CN118045319A - Arm support interference prevention method and device and engineering vehicle - Google Patents

Abstract

The invention provides an arm support interference prevention method, an arm support interference prevention device and an engineering vehicle, wherein the method comprises the following steps: acquiring the corresponding posture information of each of the multi-section arm frames; the following operations are executed for a first arm support in the multi-section arm support: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result. According to the method, based on the first distance and the second distance, a relatively accurate first risk result is determined according to interference risk conditions among different arm supports of the engineering vehicle in an actual operation process, so that the operation of the first arm support and/or the second arm support is accurately controlled, and the operation safety of the engineering vehicle is effectively improved.

Description

Arm support interference prevention method and device and engineering vehicle

Technical Field

The invention relates to the technical field of engineering machinery, in particular to an arm support interference prevention method and device and an engineering vehicle.

Background

Aiming at an engineering vehicle comprising a plurality of sections of arm frames, in the operation process, the engineering vehicle adjusts the arm frame posture by expanding and/or retracting the plurality of sections of arm frames, so that an operation device (such as a spraying device) arranged at the tail end of the last section of arm frame reaches a designated operation position (such as a fire extinguishing position). If the arm frames are not unfolded and/or folded in a reasonable sequence, interference among different arm frames can be caused, and the arm frames are damaged.

The existing anti-interference method for the arm support is based on angle information acquired by an inclination angle sensor arranged on the arm support, the distance between the mutually-far end parts of any two different arm supports is determined, further, the relative position relation between the different arm supports is determined, the interference risk condition between the end parts of the different arm supports is determined according to the relative position relation and a preset safety threshold value, and the operation/stop of the arm support is correspondingly controlled. In the actual operation process, the interference postures among different arm frames are complex and various, and the method has certain limitation, so that the operation safety of the engineering vehicle is lower.

Disclosure of Invention

The invention provides an arm support interference prevention method, an arm support interference prevention device and an engineering vehicle, which are used for solving the defect that the operation safety of the engineering vehicle is low due to certain limitation of the existing arm support interference prevention method.

The invention provides an arm support interference prevention method which is applied to an engineering vehicle, wherein the engineering vehicle comprises a plurality of sections of arm supports, and the method comprises the following steps:

acquiring the corresponding posture information of each of the multi-section arm support;

the following operations are executed for a first arm support in the multi-section arm support: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result.

According to the arm support interference prevention method provided by the invention, the method further comprises the following steps: under the condition that an injection device is arranged at the tail end of the last arm frame in the multi-section arm frame, acquiring angle information and space position information corresponding to the injection device; calculating the corresponding posture information, the angle information and the spatial position information of the multi-section arm support respectively to obtain the corresponding injection information of the injection device; determining a second risk result according to the injection information; and controlling the operation of the multi-section arm support and/or the injection device based on the second risk result.

According to the arm support interference prevention method provided by the invention, the first posture information comprises first arm support inclination angle information and first arm support length information, and the second posture information comprises second arm support inclination angle information and second arm support length information; the determining, according to the first gesture information of the first arm frame and the second gesture information of the second arm frame, a first distance between a first end of the first arm frame and a second end of the second arm frame, or a second distance between the first end and the second arm frame, includes: determining first coordinate information corresponding to the first tail end according to the first arm support inclination angle information and the first arm support length information; determining second coordinate information corresponding to the second tail end and third coordinate information corresponding to the head end of the second arm support according to the second arm support inclination angle information and the second arm support length information; calculating the first coordinate information and the second coordinate information to obtain the first distance; or, calculating the first coordinate information, the second coordinate information and the third coordinate information to obtain the second distance.

According to the arm support interference prevention method provided by the invention, the first risk result is determined according to the first distance or the second distance, and the method comprises the following steps: and determining the first risk result according to the first distance or the second distance and combining a preset minimum safety distance and/or a preset early warning buffer distance, wherein the first risk result comprises collision risk, interference risk or no risk, and the preset early warning buffer distance is larger than the preset minimum safety distance.

According to the arm support interference prevention method provided by the invention, the injection information comprises an injection angle and an injection path; the determining a second risk result according to the injection information comprises the following steps: acquiring projection coordinate information of a vehicle body on a target horizontal plane; determining intersection point coordinate information of the injection path and the target horizontal plane under the condition that the injection angle is a negative value; the negative value of the injection angle is used for representing that the injection device injects towards the ground; and determining the second risk result according to the projection coordinate information and the intersection point coordinate information.

According to the arm support interference prevention method provided by the invention, the second risk result is determined according to the projection coordinate information and the intersection point coordinate information, and the method comprises the following steps: and determining the second risk result according to the intersection point coordinate information and the target projection area corresponding to the projection coordinate information and combining a preset minimum safety distance and/or a preset early warning buffer distance, wherein the second risk result comprises an impact risk, an interference risk or no risk, and the preset early warning buffer distance is larger than the preset minimum safety distance.

According to the method for preventing interference of the arm support, the operation of the first arm support and/or the second arm support is controlled based on the first risk result, and the method comprises the following steps: under the condition that the first risk result indicates collision risk, controlling the first arm support and/or the second arm support to stop running, prohibiting the first arm support and/or the second arm support from continuously moving towards the collision direction, and allowing the first arm support and/or the second arm support to continuously move towards the opposite collision direction; and controlling the first arm support and/or the second arm support to decelerate under the condition that the first risk result indicates interference risk.

According to the method for preventing the interference of the arm frames, which is provided by the invention, the engineering vehicle further comprises an alarm device, and before the first arm frame and/or the second arm frame are controlled to operate, or before the multi-section arm frame and/or the spraying device are controlled to operate, the method further comprises the following steps: and correspondingly controlling the alarm device to carry out alarm prompt according to the target risk degree of the first risk result or the second risk result under the condition that the first risk result indicates collision risk or interference risk or the second risk result indicates impact risk or interference risk.

The invention also provides an arm support interference prevention device which is applied to an engineering vehicle, wherein the engineering vehicle comprises a plurality of sections of arm supports, and the device comprises:

the acquisition module is used for acquiring the corresponding posture information of each of the plurality of sections of arm frames;

The processing module is used for executing the following operations aiming at a first arm support in the multi-section arm support: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result.

The invention also provides an engineering vehicle, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the arm support interference prevention method according to any one of the above when executing the program.

The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a boom anti-interference method as described in any of the above.

The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a boom anti-interference method as described in any one of the above.

According to the arm support interference prevention method, the arm support interference prevention device and the engineering vehicle, the corresponding gesture information of a plurality of sections of arm supports is obtained; the following operations are executed for a first arm support in the multi-section arm support: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result. According to the method, based on the first distance and the second distance, a relatively accurate first risk result is determined according to interference risk conditions among different arm supports of the engineering vehicle in an actual operation process, so that the operation of the first arm support and/or the second arm support is accurately controlled, and the operation safety of the engineering vehicle is effectively improved.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of an arm support interference prevention method provided by the invention;

FIG. 2 is a schematic view of a six-section arm support provided by the invention in a certain posture;

FIG. 3 is a second schematic view of the six-section arm support provided by the invention in a certain posture;

FIG. 4 is a schematic structural view of the boom interference prevention device provided by the invention;

fig. 5 is a schematic structural diagram of the engineering vehicle provided by the invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The execution body according to the embodiment of the present invention may be an arm support interference prevention device or a construction vehicle, and the embodiment of the present invention will be further described below by taking the construction vehicle as an example.

As shown in fig. 1, the method for preventing interference of an arm support provided by the invention is a flow schematic diagram, and is applied to an engineering vehicle, wherein the engineering vehicle comprises a plurality of sections of arm supports, and the method can comprise:

101. And acquiring the corresponding posture information of each of the multi-section arm support.

It should be noted that, the multi-section arm support related to the embodiment of the invention may be a multi-section folding arm or a folding-telescopic composite arm.

Optionally, the gesture information may include boom inclination information, boom length information, boom rotation angle information, and the like. The engineering vehicle can acquire the tilt angle information of the arm support by using a tilt angle sensor arranged in the arm support; the engineering vehicle can acquire the length information of the arm support by using a displacement sensor arranged in the arm support.

Optionally, the engineering vehicle may further include a turntable, where the turntable is hinged to a head end of a head arm frame in the multi-section arm frame, and the engineering vehicle may collect the rotation angle information of the arm frame by using an encoder and/or an angle sensor provided in the turntable.

The engineering vehicle can acquire the corresponding posture information of the multi-section arm support by using the different sensors so as to accurately determine different risk results.

102. The following operations are executed for a first arm support in the multi-section arm support: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result.

The first arm support is any arm support in the multi-section arm support, and the second arm support is any arm support in other arm supports except the first arm support in the multi-section arm support. It can be understood that, because there is a mechanical and physical limit between two adjacent sections of arm frames, the embodiment of the invention mainly relates to a first arm frame and a second arm frame which are not connected.

The first distance refers to an end distance between a first end of the first boom and a second end of the second boom.

The second distance refers to the distance from the first end of the first arm support to the straight line where the second arm support is located, and the second distance is used for representing the shortest distance between the end of the arm support and other arm supports, so that interference risk conditions of different arm supports of the engineering vehicle in the actual operation process can be effectively reflected.

The first risk result is used for representing interference risk situations among different arm frames.

The following operations are executed for a first arm support in the multi-section arm support: after the first posture information of the first boom and the second posture information of the second boom are obtained, the engineering vehicle may determine an end distance (i.e., a first distance) between the first end of the first boom and the second end of the second boom or determine a second distance between the first end and the second boom according to the first posture information and the second posture information. Based on the first risk result, the engineering vehicle can determine the first risk result according to the first distance or the second distance, the first risk result is accurate, and then the operation of the first arm support and/or the second arm support is accurately controlled based on the first risk result, so that the occurrence of danger is prevented, and the operation safety of the engineering vehicle is effectively improved.

In some embodiments, the first attitude information includes first boom inclination angle information and first boom length information, and the second attitude information includes second boom inclination angle information and second boom length information; the engineering vehicle determining a first distance between the first end of the first arm support and the second end of the second arm support or a second distance between the first end and the second arm support according to the first gesture information of the first arm support and the second gesture information of the second arm support may include: the engineering vehicle determines first coordinate information corresponding to the first tail end according to the first arm support inclination angle information and the first arm support length information; the engineering vehicle determines second coordinate information corresponding to the second tail end and third coordinate information corresponding to the head end of the second arm support according to the second arm support inclination angle information and the second arm support length information; the engineering vehicle calculates the first coordinate information and the second coordinate information to obtain a first distance; or the engineering vehicle calculates the first coordinate information, the second coordinate information and the third coordinate information to obtain the second distance.

After the first boom inclination angle information, the first boom length information, the second boom inclination angle information and the second boom length information are obtained, the engineering vehicle can determine first coordinate information corresponding to the first end of the first boom according to the first boom inclination angle information and the first boom length information, and simultaneously, the engineering vehicle can determine second coordinate information corresponding to the second end of the second boom and third coordinate information corresponding to the head end of the second boom according to the second boom inclination angle information and the second boom length information. Based on the first coordinate information and the second coordinate information, the engineering vehicle calculates the first distance between the first end and the second end based on a distance formula between the two points, or the engineering vehicle calculates the second coordinate information and the third coordinate information, determines a straight line formula based on the two points, obtains a straight line equation corresponding to the second arm support, further combines the first coordinate information, and obtains the second distance between the first end and the second arm support based on a distance formula from the point to the straight line.

For example, a two-dimensional rectangular coordinate system is established by taking a hinge point at the head end of a head section arm support connected with a turntable as a coordinate origin O, taking the direction of the head to the tail of the engineering vehicle as the positive direction of an x axis and taking the direction of the vertical horizontal surface upwards as the positive direction of a y axis.

The first arm frame is the ith (i=1, 2, …, N) arm frame (i arm frame for short) in N (N is more than or equal to 2) arm frames equipped for the engineering vehicle, the second arm frame is the jth (j=1, 2, …, N) arm frame (j arm frame for short) in N arm frames, and j is not equal to i.

The coordinates corresponding to the first end of the i-th arm frame (i.e., the first coordinate information) may be expressed as (l _i,h_i); the coordinate corresponding to the second end of the j-th boom (i.e., the second coordinate information) may be represented as (l _j,h_j), and the coordinate corresponding to the head end of the j-th boom (i.e., the third coordinate information) may be represented as (l _j-1,h_j-1). It can be understood that (l ₀,h₀) = (0, 0) is the head end hinge point of the head arm frame, i.e. the origin O of coordinates.

Based on the distance formula between the two points, the first distance L _ij between the first end and the second end can be expressed as:

Based on the formula of determining the straight line at two points, the straight line equation y _j corresponding to the j-th arm frame can be expressed as: wherein, let a _j＝(h_j-h_j-1)/(l_j-l_j-1),b_j＝h_j for ease of illustration.

Based on the point-to-straight distance formula, the second distance between the first end and the j-th boom can be expressed as:

In some embodiments, determining the first risk result by the engineering vehicle according to the first distance or the second distance may include: the engineering vehicle determines a first risk result according to the first distance or the second distance by combining a preset minimum safety distance and/or a preset early warning buffer distance, wherein the first risk result comprises collision risk, interference risk or no risk, and the preset early warning buffer distance is larger than the preset minimum safety distance.

Optionally, the preset early warning buffer distance and the preset minimum safety distance may be set before the engineering vehicle leaves the factory, or may be determined by a user according to a structural parameter of the engineering vehicle, a structural parameter of an operation accessory, and an operation activity radius, which are not particularly limited herein, and it is only required that the preset early warning buffer distance is satisfied to be greater than the preset minimum safety distance.

The structural parameters can include the length of each arm support, the size of a rotary connecting piece at the hinge point of the adjacent arm support and the like.

In the process of determining the first risk result, the engineering vehicle determines the first risk result (collision risk, interference risk or no risk) by combining a preset minimum safety distance and/or a preset early warning buffer distance according to the calculated first distance or second distance.

Optionally, the determining, by the engineering vehicle, the first risk result according to the first distance or the second distance and in combination with the preset minimum safety distance and/or the preset early warning buffer distance may include: under the condition that the first distance is smaller than or equal to a preset minimum safety distance, or under the condition that the first tail end is between the head end and the second tail end of the second arm support and the second distance is smaller than or equal to the preset minimum safety distance, the engineering vehicle determines the collision risk as a first risk result; under the condition that the first distance is larger than a preset minimum safety distance and the first distance is smaller than or equal to a preset early warning buffer distance, or under the condition that the first tail end is located between the head end and the second tail end of the second arm support and the second distance is larger than the preset minimum safety distance and the second distance is smaller than or equal to the preset early warning buffer distance, the engineering vehicle determines the interference risk as a first risk result; under the condition that the first distance is larger than a preset early warning buffer distance, or under the condition that the first tail end is positioned between the head end and the second tail end of the second arm support and the second distance is larger than the preset early warning buffer distance, the engineering vehicle determines no risk as a first risk result; the preset early warning buffer distance is greater than the preset minimum safety distance.

Taking the ith arm frame and the jth arm frame as examples, the step of judging whether the first tail end is positioned between the head end and the second tail end of the second arm frame by the engineering vehicle is as follows:

Condition 1: simultaneously satisfying l _i>min(l_j-1,l_j) and l _i<max(l_j-1,l_j), i.e. the amplitude value of the first end of the i-th arm frame is between the amplitude values of the first and the last ends of the second arm frame;

Condition 2: simultaneously satisfying h _i>min(h_j-1,h_j) and h _i<max(h_j-1,h_j), i.e. the height value of the first end of the i-th arm frame is between the height values of the first and the last ends of the second arm frame;

If the ith arm frame and the jth arm frame meet at least one condition, the engineering vehicle judges that the first tail end is positioned between the head end and the second tail end of the second arm frame;

If the ith arm frame and the jth arm frame do not meet any of the conditions, the engineering vehicle judges that the first tail end is not located between the first end and the second end of the second arm frame, and the fact that the shortest distance exists between the first tail end of the ith arm frame and the extension line of the jth arm frame at the moment is indicated, but interference/collision risks are not caused, and therefore corresponding arm frame motion control according to the second distance is not needed at the moment.

Specifically, in the process of determining the first risk result, under the condition that the first distance is smaller than or equal to a preset minimum safety distance, or under the condition that the first tail end is located between the head end and the second tail end of the second arm support and the second distance is smaller than or equal to the preset minimum safety distance, it is indicated that at the moment, collision is about to occur between the first arm support and the second arm support, that is, collision risk exists, and then the engineering vehicle determines the collision risk as the first risk result.

Under the condition that the first distance is larger than the preset minimum safety distance and the first distance is smaller than or equal to the preset early warning buffer distance, or under the condition that the first tail end is located between the head end and the second tail end of the second arm frame and the second distance is larger than the preset minimum safety distance and the second distance is smaller than or equal to the preset early warning buffer distance, the fact that at the moment, the first arm frame and the second arm frame possibly interfere with each other, namely interference risks exist, and then the engineering vehicle determines the interference risks as a first risk result.

Under the condition that the first distance is larger than the preset early warning buffer distance, or under the condition that the first tail end is located between the head end and the second tail end of the second arm support and the second distance is larger than the preset early warning buffer distance, the condition that at the moment, interference/collision risk does not exist between the first arm support and the second arm support is indicated, and then the engineering vehicle is determined to be free of risk as a first risk result.

In some embodiments, the engineering vehicle controlling the operation of the first boom and/or the second boom based on the first risk result may include: under the condition that the first risk result indicates collision risk, the engineering vehicle controls the first arm support and/or the second arm support to stop running, prohibits the first arm support and/or the second arm support from continuously moving towards the collision direction, and allows the first arm support and/or the second arm support to continuously move towards the opposite collision direction; and under the condition that the first risk result indicates interference risk, the engineering vehicle controls the first arm support and/or the second arm support to decelerate.

In the process of controlling the first arm support and/or the second arm support to operate, if the first risk result indicates collision risk, the engineering vehicle controls the first arm support and/or the second arm support to stop operating, inhibits the first arm support and/or the second arm support from continuing to move towards the collision direction, and allows the first arm support and/or the second arm support to continue to move towards the opposite collision direction, so that the situation that the first arm support and/or the second arm support continue to move towards the dangerous direction (namely the collision direction) and cause collision between different arm supports due to misoperation of an operator of the engineering vehicle is avoided, and the operation safety of the engineering vehicle is effectively improved.

If the first risk result indicates interference risk, the engineering vehicle controls the first arm support and/or the second arm support to decelerate, so that interference collision caused by motion inertia among different arm supports is avoided, and the operation safety of the engineering vehicle is effectively improved.

Exemplary, as shown in fig. 2, the six-section arm support provided by the invention is a schematic diagram under a certain posture. The sixth section of arm support (namely the last section of arm support) is telescopic. The engineering vehicle can determine coordinate information corresponding to the tail end of each section of arm support and a linear equation corresponding to each section of arm support according to the acquired arm support inclination angle information and arm support length information corresponding to each section of arm support. Starting with the first arm support (i.e. the first arm support), the coordinate information corresponding to the tail ends of the six arm supports is A(l₁,h₁)、B(l₂,h₂)、C(l₃,h₃)、D(l₄,h₄)、E(l₅,h₅)、F(l₆,h₆);, the straight line equation corresponding to the six arm supports is y₁＝a₁x+b₁、y₂＝a₂x+b₂、y₃＝a₃x+b₃、y₄＝a₄x+b₄、y₅＝a₅x+b₅、y₆＝a₆x+b₆.L_6y3, the distance between the tail end of the sixth arm support and the third arm support is assumed to be the first arm support, the third arm support is assumed to be the second arm support, and then L _6y3 is the second distance.

Under the condition that the fifth section arm support or the sixth section arm support continues to move towards the fourth section arm support or the sixth section arm support stretches out towards the third section arm support, the tail end of the sixth section arm support is positioned between the head end and the tail end of the third section arm support, at the moment, the engineering vehicle can calculate L _6y3 in real time and judge related risks: if L _6y3 is smaller than or equal to the preset minimum safety distance, which indicates that collision risk exists between the sixth section of arm support and the third section of arm support, the sixth section of arm support is controlled to stop running, the sixth section of arm support is prevented from continuing to move towards the fourth section of arm support or from extending towards the third section of arm support, and the sixth section of arm support is allowed to move towards the direction far away from the fourth section of arm support or is controlled to retract.

If the L _6y3 is smaller than or equal to the preset early warning buffer distance and the L _6y3 is larger than the preset minimum safety distance, which means that the interference risk exists between the sixth section of arm support and the third section of arm support at the moment, the sixth section of arm support is controlled to decelerate, namely, the speed of the sixth section of arm support continuing to move towards the fourth section of arm support is slowed down, or the speed of the sixth section of arm support stretching out towards the third section of arm support is slowed down.

In some embodiments, the method may further comprise: under the condition that the end of the last arm frame in the multi-section arm frame is provided with the spraying device, the engineering vehicle acquires angle information and space position information corresponding to the spraying device; the engineering vehicle calculates the corresponding attitude information, angle information and space position information of the multi-section arm support respectively to obtain the corresponding injection information of the injection device; the engineering vehicle determines a second risk result according to the injection information; the engineering vehicle controls the operation of the multi-section arm support and/or the injection device based on the second risk result.

Wherein the injection information is used to characterize the injection characteristics of the injection device, such as injection angle and injection path.

The second risk result is used to characterize the interference risk situation between the injection device and the work vehicle (e.g. the body of the work vehicle and/or the respective arm rest of the work vehicle).

Optionally, the engineering vehicle may collect angle information corresponding to the injection device by using an angle sensor provided in the injection device, where the angle information may include rotation angle information of the injection device, pitch angle information of the injection device, and the like. The rotation angle information of the spraying device can be based on the axis of the spraying device body, and the pitching angle information of the spraying device can be based on the horizontal plane.

Optionally, the engineering vehicle may determine the spatial position information corresponding to the injection device by using the initial installation position information of the injection device and combining the posture information corresponding to each of the multiple sections of arm frames.

Under the condition that the tail end of the last arm frame in the multi-section arm frame is provided with the spraying device, after the corresponding posture information of the multi-section arm frame, the corresponding angle information and the corresponding space position information of the spraying device are obtained, the engineering vehicle calculates the posture information, the angle information and the space position information to obtain the corresponding spraying information of the spraying device; and then, the engineering vehicle determines a second risk result according to the injection information, and controls the operation of the multi-section arm support and/or the injection device based on the second risk result, so that the corrosion and damage of the vehicle body and/or the arm support caused by the impact of a medium injected by the injection device on the vehicle body and/or the arm support are prevented, and the operation safety of the engineering vehicle is effectively improved.

Optionally, the engineering vehicle may further determine a second risk result according to the injection information by combining pose information corresponding to each of the multiple sections of arm frames. For example, the engineering vehicle may determine a second risk result between the injection device and each arm according to the straight line equation corresponding to each of the plurality of arm sections and the straight line equation corresponding to the injection path.

It should be noted that, the timing of determining the first risk result by the engineering vehicle and determining the second risk result by the engineering vehicle is not limited.

Illustratively, a three-dimensional space rectangular coordinate system is established based on the two-dimensional rectangular coordinate system referred to above with the horizontal plane passing through the origin of coordinates O being the xz plane and the direction perpendicular to the xy plane being the z direction.

In some embodiments, the injection information includes injection angle and injection path; the engineering vehicle determining a second risk result according to the injection information may include: the engineering vehicle acquires projection coordinate information of the vehicle body on a target horizontal plane; under the condition that the injection angle is a negative value, the engineering vehicle determines intersection point coordinate information of an injection path and a target horizontal plane; the negative value of the injection angle is used for representing the injection of the injection device to the ground direction; the engineering vehicle determines a second risk result according to the projection coordinate information and the intersection point coordinate information.

The target horizontal plane is the xz plane.

The injection angle is the angle between the injection direction of the injection device and the horizontal direction.

Optionally, the target projection area of the body of the engineering vehicle on the target horizontal plane comprises a body projection part and a landing leg projection part of the engineering vehicle, and the target projection area can be simplified into a rectangular area, and can be further thinned according to actual requirements, so that the injection operation range is enlarged.

Optionally, the engineering vehicle can determine a straight line equation corresponding to the injection path according to the position coordinates of the base points of the rotation and pitching actions of the injection device, the rotation angle information of the injection device and the pitching angle information of the injection device.

In the process of determining the second risk result, the engineering vehicle firstly acquires projection coordinate information of the vehicle body on the target horizontal plane, and takes a rectangular area as an example, wherein the projection coordinate information is coordinate information corresponding to four corners of the rectangular area; when the injection angle is a negative value, it is indicated that the injection device injects the medium in the ground direction at this time, the medium may interfere with the vehicle body and/or the arm support, and after the injection path is determined, the engineering vehicle may determine coordinate information of an intersection point of the injection path and the target horizontal plane according to a linear equation corresponding to the injection path and the target horizontal plane. Based on this, the work vehicle may determine a second risk result from the projected coordinate information and the intersection coordinate information.

In some embodiments, determining the second risk result by the engineering vehicle according to the projection coordinate information and the intersection coordinate information may include: and the engineering vehicle determines a second risk result according to the intersection point coordinate information and the target projection area corresponding to the projection coordinate information and in combination with a preset minimum safety distance and/or a preset early warning buffer distance, wherein the second risk result comprises an impact risk, an interference risk or no risk, and the preset early warning buffer distance is larger than the preset minimum safety distance.

In the process of determining the second risk result, after acquiring the intersection point coordinate information and the projection coordinate information, the engineering vehicle determines the second risk result (impact risk, interference risk or no risk) by combining a preset minimum safety distance and/or a preset early warning buffer distance according to the intersection point coordinate information and a target projection area corresponding to the projection coordinate information.

Optionally, the determining, by the engineering vehicle, the second risk result according to the intersection point coordinate information and the target projection area corresponding to the projection coordinate information and in combination with a preset minimum safety distance and/or a preset early warning buffer distance may include: when the intersection point coordinate information is located outside the target projection area corresponding to the projection coordinate information, and the shortest distance between the intersection point coordinate information and the target projection area is smaller than or equal to a preset minimum safety distance, the engineering vehicle determines the impact risk as a second risk result; when the intersection point coordinate information is located outside the target projection area, the shortest distance is larger than a preset minimum safety distance, and the shortest distance is smaller than or equal to a preset early warning buffer distance, the engineering vehicle determines the interference risk as a second risk result; under the condition that the intersection point coordinate information is located outside the target projection area and the shortest distance is larger than a preset early warning buffer distance, determining that no risk exists in the engineering vehicle as a second risk result; the preset early warning buffer distance is greater than the preset minimum safety distance.

Specifically, in the process of determining the second risk result, when the intersection point coordinate information is located outside the target projection area corresponding to the projection coordinate information and the shortest distance between the intersection point coordinate information and the target projection area is smaller than or equal to a preset minimum safety distance, it is indicated that the medium sprayed by the spraying device is about to impact the vehicle body and/or the arm support at the moment, that is, the impact risk exists, and the engineering vehicle determines the impact risk as the second risk result.

And when the intersection point coordinate information is positioned outside the target projection area, the shortest distance is larger than the preset minimum safety distance, and the shortest distance is smaller than or equal to the preset early warning buffer distance, the condition that the medium sprayed by the spraying device possibly interferes with the vehicle body and/or the arm support at the moment is indicated, namely, interference risks exist, and the engineering vehicle determines the interference risks as a second risk result.

And under the condition that the intersection point coordinate information is located outside the target projection area and the shortest distance is larger than the preset early warning buffer distance, the condition that the medium sprayed by the spraying device cannot interfere/impact the vehicle body and/or the arm support at the moment is indicated, and the engineering vehicle is determined to be a second risk result without risk.

In addition, if the intersection point coordinate information is located in the target projection area, which indicates that the medium sprayed by the spraying device has impacted the vehicle body and/or the arm support at the moment, corrosion and damage to the vehicle body and/or the arm support may be caused, and the engineering vehicle determines the impact occurrence as a second risk result.

Optionally, the engineering vehicle controls the operation of the multi-section arm support and/or the injection device according to the second risk result, and may include: under the condition that the second risk result indicates impact risk or impact occurs, the engineering vehicle controls the multi-section arm support and/or the injection device to stop running, prohibits the multi-section arm support and/or the injection device from continuously moving towards the impact direction, and allows the multi-section arm support and/or the injection device to continuously move towards the opposite impact direction; and controlling the multi-section arm support and/or the spraying device to decelerate by the engineering vehicle under the condition that the second risk result indicates the interference risk.

Exemplary, as shown in fig. 3, the six-section arm support provided by the invention is schematic in a certain posture. Wherein, the end of the sixth section arm support (namely the last section arm support) is provided with a spraying device. The projection coordinate information of the vehicle body on the target horizontal plane (namely xz plane) is the coordinate information corresponding to the four corners of the rectangular area, and the projection coordinate information is respectively: (x ₁,z₁)、(x₁,-z₁)、(x₂,-z₁)、(x₂,z₁); the intersection coordinate information of the injection path and the target level is (x ₀,z₀).

Under the condition that the absolute value of z ₀ is larger than the sum of z ₁ and a preset early warning buffer distance, the fact that the medium sprayed by the spraying device cannot interfere/impact the vehicle body and/or the arm support at the moment is indicated, the engineering vehicle is normally operated, and the operation of the multi-section arm support and the spraying device is not limited.

When the absolute value of z ₀ is smaller than or equal to the sum of z ₁ and the preset early warning buffer distance, x ₀-x₂ is smaller than or equal to the preset early warning buffer distance, and x ₀-x₂ is larger than the preset minimum safety distance, it is indicated that the medium sprayed by the spraying device may interfere with the vehicle body and/or the arm support at this time, that is, the interference risk exists, and then the engineering vehicle controls the multi-section arm support and/or the spraying device to decelerate, that is, the retracting speed of the multi-section arm support is slowed down, and/or the downward acting speed of the spraying device is slowed down.

When the absolute value of z ₀ is smaller than or equal to the sum of z ₁ and the preset minimum safety distance and x ₀-x₂ is smaller than or equal to the preset minimum safety distance, the fact that the medium sprayed by the spraying device is about to impact the vehicle body and/or the arm frame at the moment, namely the impact risk exists, and the engineering vehicle controls the multi-section arm frame and/or the spraying device to stop running is indicated; and prohibiting the multi-section arm support and/or the injection device from moving towards the impact direction, namely prohibiting the retraction action of the multi-section arm support and/or prohibiting the injection device from continuing to act downwards; and allows the multi-section boom and/or the spraying device to move in the opposite direction of the impact, i.e. allows the deployment action of the multi-section boom and/or allows the spraying device to act upwards.

In some embodiments, the engineering vehicle may further include an alarm device, and the method may further include, before the engineering vehicle controls the first boom and/or the second boom to operate, or before the engineering vehicle controls the multi-section boom and/or the injection device to operate: and under the condition that the first risk result indicates collision risk or interference risk, or under the condition that the second risk result indicates impact risk or interference risk, the engineering vehicle correspondingly controls the alarm device to carry out alarm prompt according to the target risk degree of the first risk result or the second risk result.

Wherein the target risk level is used to characterize the severity of the risk.

Optionally, the target risk level may include a first risk level, a second risk level, and a third risk level. The first risk level refers to a larger risk level and is used for representing collision risk or impact risk, and the first risk level can be set before the engineering vehicle leaves the factory or can be determined by a user according to a preset minimum safety distance; the second risk level refers to a general risk level and is used for representing interference risk, and the second risk level can be set before the engineering vehicle leaves the factory or can be determined by a user according to a preset minimum safety distance and a preset early warning buffer distance; the third risk level refers to a low risk level, which is used for representing no risk, and may be set before the engineering vehicle leaves the factory, or may be determined by a user according to a preset early warning buffer distance, which is not specifically limited herein.

Alternatively, the alarm device may include a buzzer, an alarm lamp, a vehicle-mounted display screen, and the like.

Under the condition that the first risk result indicates collision risk, the engineering vehicle can control the buzzer and the alarm lamp to carry out rapid audible and visual alarm, and display and prompt the collision risk on the vehicle-mounted display screen; under the condition that the second risk result indicates the impact risk, the engineering vehicle can control the buzzer and the alarm lamp to carry out a rapid audible and visual alarm, and display and prompt the impact risk on the vehicle-mounted display screen; under the condition that the first risk result indicates the interference risk, or under the condition that the second risk result indicates the interference risk, the engineering vehicle can control the buzzer and the alarm lamp to carry out gentle audible and visual alarm, and carry out display reminding of the interference risk on the vehicle-mounted display screen. Based on the risk, the operator can timely take corresponding measures according to the current target risk degree.

Furthermore, in case both the first risk result and the second risk result indicate no risk, the engineering vehicle will not trigger the alarm device.

In the embodiment of the invention, the corresponding gesture information of the multi-section arm support is obtained; the following operations are executed for a first arm support in the multi-section arm support: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result. According to the method, based on the first distance and the second distance, a relatively accurate first risk result is determined according to interference risk conditions among different arm supports of the engineering vehicle in an actual operation process, so that the operation of the first arm support and/or the second arm support is accurately controlled, and the operation safety of the engineering vehicle is effectively improved.

The boom interference prevention device provided by the invention is described below, and the boom interference prevention device described below and the boom interference prevention method described above can be correspondingly referred to each other.

Fig. 4 is a schematic structural diagram of an arm support interference preventing device provided by the present invention, where the device is applied to an engineering vehicle, and the engineering vehicle includes a plurality of sections of arm supports, and the device may include:

the acquiring module 401 is configured to acquire posture information corresponding to each of the plurality of sections of arm frames;

the processing module 402 is configured to perform the following operations for each of the first arm frames in the multi-section arm frame: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result.

Optionally, in the case that the end of the last arm frame in the multiple arm frames is provided with the injection device, the obtaining module 401 is further configured to obtain angle information and spatial position information corresponding to the injection device; the processing module 402 is further configured to calculate pose information, the angle information, and the spatial position information corresponding to each of the plurality of sections of arm frames, so as to obtain injection information corresponding to the injection device; determining a second risk result based on the injection information; and controlling the operation of the multi-section arm support and/or the injection device based on the second risk result.

Optionally, the first posture information includes first boom inclination angle information and first boom length information, and the second posture information includes second boom inclination angle information and second boom length information; the processing module 402 is specifically configured to determine first coordinate information corresponding to the first end according to the first boom inclination angle information and the first boom length information; determining second coordinate information corresponding to the second tail end and third coordinate information corresponding to the head end of the second arm support according to the second arm support inclination angle information and the second arm support length information; calculating the first coordinate information and the second coordinate information to obtain the first distance; or, calculating the first coordinate information, the second coordinate information and the third coordinate information to obtain the second distance.

Optionally, the processing module 402 is specifically configured to determine the first risk result according to the first distance or the second distance, in combination with a preset minimum safety distance and/or a preset early warning buffer distance, where the first risk result includes a collision risk, an interference risk, or no risk, and the preset early warning buffer distance is greater than the preset minimum safety distance.

Optionally, the injection information includes an injection angle and an injection path; the processing module 402 is specifically configured to obtain projection coordinate information of the vehicle body on the target horizontal plane; determining intersection point coordinate information of the injection path and the target horizontal plane under the condition that the injection angle is a negative value; the negative value of the injection angle is used for representing that the injection device injects towards the ground; and determining the second risk result according to the projection coordinate information and the intersection point coordinate information.

Optionally, the processing module 402 is specifically configured to determine the second risk result according to the intersection point coordinate information and the target projection area corresponding to the projection coordinate information, in combination with a preset minimum safety distance and/or a preset early warning buffer distance, where the second risk result includes an impact risk, an interference risk, or no risk, and the preset early warning buffer distance is greater than the preset minimum safety distance.

Optionally, the processing module 402 is specifically configured to control the first arm support and/or the second arm support to stop running, prohibit the first arm support and/or the second arm support from continuing to move in the collision direction, and allow the first arm support and/or the second arm support to continue to move in the opposite collision direction when the first risk result indicates the collision risk; and controlling the first arm support and/or the second arm support to decelerate under the condition that the first risk result indicates interference risk.

Optionally, the engineering vehicle further includes an alarm device, and the processing module 402 is further configured to correspondingly control the alarm device to perform an alarm prompt according to a target risk degree of the first risk result or the second risk result when the first risk result indicates a collision risk or an interference risk, or when the second risk result indicates an impact risk or an interference risk, before controlling the first arm frame and/or the second arm frame to operate, or before controlling the multi-section arm frame and/or the injection device to operate.

As shown in fig. 5, the construction schematic of the engineering vehicle provided by the present invention may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a boom anti-interference method for use with an engineering vehicle including a multi-section boom, the method comprising: acquiring the corresponding posture information of each of the multiple sections of arm frames; the following operations are executed for the first arm frame in the multi-section arm frame: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result.

Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can execute the boom anti-interference method provided by the methods above, and the method is applied to an engineering vehicle, where the engineering vehicle includes a plurality of sections of booms, and the method includes: acquiring the corresponding posture information of each of the multiple sections of arm frames; the following operations are executed for the first arm frame in the multi-section arm frame: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result.

In still another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the boom anti-interference method provided by the methods above, applied to an engineering vehicle, the engineering vehicle including a plurality of sections of booms, the method including: acquiring the corresponding posture information of each of the multiple sections of arm frames; the following operations are executed for the first arm frame in the multi-section arm frame: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The method for preventing the interference of the arm support is characterized by being applied to an engineering vehicle, wherein the engineering vehicle comprises a plurality of sections of arm supports, and the method comprises the following steps:

acquiring the corresponding posture information of each of the multi-section arm support;

the following operations are executed for a first arm support in the multi-section arm support: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result.

2. The method according to claim 1, wherein the method further comprises:

under the condition that an injection device is arranged at the tail end of the last arm frame in the multi-section arm frame, acquiring angle information and space position information corresponding to the injection device;

Calculating the corresponding posture information, the angle information and the spatial position information of the multi-section arm support respectively to obtain the corresponding injection information of the injection device;

Determining a second risk result according to the injection information;

And controlling the operation of the multi-section arm support and/or the injection device based on the second risk result.

3. The method of claim 1, wherein the first attitude information comprises first boom inclination angle information and first boom length information, and the second attitude information comprises second boom inclination angle information and second boom length information;

The determining, according to the first gesture information of the first arm frame and the second gesture information of the second arm frame, a first distance between a first end of the first arm frame and a second end of the second arm frame, or a second distance between the first end and the second arm frame, includes:

Determining first coordinate information corresponding to the first tail end according to the first arm support inclination angle information and the first arm support length information;

Determining second coordinate information corresponding to the second tail end and third coordinate information corresponding to the head end of the second arm support according to the second arm support inclination angle information and the second arm support length information;

Calculating the first coordinate information and the second coordinate information to obtain the first distance; or, calculating the first coordinate information, the second coordinate information and the third coordinate information to obtain the second distance.

4. A method according to claim 3, wherein said determining a first risk outcome from said first distance or said second distance comprises:

And determining the first risk result according to the first distance or the second distance and combining a preset minimum safety distance and/or a preset early warning buffer distance, wherein the first risk result comprises collision risk, interference risk or no risk, and the preset early warning buffer distance is larger than the preset minimum safety distance.

5. The method of claim 2, wherein the injection information includes an injection angle and an injection path; the determining a second risk result according to the injection information comprises the following steps:

Acquiring projection coordinate information of a vehicle body on a target horizontal plane;

Determining intersection point coordinate information of the injection path and the target horizontal plane under the condition that the injection angle is a negative value; the negative value of the injection angle is used for representing that the injection device injects towards the ground;

And determining the second risk result according to the projection coordinate information and the intersection point coordinate information.

6. The method of claim 5, wherein said determining said second risk outcome from said projection coordinate information and said intersection coordinate information comprises:

And determining the second risk result according to the intersection point coordinate information and the target projection area corresponding to the projection coordinate information and combining a preset minimum safety distance and/or a preset early warning buffer distance, wherein the second risk result comprises an impact risk, an interference risk or no risk, and the preset early warning buffer distance is larger than the preset minimum safety distance.

7. The method according to claim 1 or 4, wherein controlling the operation of the first boom and/or the second boom based on the first risk result comprises:

under the condition that the first risk result indicates collision risk, controlling the first arm support and/or the second arm support to stop running, prohibiting the first arm support and/or the second arm support from continuously moving towards the collision direction, and allowing the first arm support and/or the second arm support to continuously move towards the opposite collision direction;

and controlling the first arm support and/or the second arm support to decelerate under the condition that the first risk result indicates interference risk.

8. The method of claim 2, wherein the work vehicle further comprises an alarm device before controlling the operation of the first boom and/or the second boom, or before controlling the operation of the multi-section boom and/or the injection device, the method further comprising:

And correspondingly controlling the alarm device to carry out alarm prompt according to the target risk degree of the first risk result or the second risk result under the condition that the first risk result indicates collision risk or interference risk or the second risk result indicates impact risk or interference risk.

9. An arm support interference prevention device is characterized by being applied to an engineering vehicle, wherein the engineering vehicle comprises a plurality of sections of arm supports, and the device comprises:

the acquisition module is used for acquiring the corresponding posture information of each of the plurality of sections of arm frames;

The processing module is used for executing the following operations aiming at a first arm support in the multi-section arm support: determining a first distance between a first end of the first arm support and a second end of the second arm support or a second distance between the first end and the second arm support according to the first posture information of the first arm support and the second posture information of the second arm support; determining a first risk result according to the first distance or the second distance; and controlling the first arm support and/or the second arm support to operate based on the first risk result.

10. An engineering vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the boom anti-interference method according to any one of claims 1 to 8 when executing the program.