CN115383758A - Engineering operation robot anti-overturning early warning device and method - Google Patents
Engineering operation robot anti-overturning early warning device and method Download PDFInfo
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- CN115383758A CN115383758A CN202211012725.3A CN202211012725A CN115383758A CN 115383758 A CN115383758 A CN 115383758A CN 202211012725 A CN202211012725 A CN 202211012725A CN 115383758 A CN115383758 A CN 115383758A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention provides an anti-overturning early warning device and method for an engineering operation robot, and belongs to the technical field of safety early warning of engineering machinery. The invention provides an anti-overturning early warning device for an engineering operation robot, which comprises a pressure sensor, an angle sensor, a distance sensor, an electro-hydraulic proportional valve, a controller and a terminal machine, wherein the pressure sensor is used for monitoring the pressure of a joint oil cylinder; the angle sensor is used for monitoring the angle of each component; the distance sensor is used for scanning the state of the chassis on the ground; the electro-hydraulic proportional valve is arranged at the hydraulic oil way main valve; the controller is used for receiving related data of the pressure sensor, the angle sensor and the distance sensor, controlling the starting of the electro-hydraulic proportional valve, reducing the speed of the vehicle and starting emergency braking; the terminal machine is connected with the controller to display the real-time state of each component. The anti-overturning early warning device and method for the engineering operation robot, provided by the invention, have the advantages that when the serious overturning risk is predicted, the vehicle is braked, the transformation cost is low, and the safety mechanism is complete.
Description
Technical Field
The invention belongs to the technical field of safety early warning of engineering machinery, and particularly relates to an anti-overturning early warning device and method for an engineering operation robot.
Background
The engineering operation robot is a common instrument for engineering operation, is often provided with multi-degree-of-freedom hydraulic grabbing equipment and comprises a chassis, a dozer blade, a cab, a large arm, a small arm, a clamping jaw and a joint oil cylinder and is used for grabbing an object, and when the grabbing load is high, the operation radius is large or the object travels on an unstructured road surface, the engineering operation robot is very easy to overturn. At present, most engineering operation robots can be operated in a cockpit and can also carry out object grabbing and carrying in a remote control mode, when the weight of an object needing grabbing and carrying is estimated inaccurately or the road surface condition cannot be judged, the risk of overturning of the engineering operation robot can be increased, and the risk occurrence probability must be reduced by adopting related technologies or methods. In the prior art, a related sensor is usually added when an engineering operation robot leaves a factory, and overturn judgment is carried out by using a moment judgment method, but the following problems exist: generally, the considered road condition is single, only the engineering operation robot is supported to advance on a flat road or an inclined road where the whole mechanical chassis is contacted with the road, the target weight cannot be accurately evaluated, the overturning risk caused by further action cannot be predicted, the data change cannot be visually observed, and emergency braking and alarming cannot be realized when the risk occurs.
Disclosure of Invention
The invention aims to provide an engineering operation robot overturn-prevention early warning device and method, and aims to solve the problems that an engineering operation robot has a single operation road condition, cannot accurately evaluate target weight, cannot predict overturn risks caused by further actions, cannot visually observe data changes, and cannot emergently brake and alarm when risks occur.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides an engineering operation robot prevents early warning device that topples, includes: the pressure sensors are arranged at an oil inlet and an oil outlet of the joint oil cylinder of the large arm and used for monitoring the pressure at the oil inlet and the oil outlet of the joint oil cylinder;
the angle sensor is arranged on a cab, a chassis, a dozer blade, a large arm, a small arm and a clamping jaw of the engineering operation robot, and is used for monitoring the angles of the cab, the chassis, the dozer blade, the large arm, the small arm and the clamping jaw and calibrating the angle difference values among the actually measured cab, the chassis, the dozer blade, the large arm, the small arm and the clamping jaw;
the distance sensor is arranged on the engineering operation robot and used for scanning the state of the engineering operation robot on the ground;
the electro-hydraulic proportional valve is arranged at a hydraulic oil way main valve of the engineering operation robot;
the controller is arranged on the engineering operation robot and used for receiving data of the pressure sensor, the angle sensor and the distance sensor, and the controller can control the opening or closing of the electro-hydraulic proportional valve to brake the engineering operation robot; and
and the terminal machine is communicated with the controller through a bus protocol, and can display the real-time state of each component by setting related parameters.
In a possible implementation manner, the terminal obtains the relevant data of the pressure sensor, the angle sensor and the distance sensor through the controller, calculates the target weight and the overturning moment through software and evaluates the overturning risk, and the terminal can control the controller to reduce the speed of the vehicle and start emergency braking.
In one possible implementation, the angle sensor is arranged far away from the rotary hinge parts on a cab, a chassis, a dozer blade, a large arm, a small arm and a clamping jaw of the engineering operation robot.
The anti-overturning early warning device for the engineering operation robot has the beneficial effects that:
compared with the prior art, the hydraulic control system comprises two groups of pressure sensors, an angle sensor, a distance sensor, an electro-hydraulic proportional valve, a controller and a terminal machine, wherein the two groups of pressure sensors are respectively arranged at an oil inlet and an oil outlet of a joint oil cylinder of a large arm, the pressure of the oil inlet and the oil outlet of the joint oil cylinder is monitored, the angle sensor is used for monitoring the angle change of a cab, a chassis, a dozer blade, the large arm, a small arm and a clamping jaw, the distance sensor is used for scanning the contact state of an engineering work robot and the ground, the electro-hydraulic proportional valve is arranged at a hydraulic oil way main valve of the engineering work robot, when danger early warning occurs, the engineering work robot is decelerated or braked, the controller receives the pressure sensor, the angle sensor and the distance sensor data and transmits the data to the terminal machine, the terminal machine displays the data and calculates the related data, the overturning risk is judged, the electro-hydraulic proportional valve is controlled by the controller, the engineering work robot is decelerated or braked, the installation and use difficulty is low, the activity can be quickly arranged on the same type of general engineering work robot, the related parameters can be set and adjusted and changed, and the flexibility is high; the terminal machine adopts a bus communication protocol, is convenient to be integrated with other types of intelligent equipment, can be arranged on a cab of a vehicle body or a remote control terminal in a wired and wireless communication mode, and an operator can visually observe risk conditions through a display of the terminal machine.
The anti-overturning early warning method for the engineering operation robot comprises the following steps:
s1, establishing a coordinate system of the engineering operation robot, wherein a coordinate origin is set at a projection position of a rotation center of the engineering operation robot on the ground, the x-axis direction of the coordinate system points to the advancing direction of the engineering operation robot, the y-axis direction of the coordinate system is perpendicular to the advancing direction of the engineering operation robot and points to the left side of the advancing direction, the x-axis and the y-axis are located on the same horizontal plane, the z-axis direction is perpendicular to the horizontal plane and points to the upper direction, and the mass of a chassis, a soil pushing shovel, a cab, a big arm, a small arm, a clamping jaw, a target and an operator is determined to be m j J =1,2,3,4,5,6,7,8 and centroid C j ，j＝1,2,3,4,5,6,7,8；
S2, acquiring overturning fulcrums, scanning a chassis part, which is in contact with the ground, of the engineering operation robot point by a distance sensor, defining the distance obtained by scanning as d, obtaining coordinates of a contact point with the ground according to the coordinates of the distance sensor and the length and the angle of the distance d, and judging the positions of the four fulcrums of the engineering operation robot according to the coordinate values of the contact point with the ground; four supporting points form a quadrangle, the middle value of the x-axis coordinate and the y-axis coordinate of two adjacent supporting points is calibrated to be an overturning point, and the overturning point is positioned on the plane of the x-axis and the y-axis, so that the overturning points in the front direction, the rear direction, the left direction and the right direction are determined to be p respectively j ，j＝1,2,3,4；
S3, acquiring target quality, controlling the small arm and the clamp to vertically face the ground direction after the target is grabbed, and comprehensively evaluating the target quality according to data of the angle sensor and the pressure sensor;
s4, calculating overturning moment, namely calculating the coordinates of the mass center of each subassembly according to the mass of each subassembly and the angle of each subassembly, wherein the mass of the part above the chassis is m U The center of mass is C U The mass of the chassis and the blade is m D The center of mass is C D The total mass m is the mass m of the part above the chassis U Mass m of the base plate and the dozer blade D And, define
Is the relative angle of rotation between the upper part of the chassis and the chassis, m U 、m D 、
Calculating by combining to obtain the integral mass center C of the engineering operation robot, and calculating according to the total mass m and the mass center C obtained by calculation to obtain the front and rear directional moments and the left and right directional moments of the engineering operation robot;
s5, defining a reference moment as a front-and-back direction moment and a left-and-right direction moment of the engineering operation robot in a stable state, defining a current moment as the front-and-back direction moment and the left-and-right direction moment of the engineering operation robot in the stable state, respectively calculating the reference moment of four overturning points and the current moment, defining the minimum value of the reference moments in the same direction as an overturning moment, and defining the ratio of the current moment of the overturning point to the reference moment as the overturning probability of the engineering operation robot;
s6, defining an overturning risk early warning threshold, and according to the real-time overturning probability, adjusting the early warning threshold to be classified into a non-stage, a low stage, a middle stage, a high stage and an accident stage, so as to realize graded early warning;
s7, dynamic overturning risk assessment based on motion prediction is carried out, the motion trends of a chassis and components of the engineering operation robot are predicted according to a current control instruction of the engineering operation robot in a speed and angular velocity integration mode, platform postures after self-defined moments such as 1,2 and 4 seconds are predicted, a predicted overturning moment is calculated according to the predicted platform postures, a predicted overturning probability is calculated, and an overturning risk early warning result after the self-defined moments and an operation action instruction at the current moment are sent to a display screen of a terminal;
and S8, automatic intervention of high-risk operation, namely when the engineering operation robot moves according to the current motion instruction and detects that the engineering operation robot enters a high-risk overturning state, providing sound and light alarm.
In one possible implementation, in step S2, z is the coordinate of the point of contact with the ground (i) The position of the fulcrum is determined by the change of the value, and the z of the coordinate of the contact point with the ground can be considered within a predetermined error range within a small threshold value in consideration of the unevenness of the ground height (i) A value of 0,z (i) The value is from negative to positive or from positive to negative, the fulcrum is located at z (i) Value 0 and end of chassis, if z (i) If the value is greater than zero, the pivot points are at both ends of the chassis, if z is (i) The value is greater than zero at the middle and less than zero at the two ends, the anterior and posterior branch points are located at z (i) The value is 0.
In a possible implementation manner, in step S3, a hinge point where the large arm is hinged to the chassis is used as a pivot, according to a moment balance principle, a moment of the large arm cylinder is equal to a resultant moment of the large arm, the small arm, the clamping jaw and the target mass, and according to a geometric relationship and mechanical parameters of the large arm cylinder, the large arm, the small arm and the clamping jaw, the target mass is obtained.
In a possible implementation manner, an included angle between a connecting line between a centroid of a component and a hinge point of the component and a connecting line between two hinge points of the component is defined as a fixed deviation angle, and a correlation length required by resultant moment calculation is obtained through geometric relation calculation through the fixed deviation angle, the length of each component and the like.
In a possible implementation manner, in step S5, when the engineering operation robot is in the steady state, each component of the engineering operation robot is kept in a static state and is in the steady state when being in the default initial state of retraction.
In one possible implementation, in step S8, upon detecting that a high risk upset condition is to be entered, the controller controls the electro-hydraulic proportional valve to reduce the speed of movement of the component.
In a possible implementation manner, in step S8, when it is detected that a high-risk overturning state is to be entered, the controller controls the electro-hydraulic proportional valve to lock the motion of the engineering operation robot.
The anti-overturning early warning device and method for the engineering operation robot have the beneficial effects that:
compared with the prior art, the overturning moment of the engineering operation robot body is considered and evaluated, variable factors such as fulcrum change, target weight, driver weight and angle change are added, so that the judgment result is more accurate, the prediction function is realized, the risk can be predicted, the emergency braking can be realized, the operation instruction causing the risk can be judged, and the safety operation coefficient and the judgment accuracy of machinery and personnel are further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an engineering operation robot provided by an embodiment of the invention;
FIG. 2 is a first flowchart of a rollover prevention warning method according to an embodiment of the present invention;
fig. 3 is a second flowchart of an anti-tip-over warning method according to an embodiment of the present invention.
In the figure: 1. a chassis; 2. a dozer blade; 3. a cab; 4. a large arm; 5. a small arm; 6. a clamping jaw; 7. a target; 9. a pressure sensor; 10. an angle sensor; 11. a distance sensor; 12. an electro-hydraulic proportional valve; 13. a controller; 14. a joint oil cylinder.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, a detailed description will now be made of an embodiment of an anti-overturning warning device and method for an engineering robot according to the present invention, including a pressure sensor 9, an angle sensor 10, a distance sensor 11, an electro-hydraulic proportional valve 12, a controller 13, and a terminal;
two groups of pressure sensors 9 are arranged, and the two groups of pressure sensors 9 are respectively arranged at an oil inlet and an oil outlet of a joint oil cylinder 14 of the large arm 4 and used for monitoring the pressure at the oil inlet and the oil outlet of the joint oil cylinder 14;
the angle sensors 10 are arranged in a plurality of numbers, and the angle sensors 10 are respectively arranged on a cab 3, a chassis 1, a dozer blade 2, a large arm 4, a small arm 5 and a clamping jaw 6 of the engineering operation robot, are arranged at positions, far away from a rotary hinged part, on the cab 3, the chassis 1, the dozer blade 2, the large arm 4, the small arm 5 and the clamping jaw 6, avoid the influence of relative rotation of the rotary hinged part of the assembly on the rotation angle of the assembly, are used for monitoring the angles of the cab 3, the chassis 1, the dozer blade 2, the large arm 4, the small arm 5 and the clamping jaw 6, and calibrate the actually measured difference values of the angles of all parts among the cab 3, the chassis 1, the dozer blade 2, the large arm 4, the small arm 5 and the clamping jaw 6;
the distance sensor 11 is arranged on the engineering operation robot, can be arranged at the top end of the engineering operation robot cab 3 and is used for scanning the state of the engineering operation robot on the ground, and can carry out point-by-point scanning on the part of the chassis 1 of the engineering operation robot, which is contacted with the ground, so as to obtain the distance between the distance sensor 11 and the contact point of the chassis 1 on the ground;
the electro-hydraulic proportional valve 12 is arranged at a hydraulic oil way main valve of the engineering operation robot, and the controller 13 can control the electro-hydraulic proportional valve 12;
the controller 13 is arranged on the engineering operation robot and used for receiving data of the pressure sensor 9, the angle sensor 10 and the distance sensor 11, transmitting the data to a terminal for analysis, and receiving instruction information fed back by the terminal, and once the engineering operation robot has a danger of overturning, the controller 13 can control the electro-hydraulic proportional valve 12 to be opened or closed so as to brake the engineering operation robot;
the terminal machine and the controller 13 communicate through a bus protocol, the terminal machine can display the real-time state of each component by setting related parameters, related software is arranged on the terminal machine, the terminal machine obtains related data of the pressure sensor 9, the angle sensor 10 and the distance sensor 11 through the controller 13, the weight of the target 7, the overturning moment and the overturning risk are calculated through the software, and the terminal machine can control the controller 13 to reduce the vehicle speed and start emergency braking.
The invention provides an anti-overturning early warning device for an engineering operation robot, which comprises a pressure sensor 9, an angle sensor 10, a distance sensor 11, an electro-hydraulic proportional valve 12, a controller 13 and a terminal machine, wherein the pressure sensor 9 is provided with two groups, the two groups are respectively arranged at an oil inlet and an oil outlet of a joint oil cylinder 14 of a large arm 4, the pressure of the oil inlet and the pressure of the oil outlet of the joint oil cylinder 14 are monitored, the angle sensor 10 is used for monitoring the angle change of a cab 3, a chassis 1, a soil pushing shovel 2, the large arm 4, a small arm 5 and a clamping jaw 6, the distance sensor 11 is used for scanning the contact state of the engineering operation robot and the ground, the electro-hydraulic proportional valve 12 is arranged at a hydraulic oil way main valve of the engineering operation robot, when danger early warning occurs, the engineering operation robot is decelerated or braked, the controller 13 receives the data of the pressure sensor 9, the angle sensor 10 and the data of the distance sensor 11 and transmits the data to the terminal machine, the terminal machine displays the data and calculates the related data, the overturning risk is judged, the overturning risk, the controller 13 controls the proportional valve 12 to control the engineering operation robot to decelerate or brake the engineering operation robot, the installation and the electro-hydraulic proportional valve is low in installation and use, the related engineering operation robot can be quickly arranged on the engineering robot, the same type engineering robot, the related parameters can be quickly adjusted, and the engineering robot can be arranged on the same type engineering, and the engineering operation; the terminal machine adopts a bus communication protocol, is convenient to integrate with other types of intelligent equipment, can be arranged on a cab 3 of a vehicle body or a remote control terminal in a wired and wireless communication mode, and an operator can visually observe risk conditions through a display of the terminal machine.
Referring to fig. 1 to 3, a detailed embodiment of an anti-overturning warning method for an engineering robot according to the present invention includes the following steps: establishing a coordinate system of an engineering operation robot, acquiring an overturning pivot, acquiring target quality, calculating overturning moment, evaluating criteria of overturning risk, defining an overturning risk early warning threshold, evaluating dynamic overturning risk based on motion prediction and automatically intervening high-risk operation.
S1, establishing a coordinate system of the engineering operation robot, wherein the origin of coordinates is set at the projection of the rotation center of a cab of the engineering operation robot on the ground, and the x-axis direction of the coordinate system points to the engineering operationThe advancing direction of the robot, the y-axis direction of the coordinate system is vertical to the advancing direction of the engineering operation robot and points to the left side of the advancing direction, the x-axis and the y-axis are positioned on the same horizontal plane and coincide with the ground, the z-axis direction is vertical to the horizontal plane and points upwards, namely vertical to the ground, and the mass m of the chassis, the dozer blade, the cab, the upper arm, the lower arm, the clamping jaw, the target and the operator is determined j J =1,2,3,4,5,6,7,8 and centroid C j J =1,2,3,4,5,6,7,8, wherein the mass and center of mass of the chassis, blade, cab, big arm, small arm, jaw may be provided by the manufacturer, the mass and center of mass of the target may be calculated, and the mass and center of mass of the operator may be measured;
s2, acquiring an overturning pivot, scanning a chassis part of the engineering operation robot contacted with the ground point by the distance sensor point by point, defining the distance d from the contact point of the chassis and the ground to the distance sensor by scanning, and defining the included angle theta between the distance d and a z axis i The distance sensor can be arranged at the top of a cab or other positions easy to install, the chassis part has certain width, the distance sensor is respectively arranged on one group of two sides of the chassis, so that the scanning of the contact points of the two sides of the chassis and the ground is convenient, the two groups of distance sensors are symmetrically arranged, and the coordinates of the distance sensors are (x) d ,y d ,z d ) The coordinate of the contact point with the ground is (x) i ,y i ,z i ) The distance sensor rotates in a vertical plane, and the distance sensor can read the length value of the distance d and the angle value theta i According to the coordinates of the distance sensor, the length d of the distance d, and the angle theta i Through the calculation of trigonometric function, the coordinate of the contact point with the ground is (dsin (theta) i )+x d ,±y d ,-dcos(θ i )+z d ) Wherein dsin (θ) i ) The x-axis coordinate of the scanned ground contact point is dsin (θ) for the length of the distance sensor in the x-axis direction from the scanned ground contact point i ) With the x-axis coordinate x of the distance sensor d The distance sensor is arranged in a vertical plane on one side of the chassis, and the length of the distance sensor in the y-axis direction of a ground contact point to be scanned is equal to the value of the y-axis coordinate value of the distance sensorEtc. of which dcos (theta) i ) Is the length of the distance sensor in the z-axis direction of the scanned ground contact point, and the z-axis coordinate of the scanned ground contact point is the z-axis coordinate of the distance sensor d And dcos (theta) i ) Judging the positions of four pivot points of the engineering operation robot according to the condition of the coordinate values of the contact points with the ground; z in z-axis coordinate of point of contact with ground (i) The change of the value is used for determining the position of the fulcrum and the z of the contact point of the fulcrum and the ground (i) The change of the value is changed along with the road condition of the ground, and when the engineering operation robot moves on the slope, the z of the contact point with the ground (i) The value changes from positive to negative or from negative to positive, when the engineering operation robot may roll the brick or other foreign matter when the ground is not flat, the distance sensor scans the contact point of the chassis and the brick or other foreign matter, and the obtained z is (i) Positive value, when the engineering operation robot moves on the sandy soil road surface, the sandy soil can be lifted, and the obtained z is (i) The value is the point at which the raised sandy soil contacts the chassis, the z obtained at this time (i) Height above ground, resulting in z (i) The value is positive, considering the unevenness of the ground height, within a prescribed calculation error range, the z of the coordinates of the point of contact with the ground can be considered within a small threshold (i) A value of 0,z (i) The value is from negative to positive or from positive to negative, in z (i) At a value of 0, the ground supports the engineering robot and simultaneously supports one end of the chassis, and z is determined (i) The position with the value of 0 is a fulcrum and one end of the chassis, if z is (i) The value is always larger than zero, the engineering operation robot runs on the sandy soil ground, the chassis sinks, the sandy soil supports the two ends of the chassis, the two ends of the chassis are determined as supporting points, and if z is greater than zero, the engineering operation robot operates on the sandy soil ground, the chassis sinks, the sandy soil supports the two ends of the chassis, and the two ends of the chassis are determined as supporting points (i) The value is greater than zero at the middle and less than zero at the two ends, at z (i) The value is 0, the engineering operation robot is supported by the ground, and then the front side branch point and the rear side branch point are respectively positioned at z (i) At a value of 0; four pivot points of the engineering operation robot positioned at the left front, the right front, the left rear and the right rear can be obtained, and the engineering operation robot is judged according to the conventional overturning condition, generally considered to be the engineering operation robot positioned at the front, the rear, the left and the rightThe overturning situation is judged according to the overturning possibility of the engineering operation robot in four directions of direct front, direct back, direct left and direct right, the four fulcrums form a quadrangle, the middle value of the x-axis coordinate and the y-axis coordinate of the two adjacent fulcrums is calibrated to be an overturning point, the overturning point is positioned on the plane of the x-axis and the y-axis, and therefore the overturning points in the four directions of front, back, left and right are determined to be p respectively j ，j＝1,2,3,4；
S3, acquiring target quality, controlling the small arm and the clamp to vertically face the ground direction after the target is grabbed, and comprehensively evaluating the target quality according to data of the angle sensor and the pressure sensor; the method comprises the steps of taking a hinged point of a large arm hinged on a chassis as a fulcrum, obtaining target mass according to a moment balance principle, wherein the moment of a large arm oil cylinder is equal to the resultant moment of the large arm, a small arm, a clamping jaw and the target mass, obtaining the target mass according to a geometrical relation and mechanical parameters of the large arm oil cylinder, the large arm, the small arm and the clamping jaw, defining an included angle between a connecting line between a mass center of a component and the hinged point of the component and a connecting line between two hinged points of the component as a fixed deviation angle, and obtaining the relevant length required by calculation of the resultant moment through the geometrical relation calculation through the fixed deviation angle, the length of each component and the like.
S4, calculating overturning moment, namely calculating the coordinates of the mass center of each part assembly by combining the mass of each part assembly and the angle of each part assembly with the known mechanical parameters of each part assembly, wherein the mass of the part above the chassis is m U ，m U The sum of the masses of the parts above the chassis,
center of mass of C U ,m i /m U The ratio of the mass of one of the parts to the total mass, the centre of mass C U Is the sum of the products of the mass center of each part above the chassis and the ratio,
the mass of the chassis and the blade is m D The center of mass is C D ，m D The sum of the mass of the chassis and the mass of the blade,
center of mass of C D ,m i /m D The ratio of the mass of one of the parts to the total mass, the centre of mass C D Is the sum of the products of the center of mass of the chassis and the blade and the ratio,
the total mass m is the mass m of the part above the chassis U Mass m of the base plate and the dozer blade D And, m = m U +m D Definition of
Is the relative angle of rotation between the upper part of the chassis and the chassis, m U 、m D 、
C D 、C U The mass center C of the whole engineering operation robot is obtained by combining the rotation matrix calculation,
calculating the front and rear direction moments and the left and right direction moments of the engineering operation robot according to the calculated total mass m and the centroid C, and selecting p j For the forward overturning point, calculate the forward moment, select p j Calculating the rear moment for the rear overturning point, and selecting p j Calculating left moment for the left overturning point, and selecting p j The right moment is calculated for the overturning point at the right side, and the calculation formula of the front and rear direction moments of the engineering operation robot is M pj ＝mgcosθ(p j (x) -C (x)) -mgsin θ C (z), where θ is the pitch angle of the engineering robot, i.e. the angle between the horizontal plane and the vector parallel to the axis of the chassis of the engineering robot and pointing in front of the movement of the engineering robot, and the forward and backward moments are the sum of the moments of the total mass m in the direction of the x axis, and the total weight mg of the engineering robot is resolved along the x axis and the z axis by means of geometrical and physical relationships
The difference between the moment of the gravity mg on the x axis and the z axis, the included angle between the gravity mg and the horizontal plane is 90 degrees, the included angle between the gravity mg and the xoy plane is the complementary angle of theta, namely the included angle between the gravity mg and the z axis is equal to the value of theta, the force of the gravity mg acting on the x axis is mgcos theta, and the generated force arm is the difference p between the overturning point and the x coordinate of the particle j (x) -C (x), the moment of gravity mg on the x-axis being mgcos θ (p) j (x) -C (x)), the force of gravity mg acting on the z-axis is mgsin θ, the moment arm generated is the z coordinate C (z) of the mass point, the moment of gravity mg on the z-axis is mgsin θ C (z), and the moment in the front and back directions is obtained
The left and right direction moment calculation formula of the engineering operation robot is
Wherein phi is the rolling angle of the engineering operation robot, namely the included angle between the vector which is parallel to the axis of the chassis of the engineering operation robot and points to the left of the motion of the engineering operation robot and a horizontal plane, the left and right directional moments are the sum of the moments of all the masses m in the direction of the y axis, all the gravity mg of the engineering operation robot is decomposed along the y axis and the z axis by means of geometric relationship and physical relationship, and the left and right directional moments
The difference between the moment of the gravity mg on the y axis and the z axis, the included angle between the gravity mg and the horizontal plane is 90 degrees, the included angle between the gravity mg and the xoy plane is a residual angle phi, namely the included angle between the gravity mg and the z axis is equal to the phi value, the force of the gravity mg acting on the y axis is mgcos phi, and the generated force arm is the difference p between the y coordinates of the overturning point and the mass point j (y) -C (y), the moment of gravity mg on the y-axis is mgcos phi (p) j (y) -C (y)), the force of gravity mg acting on the z-axis is mgsin phi, the generated moment arm is the z coordinate C (z) of the mass point, the moment of gravity mg on the z-axis is mgsin phi C (z), and the moment in the front and back directions is obtained
S5, defining a criterion of overturn risk evaluation, defining reference moments as front and rear direction moments or left and right direction moments of four overturn points of the engineering operation robot in a stable state, defining a current moment as the front and rear direction moments or the left and right direction moments of the four overturn points in the state, respectively calculating the reference moments and the current moment of the four overturn points, defining the minimum value in the reference moments in the same direction
The ratio of the moment of the overturning point at the current moment to the minimum value of the reference moment is the overturning probability of the engineering operation robot
When the engineering operation robot is in a stable state, all components of the engineering operation robot are kept in a static state and are in a stable state when being positioned in a default retraction initial state;
s6, defining an overturning risk early warning threshold, and according to the real-time overturning probability, adjusting the early warning threshold to be classified into a non-stage, a low stage, a middle stage, a high stage and an accident stage, so as to realize graded early warning;
s7, dynamic overturning risk assessment based on motion prediction is carried out, the motion trends of a chassis and components of the engineering operation robot are predicted according to a current control instruction of the engineering operation robot in a speed and angular velocity integration mode, platform postures after self-defined moments such as 1,2 and 4 seconds are predicted, a predicted overturning moment is calculated according to the predicted platform postures, a predicted overturning probability is calculated, and an overturning risk early warning result after the self-defined moments and an operation action instruction at the current moment are sent to a display screen of a terminal;
s8, automatic intervention of high-risk operation is carried out, and when the engineering operation robot moves according to the current motion instruction and the high-risk overturning state is detected to enter, sound and light alarm is provided; in step S8, when the high-risk overturning state is detected to be entered, the controller controls the electro-hydraulic proportional valve so as to reduce the movement speed of the component; when the high-risk overturning state is detected to be entered, the controller controls the electro-hydraulic proportional valve to lock the movement of the engineering operation robot.
Compared with the prior art, the early warning method for preventing the engineering operation robot from overturning provided by the invention considers and evaluates the overturning moment of the engineering operation robot body, and also adds variable factors such as fulcrum change, target weight, driver weight, angle change and the like, so that the judgment result is more accurate, the early warning method has a prediction function, can be used for predicting risks and realizing emergency braking, can be used for judging operation instructions causing the risks, and further improves the safety operation coefficient and the judgment accuracy of machinery and personnel.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an engineering operation robot prevents early warning device that topples which characterized in that includes:
the pressure sensors are arranged at an oil inlet and an oil outlet of the joint oil cylinder of the large arm and are used for monitoring the pressure at the oil inlet and the oil outlet of the joint oil cylinder;
the angle sensor is arranged on a cab, a chassis, a dozer blade, a large arm, a small arm and a clamping jaw of the engineering operation robot, is used for monitoring the angles of the cab, the chassis, the dozer blade, the large arm, the small arm and the clamping jaw, and calibrating the actually measured angle difference among the cab, the chassis, the dozer blade, the large arm, the small arm and the clamping jaw;
the distance sensor is arranged on the engineering operation robot and used for scanning the state of the engineering operation robot on the ground;
the electro-hydraulic proportional valve is arranged at a hydraulic oil way main valve of the engineering operation robot;
the controller is arranged on the engineering operation robot and used for receiving data of the pressure sensor, the angle sensor and the distance sensor, and the controller can control the opening or closing of the electro-hydraulic proportional valve to brake the engineering operation robot; and
and the terminal machine is communicated with the controller through a bus protocol, and can display the real-time state of each component by setting related parameters.
2. The engineering operation robot anti-overturning early warning device as claimed in claim 1, wherein the terminal obtains the relevant data of the pressure sensor, the angle sensor and the distance sensor through the controller, calculates the target weight and the overturning moment through software and evaluates the overturning risk, and the terminal can control the controller to reduce the speed and start the emergency brake.
3. The overturn preventing early warning device for the construction operation robot as claimed in claim 1, wherein the angle sensor is arranged far away from the rotary hinged parts on the cab, the chassis, the dozer blade, the large arm, the small arm and the clamping jaw of the construction operation robot.
4. An engineering operation robot anti-overturning early warning method is characterized in that the engineering operation robot anti-overturning early warning device according to any one of claims 1-3 is used, and the method comprises the following steps:
s1, establishing a coordinate system of the engineering operation robot, wherein an origin of coordinates is set at a projection position of a rotation center of the engineering operation robot on the ground, an x-axis direction of the coordinate system points to an advancing direction of the engineering operation robot, a y-axis direction of the coordinate system is perpendicular to the advancing direction of the engineering operation robot and points to the left side of the advancing direction, the x-axis and the y-axis are located on the same horizontal plane, a z-axis direction is perpendicular to the horizontal plane and points to the upper side, and the mass m of a chassis, a soil pushing shovel, a cab, a big arm, a small arm, a clamping jaw, a target and an operator is determined j J =1,2,3,4,5,6,7,8 and centroid C j ，j＝1,2,3,4,5,6,7,8；
S2, acquiring overturning pivot points, scanning a chassis part of the engineering operation robot contacted with the ground point by a distance sensor, defining the distance obtained by scanning as d, obtaining the coordinate of a contact point with the ground according to the coordinate of the distance sensor and the length and the angle of the distance d, and determining the positions of four pivot points of the engineering operation robot through the coordinate value of the contact point with the ground; four supporting points form a quadrangle, the middle value of the x-axis coordinate and the y-axis coordinate of two adjacent supporting points is calibrated to be an overturning point, and the overturning point is positioned on the plane of the x-axis and the y-axis, so that the overturning points in the front direction, the rear direction, the left direction and the right direction are determined to be p respectively j ，j＝1,2,3,4；
S3, acquiring target quality, controlling the small arm and the clamp to vertically face the ground direction after the target is grabbed, and comprehensively evaluating the target quality according to data of the angle sensor and the pressure sensor;
s4, calculating overturning moment, namely calculating the coordinate of the mass center of each component according to the mass of each component and the angle of each component, wherein the mass of the part above the chassis is m U The center of mass is C U The mass of the chassis and the blade is m D The center of mass is C D The total mass m is the mass m of the part above the chassis U Mass m of the base plate and the dozer blade D And, definition of
Is the relative angle of rotation between the upper part of the chassis and the chassis, m U 、m D 、
Calculating by combining to obtain the integral mass center C of the engineering operation robot, and calculating according to the total mass m and the mass center C obtained by calculation to obtain the front and rear directional moments and the left and right directional moments of the engineering operation robot;
s5, defining a reference moment as a front direction moment, a rear direction moment, a left direction moment and a right direction moment of the engineering operation robot in a stable state, defining a current moment as the front direction moment, the rear direction moment, the left direction moment and the right direction moment of the engineering operation robot in the stable state, respectively calculating to obtain the reference moments and the current moment of four overturning points, defining the minimum value in the reference moments in the same direction as an overturning moment, and defining the ratio of the current moment of the overturning points to the reference moment as the overturning probability of the engineering operation robot;
s6, defining an overturning risk early warning threshold, and according to the real-time overturning probability, adjusting the early warning threshold to be classified into a non-stage, a low stage, a middle stage, a high stage and an accident stage, so as to realize graded early warning;
s7, dynamic overturning risk assessment based on motion prediction is carried out, the motion trends of a chassis and components of the engineering operation robot are predicted according to a current control instruction of the engineering operation robot in a speed and angular velocity integration mode, platform postures after self-defined moments such as 1,2 and 4 seconds are predicted, a predicted overturning moment is calculated according to the predicted platform postures, a predicted overturning probability is calculated, and an overturning risk early warning result after the self-defined moments and an operation action instruction at the current moment are sent to a display screen of a terminal;
and S8, automatic intervention of high-risk operation is carried out, and when the engineering operation robot moves according to the current motion instruction and detects that the engineering operation robot enters a high-risk overturning state, sound and light alarm is provided.
5. The anti-overturning early warning method for engineering work robot as claimed in claim 4, wherein in step S2, z is the coordinate of the contact point with the ground (i) The position of the fulcrum is determined by the change of the value, and the z of the coordinate of the contact point with the ground can be considered within a predetermined error range within a small threshold value in consideration of the unevenness of the ground height (i) A value of 0,z (i) The value is from negative to positive or from positive to negative, the pivot point is located at z (i) Value 0 and end of chassis, if z (i) If the value is greater than zero, the pivot points are at both ends of the chassis, if z is (i) The value is greater than zero at the middle and less than zero at the two ends, the anterior and posterior branch points are located at z (i) The value is 0.
6. The anti-overturning early warning method for the engineering operation robot as claimed in claim 4, wherein in step S3, the moment of the large arm cylinder is equal to the resultant moment of the large arm, the small arm, the clamping jaw and the target mass by taking the hinge point of the large arm hinged to the chassis as a fulcrum according to a moment balance principle, and the target mass is obtained according to a geometrical relationship and mechanical parameters of the large arm cylinder, the large arm, the small arm and the clamping jaw.
7. The anti-overturning early warning method for the engineering operation robot as claimed in claim 6, wherein an included angle between a connecting line between a center of mass of a component and a hinge point of the component and a connecting line between two hinge points of the component is defined as a fixed deviation angle, and a correlation length required by resultant moment calculation is obtained through geometric relation calculation through the fixed deviation angle, the length of each component and the like.
8. The method as claimed in claim 4, wherein in step S5, the components of the engineering robot are kept static and are in a stable state at a default initial state of retraction.
9. The early warning method for preventing engineering operation robot from overturning as claimed in claim 4, wherein in step S8, when detecting that a high risk overturning state is about to be entered, the controller controls the electro-hydraulic proportional valve so as to reduce the movement speed of the component.
10. The anti-overturning early warning method for the engineering operation robot as claimed in claim 9, wherein in step S8, when it is detected that a high risk overturning state is about to be entered, the controller controls the electro-hydraulic proportional valve to lock the motion of the engineering operation robot.
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