CN115848522A - Control device and control method for engineering machinery and engineering machinery - Google Patents
Control device and control method for engineering machinery and engineering machinery Download PDFInfo
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- CN115848522A CN115848522A CN202211644127.8A CN202211644127A CN115848522A CN 115848522 A CN115848522 A CN 115848522A CN 202211644127 A CN202211644127 A CN 202211644127A CN 115848522 A CN115848522 A CN 115848522A
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Abstract
The embodiment of the invention provides a control device and a control method for engineering machinery and the engineering machinery, and belongs to the field of engineering machinery. The construction machine includes a traveling device, a boom, and an operation lever, and the control device for the construction machine includes: the first position detection equipment is arranged on four symmetrical positions of the walking device and used for detecting first positions of the four symmetrical positions; the second position detection equipment is arranged on the movable arm and used for detecting a second position where the movable arm is located; and the controller is configured to: receiving a first position detected by the first position detecting device and a second position detected by the second position detecting device; determining a deflection angle between the movable arm and the walking device according to the first position and the second position; and under the condition of receiving the walking signal of the operating rod, controlling the walking device to act according to the deflection angle and the walking signal so as to realize the walking action of the walking device. The embodiment of the invention can reduce the potential safety hazard.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a control device and a control method for engineering machinery and the engineering machinery.
Background
Since a work machine (e.g., a crawler excavator, a crawler crane, etc.) can achieve 360-degree rotation of the boarding portion, it is often the case that the boarding portion (i.e., the cab) and the chassis (i.e., the running gear, including the tracks) are not in the same direction, or even in opposite directions (e.g., the boarding portion is rotated 180 degrees relative to the chassis) during operation. In this state, the driver of the construction machine pushes the walking operation lever to move forward, and other actions such as backward movement, left turn, right turn, etc. which cannot be predicted may be generated, thereby causing a serious safety hazard to production safety.
Disclosure of Invention
The embodiment of the invention aims to provide a control device, a control method, a processor and engineering machinery for engineering machinery, so as to solve the problem of potential safety hazards in the prior art.
In order to achieve the above object, a first aspect of an embodiment of the present invention provides a control device for a construction machine, the construction machine including a traveling device, a boom, and an operation lever for receiving a traveling signal indicating forward or backward movement of the traveling device, the control device including:
the first position detection equipment is arranged on four symmetrical positions of the walking device and used for detecting first positions of the four symmetrical positions;
the second position detection equipment is arranged on the movable arm and used for detecting a second position where the movable arm is located; and
a controller in communicative connection with the first position detection device, the second position detection device, the joystick, and the walking device, configured to:
receiving a first position detected by the first position detection device and a second position detected by the second position detection device;
determining a deflection angle between the movable arm and the walking device according to the first position and the second position;
and under the condition of receiving a traveling signal of the operating rod, controlling the traveling device to move according to the deflection angle and the traveling signal so as to realize the traveling movement of the traveling device, wherein the advancing direction of the traveling device is the same as the direction in which the movable arm is located, and the retreating direction of the traveling device is opposite to the direction in which the movable arm is located.
In an embodiment of the present invention, the controller is configured to control the walking device to act according to the deflection angle and the walking signal, and comprises: the controller is configured to: comparing the deflection angle with a preset deflection angle interval; under the condition that the deflection angle is not within the preset deflection angle interval, controlling the traveling device to turn so that the deflection angle between the movable arm and the traveling device is within the preset deflection angle interval; and controlling the walking device to walk according to the direction indicated by the walking signal.
In an embodiment of the invention, the controller is further configured to: and controlling the walking device to walk according to the direction indicated by the walking signal under the condition that the deflection angle is within the preset deflection angle interval.
In an embodiment of the present invention, the controller is configured to determine a deflection angle between the boom and the traveling apparatus according to the first position and the second position, including: the controller is configured to: connecting every two adjacent first positions in a pairwise manner to obtain a rectangular frame; determining the central position of the rectangular frame; obtaining a target connecting line between the second position and the central position according to the second position and the central position; determining a perpendicular bisector of each side length of the rectangular frame; and determining the minimum included angle between the target connecting line and the perpendicular bisector to obtain the deflection angle.
A second aspect of the embodiments of the present invention provides a control method for an engineering machine, where the engineering machine includes a traveling device, a movable arm, and an operation lever, the operation lever is configured to receive a traveling signal indicating that the traveling device is moving forward or backward, four symmetric positions of the traveling device are respectively provided with first position detection devices for detecting first positions where the four symmetric positions are respectively located, and the movable arm is provided with a second position detection device for detecting a second position where the movable arm is located; the control method comprises the following steps:
receiving a first position detected by the first position detecting device and a second position detected by the second position detecting device;
determining a deflection angle between the movable arm and the walking device according to the first position and the second position;
and under the condition of receiving a traveling signal of the operating rod, controlling the traveling device to move according to the deflection angle and the traveling signal so as to realize the traveling movement of the traveling device, wherein the advancing direction of the traveling device is the same as the direction in which the movable arm is located, and the retreating direction of the traveling device is opposite to the direction in which the movable arm is located.
In the embodiment of the invention, the action of the walking device is controlled according to the deflection angle and the walking signal, and the method comprises the following steps: comparing the deflection angle with a preset deflection angle interval; under the condition that the deflection angle is not within the preset deflection angle interval, controlling the traveling device to turn so that the deflection angle between the movable arm and the traveling device is within the preset deflection angle interval; and controlling the walking device to walk according to the direction indicated by the walking signal.
In the embodiment of the present invention, the control method further includes: and controlling the walking device to walk according to the direction indicated by the walking signal under the condition that the deflection angle is within the preset deflection angle interval.
In an embodiment of the present invention, determining a deflection angle between the boom and the traveling apparatus according to the first position and the second position includes: connecting every two adjacent first positions in pairs to obtain a rectangular frame; determining the central position of the rectangular frame; obtaining a target connecting line between the second position and the central position according to the second position and the central position; determining a perpendicular bisector of each side length of the rectangular frame; and determining the minimum included angle between the target connecting line and the perpendicular bisector to obtain the deflection angle.
A third aspect of an embodiment of the present invention provides a processor configured to execute the control method for a construction machine according to the above.
A fourth aspect of an embodiment of the present invention provides an engineering machine, including: a traveling device; a movable arm; the operating rod is used for receiving a walking signal for indicating the walking device to move forwards or backwards; and a control device for a construction machine according to the above.
According to the technical scheme, the first position detection equipment is arranged on the traveling device, the second position detection equipment is arranged on the movable arm, so that the controller obtains first positions where four symmetrical directions of the traveling device detected by the first position detection equipment are respectively located, obtains a second position where the movable arm is located detected by the second position detection equipment, determines a deflection angle between the movable arm and the traveling device according to the first positions and the second positions, and controls the traveling device to move according to the deflection angle and a traveling signal under the condition that the traveling signal of the operating rod is received, so that the traveling action of the traveling device is realized, wherein the advancing direction of the traveling device is the same as the direction where the movable arm is located, and the retreating direction of the traveling device is opposite to the direction where the movable arm is located. According to the scheme, the controller controls the traveling device to act according to the deflection angle between the movable arm and the traveling device and the received traveling signal of the operating rod, so that the advancing direction of the traveling device is the same as the direction in which the movable arm is located, the retreating direction of the traveling device is opposite to the direction in which the movable arm is located, the traveling device of the engineering machine moves according to the direction in which the movable arm is located, the phenomenon of misoperation of a driver can be avoided, potential safety hazards are reduced, the problem that the engineering machine can only move according to the specified direction of a crawler in the prior art is solved, and the flexibility of the engineering machine is improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention and not to limit the embodiments of the invention. In the drawings:
fig. 1 is a schematic view showing a configuration of a control apparatus for a construction machine according to an embodiment of the present invention;
FIG. 2 schematically illustrates a flow chart of a control method for a work machine according to an embodiment of the present disclosure;
FIG. 3 is a schematic view showing the installation position of the first position detecting apparatus in one embodiment of the present invention;
FIG. 4 is a schematic view showing the installation position of the second position detecting device in one embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the position of a boom and a traveling apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic view showing the position of a boom and a traveling apparatus according to another embodiment of the present invention;
FIG. 7 is a schematic view showing the position of a boom and a traveling apparatus according to another embodiment of the present invention;
FIG. 8 is a schematic view showing the position of a boom and a traveling apparatus according to another embodiment of the present invention;
fig. 9 is a schematic view illustrating a deflection angle between a boom and a traveling apparatus according to an embodiment of the present invention.
Description of the reference numerals
301. Position sensor A302 position sensor B
303. Position sensor C304 position sensor D
401. Position sensor E
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indication is changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Fig. 1 schematically shows a structural diagram of a control apparatus for a construction machine according to an embodiment of the present invention. As shown in fig. 1, in an embodiment of the present invention, there is provided a control apparatus for a construction machine, the construction machine including a traveling apparatus, a boom, and a lever for receiving a traveling signal indicating forward or backward movement of the traveling apparatus, the control apparatus may include a first position detecting device 102, a second position detecting device 104, and a controller 106, wherein the first position detecting device 102 is disposed at four symmetrical positions of the traveling apparatus for detecting first positions at which the four symmetrical positions are respectively located, the second position detecting device 104 is disposed at the boom for detecting a second position at which the boom is located, the controller 106 is communicatively connected to the first position detecting device 102, the second position detecting device 104, the lever, and the traveling apparatus, and the controller 106 is configured to: receiving a first position detected by the first position detection device 102 and a second position detected by the second position detection device 104; determining a deflection angle between the movable arm and the walking device according to the first position and the second position; and under the condition of receiving a traveling signal of the operating rod, controlling the traveling device to move according to the deflection angle and the traveling signal so as to realize the traveling movement of the traveling device, wherein the advancing direction of the traveling device is the same as the direction in which the movable arm is located, and the retreating direction of the traveling device is opposite to the direction in which the movable arm is located.
It is understood that the running gear, i.e., the chassis, may include a track frame and a running system. The first position detection device 102 and the second position detection device 104 are detection devices for detecting position information, and may include, for example, position sensors or the like. The first position detection devices 102 are disposed at four symmetrical positions of the traveling device, that is, the first position detection devices 102 are disposed at four symmetrical positions of the traveling device, and are used for detecting position information of the four symmetrical positions of the traveling device, respectively, and the first positions are position information of the four symmetrical positions of the traveling device. The second position detecting device 104 is disposed on the boom so as to detect position information of the boom, and the second position is the position information of the boom. Understandably, the boom of a work machine (e.g., a crawler excavator, a crawler crane, etc.) is typically positioned in front of the upper vehicle portion, i.e., the cab, i.e., the direction in which the boom is positioned is typically in front of what the driver is facing. The deflection angle between the movable arm and the traveling device is the included angle between the movable arm and the traveling device.
Specifically, the controller 106 may receive a first position of the four directions of the traveling device detected by the first position detecting device 102 and a second position of the boom detected by the second position detecting device 104, and may further determine a deflection angle between the boom and the traveling device according to the first position and the second position, so that when a traveling signal of the joystick is received, the traveling device may be controlled to move according to the deflection angle and the traveling signal, wherein the traveling device moves forward in the same direction as the boom, and the traveling device moves backward in the opposite direction as the boom. That is, when the driver pushes the operation lever forward, the operation lever receives a traveling signal indicating that the traveling apparatus is advanced, the controller 106 may control the traveling apparatus to move in a direction in which the current boom is located (i.e., in front of the driver in the cab), and when the driver pushes the operation lever backward, the operation lever receives a traveling signal indicating that the traveling apparatus is retracted, and the controller 106 may control the traveling apparatus to move in a direction opposite to the direction in which the current boom is located (i.e., behind the driver in the cab). More specifically, when the deflection angle is too large, the controller controls the traveling device to turn until the deflection angle is within the preset angle interval, and then controls the traveling device to execute the traveling action, so that the traveling action of the traveling device can be realized.
According to the control device for the engineering machinery, the first position detection equipment is arranged on the traveling device, the second position detection equipment is arranged on the movable arm, so that the controller obtains the first positions of the four symmetrical positions of the traveling device detected by the first position detection equipment respectively, obtains the second position of the movable arm detected by the second position detection equipment, determines the deflection angle between the movable arm and the traveling device according to the first positions and the second positions, and controls the traveling device to move according to the deflection angle and the traveling signal under the condition of receiving the traveling signal of the operating rod, so that the traveling action of the traveling device is realized, wherein the advancing direction of the traveling device is the same as the direction of the movable arm, and the retreating direction of the traveling device is opposite to the direction of the movable arm. According to the scheme, the controller controls the traveling device to act according to the deflection angle between the movable arm and the traveling device and the received traveling signal of the operating rod, so that the advancing direction of the traveling device is the same as the direction in which the movable arm is located, the retreating direction of the traveling device is opposite to the direction in which the movable arm is located, the traveling device of the engineering machine moves according to the direction in which the movable arm is located, the phenomenon of misoperation of a driver can be avoided, potential safety hazards are reduced, the problem that the engineering machine can only move according to the specified direction of a crawler in the prior art is solved, and the flexibility of the engineering machine is improved.
In one embodiment, the controller is configured to control the walking device action according to the deflection angle and the walking signal, and comprises: the controller is configured to: comparing the deflection angle with a preset deflection angle interval; controlling the traveling device to turn under the condition that the deflection angle is not within the preset deflection angle interval, so that the deflection angle between the movable arm and the traveling device is within the preset deflection angle interval; and controlling the walking device to walk according to the direction indicated by the walking signal.
It is understood that the preset deflection angle section is a preset smaller deflection angle section between the boom and the traveling device, for example, 0 to 10 degrees.
Specifically, the controller may compare the deflection angle between the boom and the traveling device with a preset deflection angle interval, and when the deflection angle is not within the preset deflection angle interval, the controller may control the traveling device (including the crawler belt) to turn until the deflection angle between the boom and the traveling device is within the preset deflection angle interval, and further may control the traveling device to travel in the direction indicated by the traveling signal, for example, if the traveling signal indicates that the traveling device is moving forward, the traveling device (including the crawler belt) may be controlled to travel in the direction in which the boom is located (i.e., in front of the driver), and if the traveling signal indicates that the traveling device is moving backward, the traveling device (including the crawler belt) may be controlled to travel in the direction opposite to the direction in which the boom is located (i.e., behind the driver).
In the embodiment of the application, when the deflection angle between the movable arm and the traveling device is too large (i.e., exceeds the preset deflection angle interval), the traveling device may be controlled to turn first until the deflection angle between the movable arm and the traveling device is within the preset deflection angle interval, and then the traveling device is controlled to move forward or backward according to the direction of the movable arm, so as to further improve the safety of the engineering machine.
In one embodiment, the controller is further configured to: and controlling the walking device to walk according to the direction indicated by the walking signal under the condition that the deflection angle is within the preset deflection angle interval.
Specifically, when the deflection angle between the boom and the traveling device is within the preset deflection angle interval, the controller may control the traveling device to travel in the direction indicated by the traveling signal directly, for example, if the traveling signal indicates that the traveling device is moving forward, the traveling device (including the crawler belt) may be controlled to travel in the direction in which the boom is located (i.e., in front of the driver), and if the traveling signal indicates that the traveling device is moving backward, the traveling device (including the crawler belt) may be controlled to travel in the direction opposite to the direction in which the boom is located (i.e., behind the driver).
In one embodiment, the controller is configured to determine a yaw angle between the boom and the traveling apparatus according to the first position and the second position, including: the controller is configured to: connecting every two adjacent first positions in pairs to obtain a rectangular frame; determining the central position of the rectangular frame; obtaining a target connecting line between the second position and the central position according to the second position and the central position; determining a perpendicular bisector of each side length of the rectangular frame; and determining the minimum included angle between the target connecting line and the perpendicular bisector to obtain the deflection angle.
It is understood that the target line is a line passing through both the second position and the center position of the rectangular frame.
Specifically, after obtaining each first position, the controller may perform two-to-two connection on each adjacent first position, so as to obtain a rectangular frame, and further may determine a center position of the rectangular frame, for example, determine a center position of the rectangular frame according to an intersection point of two diagonal lines of the rectangular frame, and perform connection according to a second position and the center position, so as to obtain a target connection line between the second position and the center position, and further determine a perpendicular bisector of each side length of the rectangular frame, and understandably, the perpendicular bisector passes through the center position of the rectangular frame, and determine a minimum included angle between the target connection line and the perpendicular bisector, so as to obtain a deflection angle between the movable arm and the traveling device.
In the embodiment of the application, the rectangular frame can be determined according to the four first positions, the target connecting line can be determined according to the second position and the central position of the rectangular frame, the deflection angle between the movable arm and the walking device can be further determined according to the target connecting line and the perpendicular bisector of the rectangular frame, and the accuracy of the deflection angle is improved.
Fig. 2 schematically shows a flow chart of a control method for a working machine in an embodiment of the present invention. As shown in fig. 2, in an embodiment of the present invention, a control method for an engineering machine is provided, where the engineering machine includes a traveling device, a boom, and an operation lever, the operation lever is configured to receive a traveling signal indicating that the traveling device moves forward or backward, first position detection devices are respectively disposed on four symmetric orientations of the traveling device and are configured to detect first positions at which the four symmetric orientations are respectively located, and a second position detection device is disposed on the boom and is configured to detect a second position at which the boom is located, and the control method is described by taking an example where the control method is applied to a controller, the control method may include the following steps:
step S202, receiving a first position detected by the first position detecting device and a second position detected by the second position detecting device.
And step S204, determining a deflection angle between the movable arm and the walking device according to the first position and the second position.
And step S206, controlling the running gear to move according to the deflection angle and the running signal to realize the running motion of the running gear when the running signal of the operating lever is received, wherein the advancing direction of the running gear is the same as the direction of the movable arm, and the retreating direction of the running gear is opposite to the direction of the movable arm.
It is understood that the running gear, i.e., the chassis, may include a track frame and a running system. The first position detecting device and the second position detecting device are detecting devices for detecting position information, and may include, for example, position sensors and the like. The first position detection devices are arranged on four symmetrical positions of the walking device, namely the first position detection devices are respectively arranged on the four symmetrical positions of the walking device and are respectively used for detecting the position information of the four symmetrical positions of the walking device, the first positions are the position information of the four symmetrical positions of the walking device, and understandably, two-two connecting lines between every two adjacent first position detection devices on the four symmetrical positions of the walking device just can form a rectangle. The second position detection device is arranged on the movable arm, so that the position information of the movable arm can be detected, and the second position is the position information of the movable arm. Understandably, in general, the boom of the construction machine is located in front of the upper vehicle part, i.e., the cab, i.e., the direction in which the boom is located is generally the front that the driver faces. The deflection angle between the movable arm and the traveling device is the included angle between the movable arm and the traveling device.
Specifically, the controller may receive a first position of the four directions of the traveling device detected by the first position detecting device and a second position of the movable arm detected by the second position detecting device, and may further determine a deflection angle between the movable arm and the traveling device according to the first position and the second position, so that when a traveling signal of the operating lever is received, the traveling device may be controlled to move according to the deflection angle and the traveling signal, where a forward direction of the traveling device is the same as a direction in which the movable arm is located, and a backward direction of the traveling device is opposite to the direction in which the movable arm is located. That is, when the driver pushes the operation lever forward, the operation lever receives a traveling signal indicating that the traveling device is advanced, the controller may control the traveling device to move in a direction in which the current boom is located (i.e., in front of the driver in the cab), and when the driver pushes the operation lever backward, the operation lever receives a traveling signal indicating that the traveling device is retracted, and the controller may control the traveling device to move in a direction opposite to the direction in which the current boom is located (i.e., behind the driver in the cab). More specifically, when the deflection angle is too large, the controller controls the traveling device to turn until the deflection angle is within the preset angle interval, and then controls the traveling device to execute the traveling action, so that the traveling action of the traveling device can be realized.
According to the control method for the engineering machinery, the first position of the four symmetrical directions of the traveling device detected by the first position detection device is obtained, the second position of the movable arm detected by the second position detection device is obtained, the deflection angle between the movable arm and the traveling device is further determined according to the first position and the second position, and the traveling device is controlled to move according to the deflection angle and the traveling signal under the condition that the traveling signal of the operating rod is received, so that the traveling action of the traveling device is realized, wherein the advancing direction of the traveling device is the same as the direction of the movable arm, and the retreating direction of the traveling device is opposite to the direction of the movable arm. According to the scheme, the walking device is controlled to act according to the deflection angle between the movable arm and the walking device and the received walking signal of the operating rod, so that the advancing direction of the walking device is the same as the direction in which the movable arm is located, the retreating direction of the walking device is opposite to the direction in which the movable arm is located, the walking device of the engineering machinery moves according to the direction in which the movable arm is located, the phenomenon of misoperation of a driver can be avoided, potential safety hazards are reduced, the problem that the engineering machinery can only move according to the specified direction of a crawler in the prior art is solved, and the flexibility of the engineering machinery is improved.
In one embodiment, controlling the walking device to act according to the deflection angle and the walking signal comprises: comparing the deflection angle with a preset deflection angle interval; under the condition that the deflection angle is not within the preset deflection angle interval, controlling the traveling device to turn so that the deflection angle between the movable arm and the traveling device is within the preset deflection angle interval; and controlling the walking device to walk according to the direction indicated by the walking signal.
It is understood that the preset yaw angle section is a preset small yaw angle section between the boom and the traveling apparatus, for example, 0 to 10 degrees.
Specifically, the controller may compare the deflection angle between the boom and the traveling device with a preset deflection angle interval, and when the deflection angle is not within the preset deflection angle interval, the controller may control the traveling device (including the crawler belt) to turn until the deflection angle between the boom and the traveling device is within the preset deflection angle interval, and further may control the traveling device to travel in the direction indicated by the traveling signal, for example, if the traveling signal indicates that the traveling device is moving forward, the traveling device (including the crawler belt) may be controlled to travel in the direction in which the boom is located (i.e., in front of the driver), and if the traveling signal indicates that the traveling device is moving backward, the traveling device (including the crawler belt) may be controlled to travel in the direction opposite to the direction in which the boom is located (i.e., behind the driver).
In the embodiment of the application, when the deflection angle between the movable arm and the traveling device is too large (i.e., exceeds the preset deflection angle interval), the traveling device may be controlled to turn first until the deflection angle between the movable arm and the traveling device is within the preset deflection angle interval, and then the traveling device is controlled to move forward or backward according to the direction in which the movable arm is located, so as to further improve the safety of the engineering machine.
In one embodiment, the control method for a working machine may further include: and controlling the walking device to walk according to the direction indicated by the walking signal under the condition that the deflection angle is within the preset deflection angle interval.
Specifically, when the deflection angle between the boom and the traveling device is within the preset deflection angle interval, the controller may control the traveling device to travel directly in the direction indicated by the traveling signal, for example, if the traveling signal indicates that the traveling device is moving forward, the traveling device (including the crawler belt) may be controlled to travel in the direction in which the boom is located (i.e., in front of the driver), and if the traveling signal indicates that the traveling device is moving backward, the traveling device (including the crawler belt) may be controlled to travel in the direction opposite to the direction in which the boom is located (i.e., behind the driver).
In one embodiment, determining a yaw angle between the boom and the traveling apparatus based on the first position and the second position includes: connecting every two adjacent first positions in a pairwise manner to obtain a rectangular frame; determining the central position of the rectangular frame; obtaining a target connecting line between the second position and the central position according to the second position and the central position; determining a perpendicular bisector of each side length of the rectangular frame; and determining the minimum included angle between the target connecting line and the perpendicular bisector to obtain the deflection angle.
It is understood that the target line is a line passing through both the second position and the center position of the rectangular frame.
Specifically, after obtaining each first position, the controller may connect every two adjacent first positions, so as to obtain a rectangular frame, and may further determine a center position of the rectangular frame, for example, determine a center position of the rectangular frame according to an intersection of two diagonal lines of the rectangular frame, and connect according to the second position and the center position, so as to obtain a target connection line between the second position and the center position, and further determine a perpendicular bisector of each side length of the rectangular frame, and understandably, the perpendicular bisector passes through the center position of the rectangular frame, and determine a minimum included angle between the target connection line and the perpendicular bisector, so as to obtain a deflection angle between the movable arm and the traveling apparatus.
In the embodiment of the application, the rectangular frame can be determined according to the four first positions, the target connecting line can be determined according to the second position and the central position of the rectangular frame, the deflection angle between the movable arm and the walking device can be further determined according to the target connecting line and the perpendicular bisector of the rectangular frame, and the accuracy of the deflection angle is improved.
In the prior art, the traveling direction of a traveling device is along the direction of a chassis crawler regardless of the direction in which an upper vehicle part (i.e., a cab) faces, and if the cab just rotates 180 degrees, the forward traveling of the traveling device is changed into backward traveling, and the backward traveling is changed into forward traveling. Therefore, the prior art has the following disadvantages: 1. misoperation is easy to occur, and potential safety hazard is caused. 2. Can only move along the track direction, and has poor flexibility.
The invention provides a control device for engineering machinery, which takes a crawler excavator as an example and comprises A, B, C, D, E five position sensors, wherein the movement mode of the crawler excavator is determined by judging the mutual positions of the five position sensors, and the specific working method can be as follows:
1) A, B, C, D the four sensors (i.e., the first position detecting devices) are fixed position sensors, which are respectively fixed at four different positions of the running gear of the crawler excavator, which respectively correspond to 301 to 304 shown in fig. 3. The E sensor (i.e., the second position detecting device) is a moving position sensor, fixed to the boom, and always in the forward direction that the driver faces, as shown at 401 in fig. 4.
2) Normally, the boom position of a track-type excavator would be directly in front of the track position, i.e., when sensor E is at a position intermediate directly in front of sensors A and B.
3) When the excavator starts to work, the position of the movable arm is uncertain, so that a driver may face any direction, and at this time, if the driver pushes the forward rod, the sensors A, B, C, D, E communicate with each other to determine the respective positions, as follows:
i) The sensor E is arranged right in front of the sensors A and B, and an included angle formed by the movable arm and the center lines of the two crawler belts is smaller than 10 degrees.
As shown in fig. 5, the angle between the side of sensors E, on which sensors a and B are located, and the perpendicular bisector of line AB is less than 10 degrees, in which case the cab is considered to be still in a state of facing the front of the crawler excavator, and after the forward operating lever is pushed, the crawler moves straight ahead (actually, advances) of sensors a, B, and E.
ii) sensor E is close to sensor a or B and the boom forms an angle with the median line of the two tracks greater than 10 degrees.
As shown in fig. 6, the included angle between the sensor E and the perpendicular bisector of the connection line AB and the side where the sensors a and B are located is greater than 10 degrees, in this case, the cab is not considered to be in a state of facing the front of the crawler excavator, after the forward operating lever is pushed, the crawler moves unilaterally to turn the crawler, the sensor E on the moving arm gradually approaches the sensor a or the sensor B until the included angle in fig. 6 is less than 10 degrees, and then the two sides of the crawler move forward together to move the whole vehicle forward to the common front of the sensor A, B and the sensor E.
iii) And the sensor E is close to the sensor C or D, and the included angle formed by the movable arm and the center line of the two crawler belts is more than 10 degrees.
As shown in fig. 7, the included angle between one side of the sensors C and D and the perpendicular bisector of the connecting line of the CD is larger than 10 degrees, in this case, the cab is not considered to be in a state of facing the front of the crawler excavator, after the forward operating rod is pushed, the crawler moves on a single side to turn the crawler, the included angle in fig. 7 is reduced, the sensor E on the arm is gradually close to the sensor C and the sensor D until the included angle in fig. 7 is smaller than 10 degrees, then the two sides of the crawler move together, and the whole vehicle moves towards the front where the sensor C, D and the sensor E are common.
iv) sensor E is directly in front of sensors C and D and the boom forms an angle of less than 10 degrees with the midline of the two tracks.
As shown in fig. 8, the angle between the side of sensors E, C and D, and the perpendicular bisector of the line connecting the sensors C and D and the CD is less than 10 degrees, in which case the cab is considered to be still facing the rear of the crawler excavator, and after the forward operating lever is pushed, the crawler moves straight ahead (actually retreats) of sensors C, D and E.
In brief, i.e., ABCD, four position sensors can determine a plane in which a rectangular coordinate system is established by mathematical modeling and X and Y axes are generated, and then detect the coordinates of the E sensor projected on the plane to see where the projected coordinates exist in the coordinate system, as shown in fig. 9: if it is located in the angle γ, it is the case of i) above; if it is located in the angle Δ, it is in the case of ii) above; if the angle is within the included angle beta, the condition of iii) in the above is met; if the angle is included in the angle alpha, the condition belongs to the condition of iv) in the above.
In summary, the technical scheme provided by the embodiment of the invention uses five position sensors ABCDE to determine the position relation between the right front of the cab and the track, so that whether the cab moves forwards or backwards or moves forwards and backwards after the angle is adjusted is judged on the basis, the safety is high, the movement of the engineering machinery caused by misoperation is prevented, and the safety of a driver and nearby personnel is guaranteed. In addition, the technical scheme provided by the embodiment of the invention can be used as an auxiliary scheme for the traditional walking control of the engineering machinery, and can be mutually switched and matched with the traditional walking control scheme, so that the operation is better and more convenient.
An embodiment of the present invention further provides a processor configured to execute the control method for a construction machine according to the foregoing embodiment.
An embodiment of the present invention further provides an engineering machine, including: a traveling device; a movable arm; the operating rod is used for receiving a walking signal for indicating the walking device to move forwards or backwards; and a control device for a construction machine according to the above embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A control device for a construction machine including a traveling device, a boom, and an operation lever for receiving a traveling signal indicating forward or backward movement of the traveling device, characterized by comprising:
the first position detection equipment is arranged on four symmetrical positions of the walking device and used for detecting first positions of the four symmetrical positions;
the second position detection equipment is arranged on the movable arm and used for detecting a second position where the movable arm is located; and
a controller in communicative connection with the first position detection device, the second position detection device, the joystick, and the walking device, configured to:
receiving the first position detected by the first position detection device and the second position detected by the second position detection device;
determining a deflection angle between the movable arm and the walking device according to the first position and the second position;
and under the condition of receiving a traveling signal of the operating rod, controlling the traveling device to move according to the deflection angle and the traveling signal so as to realize the traveling movement of the traveling device, wherein the advancing direction of the traveling device is the same as the direction in which the movable arm is located, and the retreating direction of the traveling device is opposite to the direction in which the movable arm is located.
2. The control device of claim 1, wherein the controller is configured to control the walking device action according to the deflection angle and the walking signal, comprising: the controller is configured to:
comparing the deflection angle with a preset deflection angle interval;
under the condition that the deflection angle is not within the preset deflection angle interval, controlling the traveling device to turn so that the deflection angle between the movable arm and the traveling device is within the preset deflection angle interval;
and controlling the walking device to walk according to the direction indicated by the walking signal.
3. The control device of claim 2, wherein the controller is further configured to:
and controlling the walking device to walk according to the direction indicated by the walking signal under the condition that the deflection angle is within the preset deflection angle interval.
4. The control device of claim 1, wherein the controller is configured to determine a yaw angle between the boom and the walking device based on the first position and the second position, comprising: the controller is configured to:
connecting every two adjacent first positions in pairs to obtain a rectangular frame;
determining the central position of the rectangular frame;
obtaining a target connecting line between the second position and the central position according to the second position and the central position;
determining a perpendicular bisector of each side length of the rectangular frame;
and determining the minimum included angle between the target connecting line and the perpendicular bisector to obtain the deflection angle.
5. A control method for an engineering machine comprises a walking device, a movable arm and an operating rod, wherein the operating rod is used for receiving walking signals indicating the walking device to move forwards or backwards; the control method comprises the following steps:
receiving the first position detected by the first position detection device and the second position detected by the second position detection device;
determining a deflection angle between the movable arm and the walking device according to the first position and the second position;
and under the condition of receiving a traveling signal of the operating rod, controlling the traveling device to move according to the deflection angle and the traveling signal so as to realize the traveling movement of the traveling device, wherein the advancing direction of the traveling device is the same as the direction in which the movable arm is located, and the retreating direction of the traveling device is opposite to the direction in which the movable arm is located.
6. The control method according to claim 5, wherein the controlling the walking device to act according to the deflection angle and the walking signal comprises:
comparing the deflection angle with a preset deflection angle interval;
under the condition that the deflection angle is not within the preset deflection angle interval, controlling the traveling device to turn so that the deflection angle between the movable arm and the traveling device is within the preset deflection angle interval;
and controlling the walking device to walk according to the direction indicated by the walking signal.
7. The control method according to claim 6, characterized by further comprising:
and controlling the walking device to walk according to the direction indicated by the walking signal under the condition that the deflection angle is within the preset deflection angle interval.
8. The control method of claim 5, wherein determining a yaw angle between the boom and the traveling apparatus based on the first position and the second position comprises:
connecting every two adjacent first positions in pairs to obtain a rectangular frame;
determining the central position of the rectangular frame;
obtaining a target connecting line between the second position and the central position according to the second position and the central position;
determining a perpendicular bisector of each side length of the rectangular frame;
and determining the minimum included angle between the target connecting line and the perpendicular bisector to obtain the deflection angle.
9. A processor, characterized by being configured to execute the control method for a working machine according to any one of claims 5-8.
10. A work machine, comprising:
a traveling device;
a movable arm;
the operating rod is used for receiving a walking signal for indicating the walking device to move forwards or backwards; and
the control device for a working machine according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211644127.8A CN115848522A (en) | 2022-12-20 | 2022-12-20 | Control device and control method for engineering machinery and engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211644127.8A CN115848522A (en) | 2022-12-20 | 2022-12-20 | Control device and control method for engineering machinery and engineering machinery |
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| Publication Number | Publication Date |
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| CN115848522A true CN115848522A (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211644127.8A Pending CN115848522A (en) | 2022-12-20 | 2022-12-20 | Control device and control method for engineering machinery and engineering machinery |
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| Country | Link |
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| CN (1) | CN115848522A (en) |
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