rotation is stopped after the required rotation angle is reached, so that collision is prevented.
The method aims at obtaining the lifting height of the movable arm by measuring an angle, only one measuring method of an angle sensor is provided, other measuring methods can be used for replacing the angle sensor, and the set height can be modified not only by a means of modifying an instrument, but also by a similar method. In addition, the method can also prevent the collision of the excavator in the rotation process, and the rotation angle can be set on the instrument to prevent the collision by only adding a rotation angle sensor.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. The anti-collision control method for the action of the excavator comprises a vertical anti-collision control method, and is characterized in that the vertical anti-collision control method comprises the following steps:
(1) Data acquisition and processing:
obtaining the maximum distance between the upper end point of the bucket rod and the upper end point of the movable arm in the vertical direction, and recording the distance as d 1 ；
Acquiring a linear distance between the upper end point of the movable arm and the lower end point of the movable arm, namely the length of the movable arm, and recording the length as L;
acquiring the maximum working condition excavating height of the excavator, and recording the maximum working condition excavating height as h;
measuring the included angle theta between the movable arm and the horizontal direction 1 And the angle theta between the straight lines of the lengths of the boom and the boom 2 If the angle between the straight line of the length of the movable arm and the horizontal direction is theta = theta 1 -θ 2 ；
Obtaining the distance d between the lower end point of the movable arm and the horizontal ground 2 ；
The real-time height H = d of the upper end point of the bucket rod from the horizontal ground 1 +L×sinθ+d 2 ；
The value d to be obtained 1 、L、θ 2 、d 2 The calculation models of H and H are respectively recorded into the controller;
(2) The control method comprises the following steps:
setting a control coefficient x according to the actual working condition, wherein x is a real number which is greater than 0 and less than 1; when the excavator carries out excavation action, the theta obtained by real-time measurement is obtained 1 Input to the controller, the controller according to θ = θ 1 -θ 2 Obtaining theta, and further calculating a value of real-time height H of the upper end point of the bucket rod from the horizontal ground;
when H is larger than x.h, the engine is decelerated or directly enters an automatic idling state, the excavation action is slowed down, and a power output signal is fed back to a driver to early warn;
when H = H, the controller controls the brake arm to be not lifted any more through the electronic valve, and the single maximum digging height is reached; during excavation, when the boom descends, the engine does not decelerate or enter an automatic idle state.
2. The anti-collision control method for excavator actions according to claim 1, wherein the boom is a bending boom comprising a first boom connected to the excavator main body and a second boom connected to the arm; the angle between the first movable arm and the second movable arm is a fixed obtuse angle; the point where the first movable arm is connected with the excavating main body is the lower end point of the movable arm, and the point where the second movable arm is connected with the bucket rod is the upper end point of the movable arm; the upper end point of the bucket rod is the highest point of the bucket rod relative to the ground.
3. The method of claim 1, wherein the maximum excavation height is a maximum excavation height allowed by an operating environment, and the minimum distance from the ground to the obstacle in the height direction is measured plus a reserved space.
4. The method of claim 1, wherein a maximum distance between an upper end point of the arm and an upper end point of the boom in a vertical direction is measured when the arm is perpendicular to the ground, and an included angle θ is measured by a plurality of angle sensors provided at a lower end point of the boom 1 And theta 2 。
5. The anti-collision control method for excavator actions according to claim 1, wherein when x is within a first threshold range, a first early warning is triggered, and the controller feeds back a signal to reduce the engine speed by 5% -15%; when x is in a second threshold range, triggering a second early warning, and enabling the rotating speed of the engine to be reduced by hundreds of revolutions through the feedback signal of the controller.
6. The anti-collision control method for actions of the excavator as claimed in claim 5, wherein when x is more than or equal to 0.7 and less than 0.9, the rotation speed of the engine is reduced by 100-200 revolutions through the feedback signal of the controller, the rotation speed is gradually reduced, and meanwhile, first early warning information is sent out; when x is more than or equal to 0.9 and less than 1, the rotating speed of the engine is reduced to be less than 500 revolutions but not stopped, and second early warning information is sent out.
7. The anti-collision control method for excavator actions according to claim 1, wherein after a plurality of excavation actions are completed, a relation curve between a difference between a maximum working condition excavation height H and a real-time height H and a change in engine speed is constructed according to a series of real-time height H values and engine speed values obtained or calculated by the controller.
8. The method for controlling collision avoidance of excavator actions according to claim 1, wherein the logic for the controller to perform the control is as follows:
s1: starting the operation of the whole machine;
s2: the angle sensor obtains the included angle theta 1 And theta 2 And converted into a movable arm lifting real-time height H;
s3: if H is less than or equal to x.h, executing a continuous lifting command; if H is larger than x.h, executing an engine deceleration command;
s4: if H is equal to H, acquiring the maximum lifting height of single excavation, sending a descending instruction, and returning to S1 for next excavation; and if the H is larger than H, executing a movable arm lifting prohibition instruction.
9. The anti-collision control method for excavator actions according to claim 1, further comprising a slewing anti-collision control method, wherein (1) a maximum right slewing angle R and a maximum left slewing angle L of the boom are set on the instrument; (2) Acquiring a real-time angle Q of the rotation of the movable arm through an angle sensor; (3) When Q is larger than or equal to R or L, the controller controls the rotation action to stop through the electromagnetic valve.
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