CN114687562B - Control method and device for working machine and working machine - Google Patents
Control method and device for working machine and working machine Download PDFInfo
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- CN114687562B CN114687562B CN202011635468.XA CN202011635468A CN114687562B CN 114687562 B CN114687562 B CN 114687562B CN 202011635468 A CN202011635468 A CN 202011635468A CN 114687562 B CN114687562 B CN 114687562B
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- 238000012544 monitoring process Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 5
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
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- Jib Cranes (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a control method and device of a working machine and the working machine, wherein the working machine comprises an arm support, and the control method comprises the following steps: controlling the arm support in a first control mode; determining that the target operation position is located outside an operation range of an operation end of the arm support, and switching into a second control mode; controlling the arm support in the second control mode; wherein the second control mode has a smaller safety factor than the first control mode. According to the control method and device for the working machine and the working machine, at least two control modes are set, the working is preferentially carried out in the control mode with higher safety coefficient, and when the target working position exceeds the working range, the working can be switched to the control mode with larger working range, so that the working machine has both safety and working range.
Description
Technical Field
The present invention relates to the field of mechanical safety control technologies, and in particular, to a method and an apparatus for controlling a working machine, and a working machine.
Background
During operation, the work machine is involved in the extension and movement of various structures, such that the center of gravity of the work machine may vary substantially during operation. Particularly, for a working machine with a boom, such as a concrete pump truck, the boom has large length and heavy weight, the gravity center of the whole truck is greatly influenced by the state of the boom in the working process, and if the boom is operated out of range, the working machine is easy to tilt.
In the related art, the center of gravity of the whole vehicle is calculated in real time, the arm support is controlled by monitoring the position of the center of gravity, and the control method has large calculated amount and hysteresis; or the movement range of the arm support in each area is preset through simple partition control, and the control method can severely limit the operation range of the arm support.
Disclosure of Invention
The invention provides a control method and device of a working machine and the working machine, which are used for solving or improving the defect of the prior art that the arm support is excessively controlled to restrict the working range to at least a part extent, realizing the safe control of the arm support and having wide working range.
The invention provides a control method of a working machine, wherein the working machine comprises an arm support, and the control method comprises the following steps:
controlling the arm support in a first control mode;
determining that the target operation position is located outside an operation range of an operation end of the arm support, and switching into a second control mode;
controlling the arm support in the second control mode; wherein the method comprises the steps of
The safety coefficient of the second control mode is smaller than that of the first control mode.
According to the control method of the working machine provided by the invention, the working machine comprises a turret and a plurality of supporting legs;
The controlling the boom in the first control mode includes:
determining a proportional coefficient corresponding to the arm support based on an operation area where the arm support is located and the position of the supporting leg;
determining a limiting inclination angle of the arm support based on the proportion coefficient and the full support inclination angle of the arm support;
when the arm support moves to the limit inclination angle, controlling the arm support to stop;
the operation area is an area formed by connecting the actual supporting points of two adjacent supporting legs with the rotation center of the arm support.
According to the control method of the working machine provided by the invention, the arm support comprises a plurality of arm sections, and at least part of the plurality of arm sections is a target arm section;
the determining the limiting inclination angle of the arm support based on the proportionality coefficient and the full support inclination angle of the arm support comprises the following steps:
determining a target limiting inclination angle of the target arm segment based on the safety coefficient of the target arm segment, the full support inclination angle of the target arm segment and the proportionality coefficient;
when the arm support moves to the limit inclination angle, controlling the arm support to stop, including:
and controlling the target arm segment to stop when the target arm segment moves to the target limiting inclination angle.
According to the control method of the working machine provided by the invention, the arm support is controlled in the first control mode, and the control method further comprises the following steps:
when the arm support moves to a transition area, judging whether the current inclination angle of the arm support is within the range of the limited inclination angle of the adjacent operation areas, wherein the central line of the transition area is the boundary line of the two adjacent operation areas;
if the judging result is negative, the current inclination angle of the arm support is adjusted or the turret is stopped.
According to the control method of the working machine provided by the invention, the working machine comprises a turret and a plurality of supporting legs;
the controlling the boom in the second control mode includes:
acquiring the pressure of a target landing leg corresponding to the current operation area of the arm support;
controlling the boom based on the pressure of the target leg;
the working area is formed by dividing the working area of the arm support.
According to the control method of the working machine, the target support leg comprises a first target support leg with minimum pressure and a second target support leg with second minimum pressure;
the controlling the boom based on the pressure of the target leg includes:
determining a first alternative opening based on a first pressure of the first target leg and a first target range;
Determining a second alternative opening based on a second pressure of the second target leg and a second target range;
and determining the allowable opening of the boom control main valve based on the first alternative opening and the second alternative opening when the first pressure falls into a first target range and the second pressure falls into a second target range.
According to the control method of the working machine, the working area is determined by the following method:
determining the connection lines from the actual supporting points of the four supporting legs to the rotation center of the turret;
and dividing the operation range of the arm support into eight operation areas around the rotation center by taking four connecting lines and rays led out from the rotation center to four directions of front, back, left and right as dividing lines.
According to the control method of the working machine provided by the invention, the determining that the target working position is located outside the working range of the working end of the arm support is cut into the second control mode, and the method comprises the following steps:
when the target operation position is located outside the operation range of the operation end of the arm support, receiving a first input of a user;
Switching into a second control mode in response to the first input;
or alternatively
Generating a control signal when the target operation position is out of the operation range of the operation end of the arm support;
based on the control signal, a second control mode is switched in.
The invention also provides a control device of a working machine, the working machine comprises a boom, the control device comprises:
the first control module is used for controlling the arm support in a first control mode;
the first switching module is used for determining that the target operation position is positioned outside the operation range of the operation end of the arm support and switching into a second control mode; wherein the method comprises the steps of
The safety coefficient of the second control mode is smaller than that of the first control mode.
The invention also provides a working machine which comprises the arm support and the control device.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the steps of the method of controlling a work machine as described in any one of the above when executing the computer program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of controlling a work machine as described in any of the above.
The present invention also provides a work machine comprising:
arm support;
the controller is connected with the arm support, the controller is used for controlling the arm support in a first control mode or a second control mode, the safety coefficient of the second control mode is smaller than that of the first control mode, and the controller is set to be capable of switching between the first control mode and the second control mode.
According to the present invention there is provided a work machine comprising a turret and a plurality of legs;
in the first control mode, the controller is configured to:
determining a proportional coefficient corresponding to the arm support based on an operation area where the arm support is located and the position of the supporting leg;
determining a limiting inclination angle of the arm support based on the proportion coefficient and the full support inclination angle of the arm support;
when the arm support moves to the limit inclination angle, controlling the arm support to stop;
the operation area is an area formed by connecting the actual supporting points of two adjacent supporting legs with the rotation center of the arm support.
According to the working machine provided by the invention, the arm support comprises a plurality of arm sections, and at least part of the plurality of arm sections is a target arm section;
In the first control mode, the controller is configured to:
determining a target limiting inclination angle of the target arm segment based on the safety coefficient of the target arm segment, the full support inclination angle of the target arm segment and the proportionality coefficient;
and controlling the target arm segment to stop when the target arm segment moves to the target limiting inclination angle.
According to the present invention, in the first control mode, the controller is configured to:
when the arm support moves to a transition area, judging whether the current inclination angle of the arm support is within the range of the limited inclination angle of the adjacent operation areas, wherein the central line of the transition area is the boundary line of the two adjacent operation areas;
if the judging result is negative, the current inclination angle of the arm support is adjusted or the turret is stopped.
According to the present invention there is provided a work machine comprising a turret and a plurality of legs;
in the second control mode, the controller is configured to:
acquiring the pressure of a target landing leg corresponding to the current operation area of the arm support;
controlling the boom based on the pressure of the target leg;
the working area is formed by dividing the working area of the arm support.
According to the work machine provided by the invention, the target landing leg comprises a first target landing leg with minimum pressure and a second target landing leg with second minimum pressure;
the controller is configured to:
determining a first alternative opening based on a first pressure of the first target leg and a first target range;
determining a second alternative opening based on a second pressure of the second target leg and a second target range;
and determining the allowable opening of the boom control main valve based on the first alternative opening and the second alternative opening when the first pressure falls into a first target range and the second pressure falls into a second target range.
According to the work machine provided by the invention, the work area is determined by the following method:
determining the connection lines from the actual supporting points of the four supporting legs to the rotation center of the turret;
and dividing the operation range of the arm support into eight operation areas around the rotation center by taking four connecting lines and rays led out from the rotation center to four directions of front, back, left and right as dividing lines.
According to the present invention, there is provided a work machine, further comprising: the switching switch is electrically connected with the controller and used for enabling the controller to switch between a first control mode and a second control mode;
Or the controller is configured to automatically switch into the second control mode when the target working position is located outside the working range of the working end of the arm support in the first control mode.
According to the control method and device for the working machine and the working machine, at least two control modes are set, the working is preferentially carried out in the control mode with higher safety coefficient, and when the target working position exceeds the working range, the working can be switched to the control mode with larger working range, so that the working machine has both safety and working range.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of controlling a work machine provided by the present disclosure;
FIG. 2 is a flow chart illustrating a first control mode in a method for controlling a work machine according to the present disclosure;
FIG. 3 is a schematic illustration of a work area divided in a method of controlling a work machine according to the present disclosure;
FIG. 4 is a second flow chart of a first control mode in the control method of the work machine according to the present invention;
FIG. 5 is a flow chart illustrating a second control mode in a method for controlling a work machine according to the present disclosure;
FIG. 6 is a second schematic view of a work area divided in a method of controlling a work machine according to the present invention;
FIG. 7 is a schematic diagram of determining a boom control total valve opening in a control method of a work machine provided by the present disclosure;
FIG. 8 is a second flow chart of a second control mode in the control method of the work machine according to the present invention;
FIG. 9 is a schematic diagram of a control device for a work machine according to the present disclosure;
FIG. 10 is a schematic illustration of a work machine provided by the present disclosure;
fig. 11 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A method of controlling a work machine according to the present invention will be described below with reference to fig. 1 to 8.
The work machine includes a turret, a boom, a body, and a plurality of legs.
The boom of the work machine is mounted to a turret, such as a pump truck, a vehicle-mounted pump and a fire truck, the boom is mounted to the turret by means of a turntable, which turntable can rotate about a pivot axis, which pivot axis can extend vertically (up-down).
The cantilever crane is installed in the revolving stage, through rotating the revolving stage, can realize the position adjustment of cantilever crane, the cantilever crane can include the arm festival, fold in order between a plurality of arm festival and link to each other, and first arm festival links to each other with the revolving stage, and the end of last arm festival is the operation end of cantilever crane, through rotating the revolving stage and expanding each arm festival, can make the operation end of cantilever crane remove to target operation position, and target operation position can be the position that needs the concreting.
As shown in fig. 1, the method for controlling a working machine according to the embodiment of the present invention includes steps 110 to 130.
Step 110, controlling the arm support in a first control mode;
step 120, determining that the target working position is located outside the working range of the working end of the arm support, and switching into a second control mode;
130, controlling the arm support in a second control mode; wherein the method comprises the steps of
The second control mode has a smaller safety factor than the first control mode.
It should be noted that the higher the safety factor, the lower the possibility of tipping, the smaller the cloth range, and the higher the possibility of tipping, the larger the cloth range.
The first control mode has a higher safety factor than the second control mode, and the first control mode is safer overall than the second control mode, but the working range of the working machine in the first control mode is smaller than the working range of the working machine in the second control mode.
The movement speed of the arm support in the second control mode is lower than that of the arm support in the first control mode, so that safety is improved.
The target working position is the position where the working end of the boom of the current working machine needs to reach. For example, when the working machine is a concrete pump truck, the target working position is the position where concrete is required to be poured at present; when the working machine is a fire truck, the target working position is the position which the current arm support needs to reach.
Under normal state, the working machine works in a first control mode by default to ensure safety as much as possible, and when the working end of the arm support can not reach the target working position in the first control mode, the working machine is switched to a second control mode to enlarge the working range of the working machine.
According to the control method of the working machine, at least two control modes are set, the working is preferentially carried out in the control mode with higher safety coefficient, and when the target working position exceeds the working range, the working can be switched to the control mode with larger working range, so that the working machine has both safety and working range.
A specific implementation manner of the control method of the work machine in the first control mode according to the embodiment of the present invention will be described below with reference to fig. 2 to 4.
As shown in fig. 2, controlling the boom in the first control mode includes: step 210-step 230.
Step 210, determining a proportional coefficient corresponding to the arm support based on an operation area where the arm support is located and the position of the supporting leg;
the operation area is an area formed by connecting the actual supporting points of two adjacent supporting legs with the rotation center of the arm support, for example, the operation Fan Weirao of the arm support can be divided into the operation area by the vertical line of the rotation center of the turret.
Each working area is in a sector shape, and the circle center of the sector is the rotation center O of the turret.
It can be understood that for the working machine, the rotation of the arm support has a great influence on the rotation center of the whole vehicle, and the arm support can be independently controlled in each sector working area by dividing the working area around the vertical line, so that the range of the cloth is increased as much as possible on the premise of ensuring the safety.
In the first control mode, the work area may be divided as follows.
Determining connection lines from actual supporting points of the four supporting legs to a rotation center of the turret;
as shown in fig. 3, in a top view along the rotational axis of the turret, the rotational center of the turret is O, which is generally coincident with the rotational center of the turret, the work machine includes four legs, namely, a right front leg, a left front leg, a right rear leg, and a left rear leg. The length of the right front supporting leg is L1, the length of the left front supporting leg is L2, the length of the right rear supporting leg is L3, and the length of the left rear supporting leg is L4.
The connection ends of the four supporting legs and the turret are f, g, h and e respectively, and the actual supporting points of the four supporting legs are j, k, m and i respectively. The four connection lines are respectively: oj, ok, om and Oi.
And dividing the operation range of the arm support into four operation areas by taking four connecting lines as dividing lines.
As shown in fig. 3, the boom working range (360 °) is divided into a first working area I, a second working area ii, a third working area iii, and a fourth working area iv using 4 dividing lines.
220, determining a limiting inclination angle of the arm support based on the proportion coefficient and the full support inclination angle of the arm support;
the full support inclination angle of the arm support is the maximum allowable inclination angle of the arm support when the support leg of the working machine is fully supported (an actual support point).
230, controlling the arm support to stop when the arm support moves to a limit inclination angle;
it can be understood that in the first control mode, the operation range of the arm support is partitioned, different proportional coefficients are defined for different areas, and the limiting inclination angle of each area can be accurately obtained, so that the arm support can be safely controlled by monitoring the inclination angle of the arm support, and the engineering machinery has a wider operation range under the condition of ensuring safety.
In some embodiments, the scaling factor may be determined by:
determining a full-support tilting edge and a real-time support tilting edge of an operation area where the arm support is currently located;
determining a first vertical distance from the rotation center of the turret to the full support tilt edge and a second vertical distance from the rotation center of the turret to the real-time support tilt edge;
the real-time supporting and tilting edge is determined through the current supporting point of the supporting leg, and the full supporting and tilting edge is determined through the actual supporting point of the supporting leg.
Taking fig. 3 as an example, when the arm support moves to the second working area ii, the tilting edge is located on the right side, Q1 is a real-time supporting tilting edge, and Q2 is a full supporting tilting edge.
The first vertical distance is C1 and the second vertical distance is C1.
A scaling factor is determined based on the first vertical distance and the second vertical distance.
In actual implementation, the following formula may be used: a=c1/C1, determining the scaling factor a.
In some embodiments, the boom includes a plurality of arm segments, at least a portion of the plurality of arm segments being the target arm segment. The more arm segments the arm support comprises, the more target arm segments.
For example, when the boom includes 7 or 8 arm sections, the target arm section may be 3 arm sections near the turret; when the boom includes 5 or 6 boom sections, the target boom section may be 2 boom sections near the turret; when the boom includes 3 boom sections, the target boom section may be 1 boom section near the turret.
In some embodiments, step 220, determining the limiting tilt angle of the boom based on the scaling factor and the full support tilt angle of the boom, includes: and determining the target limiting inclination angle of the target arm segment based on the safety coefficient of the target arm segment, the full support inclination angle of the target arm segment and the proportionality coefficient.
Taking the example that the arm support comprises 7 or 8 arm sections, the target arm sections can be 3 arm sections close to the turret, the safety coefficients of the three target arm sections are k1, k2 and k3 respectively, and the full supporting inclination angles of the three target arm sections are alpha 1, alpha 2 and alpha 3 respectively.
The target limiting tilt β1 of the first target arm segment is β1=ak1 α1;
The target limiting tilt β2 of the second target arm segment is β2=ak2×α2;
the target limiting tilt β3 of the third target arm segment is β3=ak3×α3.
When the arm support moves to limit the inclination angle, controlling the arm support to stop, including:
when the target arm segment moves to the target limiting inclination angle, the target arm segment is controlled to stop.
For example, when the first target arm segment reaches the target limiting inclination angle beta 1, the first target arm segment is controlled to stop; when the second target arm section reaches the target limiting inclination angle beta 2, controlling the second target arm section to stop; and when the third target arm section reaches the target limiting inclination angle beta 3, controlling the third target arm section to stop.
Therefore, the independent control can be realized on the arm section with larger influence on the whole vehicle rotation center in the arm support, so that a larger operation range is realized under the condition of ensuring safety.
Of course, the control method may further include: and when the arm support moves to limit the inclination angle, an alarm signal is sent out.
Alarm signals come in a variety of forms:
the alarm signal may be a warning light of the work machine or a buzzer of the work machine.
Secondly, the alarm signal can be expressed as prompt information displayed on a display panel of the working machine.
Thirdly, the alarm signal can be expressed as prompt information sent to the remote monitoring end.
In some embodiments, controlling the boom in the first control mode may further include:
when the arm support moves to a transition area, judging whether the current inclination angle of the arm support is within the range of the limited inclination angle of the adjacent operation areas, wherein the central line of the transition area is the boundary line of the two adjacent operation areas;
if the judging result is negative, the current inclination angle of the arm support is adjusted or the turret is stopped
The transition regions may be symmetrically disposed along the dividing line of two adjacent work areas, and the angular extent of the transition regions may be 1 ° to 20 °, such as 10 °, where the two adjacent areas each comprise 5 °.
For example, when the boom rotates to a transition area between the first working area I and the second working area ii, it is required to determine whether the current tilt angle of the boom is within a range of the limited tilt angle of the second working area ii.
Of course, in the transition area, controlling the boom in the first control mode may further include: an alarm signal is sent.
Alarm signals come in a variety of forms:
the alarm signal may be a warning light of the work machine or a buzzer of the work machine.
Secondly, the alarm signal can be expressed as prompt information displayed on a display panel of the working machine.
Thirdly, the alarm signal can be expressed as prompt information sent to the remote monitoring end.
As shown in FIG. 4, in a first control mode, the control method may include steps 410-450.
Step 410, judging an operation area of the arm support;
in the actual execution process, the starting angle and direction of the turntable position detection unit (encoder) can be defined, and the detection value of the turntable position detection unit can be acquired in real time.
Step 420, determining the vertical distance from the rotation center of the turret to the tilting edge;
in this step, it is necessary to determine a first vertical distance from the center of rotation of the turret to the full support tilt rim and a second vertical distance to the real-time support tilt rim;
step 430, determining a proportionality coefficient;
the first vertical distance is C1 and the second vertical distance is C1.
In actual implementation, the following formula may be used: a=c1/C1, determining the scaling factor a.
Step 440, determining a limited inclination angle of each arm segment;
taking the example that the arm support comprises 7 or 8 arm sections, the target arm sections can be 3 arm sections close to the turret, the safety coefficients of the three target arm sections are k1, k2 and k3 respectively, and the full supporting inclination angles of the three target arm sections are alpha 1, alpha 2 and alpha 3 respectively.
The target limiting tilt β1 of the first target arm segment is β1=ak1 α1;
the target limiting tilt β2 of the second target arm segment is β2=ak2×α2;
the target limiting tilt β3 of the third target arm segment is β3=ak3×α3.
Step 450, stopping and alarming if the inclination angle of any arm segment reaches the limiting inclination angle in the process that the working end of the arm frame reaches the target working position.
A specific implementation manner of the control method of the work machine in the second control mode according to the embodiment of the present invention will be described below with reference to fig. 5 to 8.
In some embodiments, step 130, controlling the boom in the second control mode, includes:
step 510, obtaining the pressure of a target landing leg corresponding to the current operation area of the arm support;
the working area is formed by dividing the working area of the arm support, for example, the working Fan Weirao of the arm support is formed by dividing the vertical line of the turret rotation center, or is divided according to the working requirement.
Each working area is in a sector shape, and the circle center of the sector is the rotation center O of the turret.
It can be understood that for the working machine, the rotation of the arm support has a great influence on the rotation center of the whole vehicle, and the arm support can be independently controlled in each sector working area by dividing the working area around the vertical line, so that the range of the cloth is increased as much as possible on the premise of ensuring the safety.
The pressure of each leg (or the reverse supporting force applied by the leg) can be changed when the arm support is in different working areas.
It will be appreciated that the further away the leg from the boom, the less the pressure, the more the leg is closer to the boom, and the less the pressure, the more the leg is raised and tipped.
Each working area corresponds to at least one target leg with the smallest pressure, and in this step, the pressure of the target leg needs to be collected, and the pressure is the counter-supporting force exerted on the leg.
Step 520, controlling the boom based on the pressure of the target leg.
The control of the arm support can be realized through pressure monitoring.
In other words, the control method described above does not require calculation of the entire vehicle center of rotation in real time, for example, when dividing the working range, only the center of rotation of the turret is determined, and the center of rotation of the turret is substantially constant.
Compared with the calculation of the whole vehicle rotation center with real-time change in the related technology, the invention is converted into the monitoring of the angle of the turntable and the pressure monitoring of the supporting legs, so that the calculated amount can be greatly simplified, and the partition type control method can realize the maximum operation range in each operation area as much as possible.
According to the control method of the working machine, through the division of the working areas, the arm support can be safely controlled under the condition that only the angle of the turntable and the pressure of the supporting legs are monitored, and the working range of the arm support is wide.
As shown in fig. 6, in a top view along the rotational axis of the turret, the rotational center of the turret is O, which is generally coincident with the rotational center of the turret, the work machine includes four legs, namely, a right front leg, a left front leg, a right rear leg, and a left rear leg. The length of the right front supporting leg is L1, the length of the left front supporting leg is L2, the length of the right rear supporting leg is L3, and the length of the left rear supporting leg is L4.
The connection ends of the four supporting legs and the turret are f, g, h and e respectively, and the actual supporting points of the four supporting legs are j, k, m and i respectively.
In some embodiments, the job area is determined by the following method:
determining connection lines from actual supporting points of the four supporting legs to a rotation center of the turret;
as shown in fig. 6, the rotation center of the turret is O, and the actual supporting points of the four supporting legs are j, k, m and i respectively, so that the four connecting lines are respectively: oj, ok, om and Oi.
The four connecting lines and rays led out from the rotation center to the front, back, left and right directions are taken as dividing lines, and the operation range of the arm support is divided into eight operation areas around the rotation center of the turret.
As shown in fig. 6, the rays led out from the center of rotation in the four directions of front, rear, left and right are respectively 0 °, 90 °, 180 °, and 270 °, and in step 112, the working range (360 °) of the boom is divided into a first working area (1), a second working area (2), a third working area (3), a fourth working area (4), a fifth working area (5), a sixth working area (6), a seventh working area (7), and an eighth working area (8) using 8 rays.
The division mode can more accurately reflect the relation between the operation area of the arm support and the pressure born by the support legs, and comprehensively considers the bearing capacity of the support legs and the structural orientation of the turret.
In addition, the angles of the rays led out from the front, back, left and right directions are known, and when the operation area is actually divided, the range of the operation area can be determined only by determining the inclination angle of the connecting line from the actual supporting point of the supporting leg to the rotation center of the turret.
In this embodiment, the working area is a sector, and the angular radian of the working area is determined by the following method:
acquiring the length of the support leg at an actual supporting point and the inclination angle of the support leg;
acquiring the length from the connecting end of the supporting leg and the whole machine of the working machine to the rotation center along the longitudinal direction and the transverse direction;
and determining the angular radian of the working area based on the length of the support leg at the actual support point, the inclination angle of the support leg and the lengths from the connecting end to the rotation center along the longitudinal direction and the transverse direction, wherein the angular radian of the working area can represent the range of the working area.
As shown in FIG. 6, the first working area (1) has an angular radian of
arctan(H1+L1*sinB)/(X1+L1*cosB)
Wherein, H1 is the vertical distance from the point f to the point O along the left-right direction, X1 is the vertical distance from the point f to the point O along the front-back direction, for a certain working machine, H1 and X1 are fixed values, L1 is the maximum length of the supporting leg, and B is the inclination angle of the supporting leg, namely the angle between the projection of the supporting leg on the horizontal plane and the front-back direction.
The second working area (2) has an angular radian of
90°-arctan(H1+L1*sinB)/(X1+L1*cosB)
The angle radian of the fourth working area (4) is
arctan(L3*sinC+H3)/(L3*cosC+X3)
Wherein, H3 is the vertical distance from g point to O point along left and right directions, X3 is the vertical distance from g point to O point along front and back directions, for a certain working machine, H3 and X3 are fixed values, L3 is the maximum length of the supporting leg, and C is the inclination angle of the supporting leg, namely the projection of the supporting leg on the horizontal plane and the included angle of the front and back directions.
The angle radian of the third working area (3) is
90°-arctan(L3*sinC+H3)/(L3*cosC+X3)
The fifth working area (5), the sixth working area (6), the seventh working area (7) and the eighth working area (8) may be calculated by the same method.
Under the condition that the angle radian of each region is determined, the angle value is read through the rotary table encoder, and the operation region of the arm support can be judged.
The correspondence between each work area and the first and second target legs is as follows.
TABLE 1
| Work area | First target leg | Second target leg |
| First working area (1) | Left rear supporting leg | Right rear supporting leg |
| Second working area (2) | Left rear supporting leg | Right rear supporting leg |
| Third working area (3) | Left rear supporting leg | Left front supporting leg |
| Fourth working area (4) | Left front supporting leg | Right front support leg |
| Fifth working area (5) | Right front support leg | Left front supporting leg |
| Sixth working area (6) | Right rear supporting leg | Right front support leg |
| Seventh working area (7) | Right rear supporting leg | Left rear supporting leg |
| Eighth work area (8) | Right rear supporting leg | Left rear supporting leg |
Of course, in actual implementation, the working area of the arm rest can be divided into a plurality of working areas by other modes, such as collecting the pressure of the supporting legs and dividing the working area of the arm rest into a plurality of working areas according to the pressure of each supporting leg; or may also refer to factors such as the angle of inclination of the ground on which the work vehicle is located.
In some embodiments, the target legs include a first target leg with a minimum pressure and a second target leg with a second minimum pressure, and by monitoring the two target legs with the minimum pressure, errors caused by pressure pulsation of the single leg can be reduced.
Step 520, controlling the boom based on the pressure of the target leg, including:
determining a first alternative opening based on the first pressure of the first target leg and the first target range;
determining a second alternative opening based on a second pressure of a second target leg and a second target range;
the first alternative opening and the second alternative opening are alternative opening of the boom control main valve, and when the first pressure falls into a first target range and the second pressure falls into a second target range, allowable opening of the boom control main valve is determined based on the first alternative opening and the second alternative opening.
It will be appreciated that a first target range for constraining the minimum first pressure and a second target range for constraining the second minimum second pressure are preset in advance.
Two alternative opening degrees of the boom control main valve can be obtained through the two minimum pressures respectively, and then the allowable opening degree of the boom control main valve can be determined through comparison of the two pressures and the two target ranges and the two alternative opening degrees.
In an actual implementation, determining the first alternative opening based on the first pressure and the first target range includes: applying the formula
Determining a first alternative opening degree K 1 Wherein the first target range is (F 1 ,F 2 ) The first pressure is N 1 ；
Determining a second alternative opening based on the second pressure and the second target range, including: applying the formula
Determining a second alternative opening degree K 2 Wherein the second target range is (F 3 ,F 4 ) The second pressure is N 2 ；
When the first pressure falls within the first target range and the second pressure falls within the second target range, determining the boom control total valve opening based on the first alternative opening and the second alternative opening includes: applying the formula
K＝min(K 1 ,K 2 )
An allowable opening K of the control master valve is determined.
By taking the smaller one of the first alternative opening degree and the second alternative opening degree as the allowable opening degree of the control master valve, safety can be ensured.
As shown in fig. 7, the above manner can also be implemented as a mapping method.
Of course, during actual operation, there may be three cases as follows:
first, at a second pressure not less than the maximum value in the second target range, N 2 ≥F 4 In the case of (2), the opening degree of the boom control main valve is not controlled.
Secondly, when the second pressure is within the second target range, and the first pressure is not greater than the minimum value in the first target range, N 2 ∈(F 3 ,F 4 ) And N 1 ≤F 1 In accordance with the second alternative opening degree K 2 And controlling the opening of the arm support control main valve.
Third, the minimum value in the second pressure is not greater than the second target range, N 2 ≤F 3 In the case of (2), the control arm is stopped.
In other words, the boom is stopped when either pressure is insufficient.
Alternatively, an alarm signal may also be issued in the event that the first pressure is not greater than a minimum value in the first target range, or the second pressure is not greater than a minimum value in the second target range.
Alarm signals come in a variety of forms:
the alarm signal may be a warning light of the work machine or a buzzer of the work machine.
Secondly, the alarm signal can be expressed as prompt information displayed on a display panel of the working machine.
Thirdly, the alarm signal can be expressed as prompt information sent to the remote monitoring end.
As shown in FIG. 8, in a second control mode, the control method may include steps 810-850.
Step 810, judging an operation area of the arm support;
in the actual execution process, the starting angle and direction of the turntable position detection unit (encoder) can be defined, and the detection value of the turntable position detection unit can be acquired in real time.
Step 820, collecting a first pressure and a second pressure;
after the operation area of the arm support is determined, the first pressure of the corresponding first target supporting leg and the second pressure of the corresponding second target supporting leg are read.
Step 830, comparing the first pressure with a first target range, and comparing the second pressure with a second target range;
in other words, the read pressure is compared with a preset target range to obtain a comparison result.
Step 840, adjusting the opening of the boom control main valve, and controlling the boom speed;
and adjusting the opening of the boom control total valve according to the comparison result.
Step 850, if one of the first pressure and the second pressure is smaller than the minimum value of the target range in the process that the working end of the arm frame reaches the target working position, stopping the arm frame and alarming.
In some embodiments, step 120, determining that the target working position is outside the working range of the working end of the boom, cutting into the second control mode may be performed manually.
Step 120, determining that the target working position is located outside the working range of the working end of the boom, and switching into the second control mode includes:
when the target operation position is located outside the operation range of the operation end of the arm support, receiving a first input of a user;
in response to the first input, a second control mode is switched in.
Wherein the first input may be represented as at least one of:
first, the first input may be represented as an input of an operation entity key or a joystick.
In this embodiment, the cab of the work machine may be provided with a switch handle that receives a first input from a user, which may be manifested as receiving an input from the user pushing and pulling the switch handle.
Second, the first input may be presented as a touch input, including but not limited to a click input, a slide input, a press input, and the like.
In this embodiment, receiving the first input by the user may be performed by receiving the first input by the user in a display area of a work machine display screen.
Third, the first input may appear as a voice input.
In this embodiment, the terminal may switch from the first control mode to the second control mode upon receiving a voice such as "switch to the second control mode".
Of course, in other embodiments, the first input may take other forms, including but not limited to character input, etc., which may be specifically determined according to actual needs, which is not limited by the embodiment of the present application.
In other embodiments, step 120, determining that the target working position is outside the working range of the working end of the boom, switching into the second control mode may be performed in an automatic manner.
Generating a control signal when the target operation position is out of the operation range of the operation end of the arm support; based on the control signal, a second control mode is switched in.
In other words, the controller of the working machine determines that the target working position is located outside the working range of the working end of the arm frame according to the signal acquired by the sensor, automatically generates the control signal, and switches into the second control mode.
The control device of the working machine provided by the application will be described below, and the control device of the working machine described below and the control method of the working machine described above may be referred to correspondingly to each other.
The working machine comprises a boom, a boom arranged on the boom and a plurality of supporting legs.
As shown in fig. 9, the control device includes: a first control module 910 and a first switching module 920.
A first control module 910, configured to control the boom in a first control mode;
the first switching module 920 is configured to determine that the target operation position is located outside the operation range of the operation end of the arm frame, and switch into the second control mode; wherein the method comprises the steps of
The second control mode has a smaller safety factor than the first control mode.
According to the control device of the working machine, at least two control modes are set, the working is preferentially carried out in the control mode with higher safety coefficient, and when the target working position exceeds the working range, the working can be switched to the control mode with larger working range, so that the working machine has both safety and working range.
The invention also provides a working machine.
The working machine of the present invention may be a pump truck, a vehicle-mounted pump, a fire truck, or the like.
The work machine provided by the invention comprises: the arm support, install the arm support of arm support, a plurality of landing legs and above-mentioned controlling means.
As shown in fig. 10, the work machine includes: a detection device 1010, a security controller 1020, an execution device 1030, and a display device 1040.
The detecting device 1010 includes a boom inclination angle detecting unit 1011, a turret position detecting unit 1012, a leg position detecting unit 1013, and a pressure detecting unit 1014.
The arm support inclination angle detection unit 1011 is used for detecting the inclination angle of the arm support; the turntable position detection unit 1012 is used for detecting the angle of the turntable, so that the current operation area of the arm support can be determined; the leg position detecting unit 1013 is configured to detect the position of the leg; the pressure detection unit 1014 is used to detect the leg pressure or the reaction force to which the leg is subjected.
The security controller 1020 includes: boom inclination angle comparing unit 1021, pressure comparing unit 1022, and safety judging unit 1023.
Wherein the boom inclination angle comparing unit 1021 is electrically connected with the boom inclination angle detecting unit 1011, the turntable position detecting unit 1012 and the support leg position detecting unit 1013; the pressure comparing unit 1022 is electrically connected to the leg position detecting unit 1013 and the pressure detecting unit 1014; the boom inclination angle comparing unit 1021 and the pressure comparing unit 1022 are electrically connected to the safety judging unit 1023.
The execution device 1030 includes: boom output actuator 1031 and alarm unit 1032.
Wherein, the boom output actuator 1031 and the alarm unit 1032 are electrically connected with the safety judgment unit 1023.
The display device 1040 is used for realizing early warning display, boom inclination angle display and support pressure display.
Fig. 11 illustrates a physical structure diagram of an electronic device, as shown in fig. 11, which may include: processor 1110, communication interface Communications Interface 1120, memory 1130 and communication bus 1140, wherein processor 1110, communication interface 1120 and memory 1130 communicate with each other via communication bus 1140. Processor 1110 may invoke logic instructions in memory 1130 to perform a method of controlling a work machine, the work machine including a boom, the method of controlling comprising: controlling the arm support in a first control mode; determining that the target operation position is located outside an operation range of an operation end of the arm support, and switching into a second control mode; controlling the arm support in a second control mode; wherein the second control mode has a lower safety factor than the first control mode.
Further, the logic instructions in the memory 1130 described above may be implemented in the form of software functional units and sold or used as a stand-alone product, stored on a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of controlling a work machine provided by the above methods, the work machine comprising an arm rest, the method comprising: controlling the arm support in a first control mode; determining that the target operation position is located outside an operation range of an operation end of the arm support, and switching into a second control mode; controlling the arm support in a second control mode; wherein the second control mode has a lower safety factor than the first control mode.
In still another aspect, the present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the control method of the work machine provided above, the work machine including an arm rest, the control method comprising: controlling the arm support in a first control mode; determining that the target operation position is located outside an operation range of an operation end of the arm support, and switching into a second control mode; controlling the arm support in a second control mode; wherein the second control mode has a lower safety factor than the first control mode.
The present invention also provides a work machine comprising:
arm support;
the controller is connected with the arm support, the controller is used for controlling the arm support in a first control mode or a second control mode, the safety coefficient of the second control mode is smaller than that of the first control mode, and the controller is set to be capable of switching between the first control mode and the second control mode.
According to the present invention there is provided a work machine comprising a turret and a plurality of legs;
in the first control mode, the controller is configured to:
determining a proportional coefficient corresponding to the arm support based on an operation area where the arm support is located and the position of the supporting leg;
determining a limiting inclination angle of the arm support based on the proportion coefficient and the full support inclination angle of the arm support;
when the arm support moves to the limit inclination angle, controlling the arm support to stop;
wherein the working area is formed by dividing the working range of the arm support around a vertical line passing through the turret rotation center.
According to the working machine provided by the invention, the arm support comprises a plurality of arm sections, and at least part of the plurality of arm sections is a target arm section;
In the first control mode, the controller is configured to:
determining a target limiting inclination angle of the target arm segment based on the safety coefficient of the target arm segment, the full support inclination angle of the target arm segment and the proportionality coefficient;
and controlling the target arm segment to stop when the target arm segment moves to the target limiting inclination angle.
According to the present invention, in the first control mode, the controller is configured to:
when the arm support moves to a transition area, judging whether the current inclination angle of the arm support is within the range of the limited inclination angle of the adjacent operation areas, wherein the central line of the transition area is the boundary line of the two adjacent operation areas;
if the judging result is negative, the current inclination angle of the arm support is adjusted or the turret is stopped.
According to the present invention there is provided a work machine comprising a turret and a plurality of legs;
in the second control mode, the controller is configured to:
acquiring the pressure of a target landing leg corresponding to the current operation area of the arm support;
controlling the boom based on the pressure of the target leg;
wherein the working area is formed by dividing the working range of the arm support around a vertical line passing through the turret rotation center.
According to the work machine provided by the invention, the target landing leg comprises a first target landing leg with minimum pressure and a second target landing leg with second minimum pressure;
the controller is configured to:
determining a first alternative opening based on a first pressure of the first target leg and a first target range;
determining a second alternative opening based on a second pressure of the second target leg and a second target range;
and determining the boom control total valve opening based on the first alternative opening and the second alternative opening.
According to the work machine provided by the invention, the work area is determined by the following method:
determining the connection lines from the actual supporting points of the four supporting legs to the rotation center of the turret;
and dividing the operation range of the arm support into eight operation areas by taking four connecting lines and rays led out from the rotation center to four directions of front, back, left and right as dividing lines.
According to the present invention, there is provided a work machine, further comprising: the switching switch is electrically connected with the controller and used for enabling the controller to switch between a first control mode and a second control mode;
Or the controller is configured to automatically switch into the second control mode when the target working position is located outside the working range of the working end of the arm support in the first control mode.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method of a work machine, the work machine including a boom, the control method comprising:
controlling the arm support in a first control mode;
determining that the target operation position is located outside an operation range of an operation end of the arm support, and switching into a second control mode;
controlling the arm support in the second control mode; wherein the method comprises the steps of
The safety coefficient of the second control mode is smaller than that of the first control mode;
the work machine includes a turret and a plurality of legs;
the controlling the boom in the first control mode includes:
determining a proportional coefficient corresponding to the arm support based on an operation area where the arm support is located and the position of the supporting leg;
Determining a limiting inclination angle of the arm support based on the proportion coefficient and the full support inclination angle of the arm support; the full support inclination angle of the arm frame is the maximum allowable inclination angle of the arm frame when the support leg of the working machine is at an actual support point, and the actual support point is used for dividing a working area of the arm frame by taking a connecting line from the actual support point to the rotation center of a turret of the working machine as a dividing line;
when the arm support moves to the limit inclination angle, controlling the arm support to stop;
the determining the proportional coefficient corresponding to the arm support based on the positions of the arm support and the supporting leg comprises the following steps:
determining a full support tilting edge and a real-time support tilting edge of an operation area where the arm support is currently located; the full support tipping edge is determined by the actual supporting point of the supporting leg;
determining a first vertical distance from a center of rotation of the turret to the full support tilt rim and a second vertical distance from the center of rotation of the turret to the real-time support tilt rim;
determining a scaling factor based on the first vertical distance and the second vertical distance;
the operation area is an area formed by connecting actual supporting points of two adjacent supporting legs with the rotation center of the arm support;
The controlling the boom in the second control mode includes:
acquiring the pressure of a target landing leg corresponding to the current operation area of the arm support;
controlling the boom based on the pressure of the target leg;
the working area is formed by dividing the working area of the arm support.
2. The control method according to claim 1, characterized in that the arm rest includes a plurality of arm sections, at least part of the plurality of arm sections being a target arm section;
the determining the limiting inclination angle of the arm support based on the proportionality coefficient and the full support inclination angle of the arm support comprises the following steps:
determining a target limiting inclination angle of the target arm segment based on the safety coefficient of the target arm segment, the full support inclination angle of the target arm segment and the proportionality coefficient;
when the arm support moves to the limit inclination angle, controlling the arm support to stop, including:
and controlling the target arm segment to stop when the target arm segment moves to the target limiting inclination angle.
3. The method of controlling a work machine according to claim 1, wherein the controlling the boom in the first control mode further comprises:
When the arm support moves to a transition area, judging whether the current inclination angle of the arm support is within the range of the limited inclination angle of the adjacent operation areas, wherein the central line of the transition area is the boundary line of the two adjacent operation areas;
if the judging result is negative, the current inclination angle of the arm support is adjusted or the turret is stopped.
4. The control method of a work machine according to claim 1, wherein the target legs include a first target leg having a minimum pressure and a second target leg having a second minimum pressure;
the controlling the boom based on the pressure of the target leg includes:
determining a first alternative opening based on a first pressure of the first target leg and a first target range;
determining a second alternative opening based on a second pressure of the second target leg and a second target range;
and determining the allowable opening of the boom control main valve based on the first alternative opening and the second alternative opening when the first pressure falls into a first target range and the second pressure falls into a second target range.
5. The control method of a work machine according to claim 1, characterized in that the work area is determined by:
Determining the connection lines from the actual supporting points of the four supporting legs to the rotation center of the turret;
and dividing the operation range of the arm support into eight operation areas around the rotation center by taking four connecting lines and rays led out from the rotation center to four directions of front, back, left and right as dividing lines.
6. A control method of a working machine according to any one of claims 1-3, characterized in that the determining that the target working position is outside the working range of the working end of the boom, switching into the second control mode, comprises:
when the target operation position is located outside the operation range of the operation end of the arm support, receiving a first input of a user;
switching into a second control mode in response to the first input;
or alternatively
Generating a control signal when the target operation position is out of the operation range of the operation end of the arm support;
based on the control signal, a second control mode is switched in.
7. A control device for a work machine, the work machine including a boom, the control device comprising:
the first control module is used for controlling the arm support in a first control mode;
the first switching module is used for determining that the target operation position is positioned outside the operation range of the operation end of the arm support and switching into a second control mode; wherein the method comprises the steps of
The safety coefficient of the second control mode is smaller than that of the first control mode.
8. A work machine comprising a boom and a control device according to claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the method of controlling a working machine according to any one of claims 1-5.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the method of controlling a work machine according to any one of claims 1-5.
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