CN115494841A - Control method and device for engineering equipment, storage medium and processor - Google Patents
Control method and device for engineering equipment, storage medium and processor Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The embodiment of the application provides a control method for engineering equipment, the engineering equipment, a storage medium and processor engineering equipment, wherein the control method comprises the following steps: acquiring the current position of the engineering equipment through a positioning device; determining a first separation distance between the current position and obstacles around the engineering equipment; determining a virtual space area which is formed by a plurality of virtual boundaries and is overlapped with the obstacle according to the current position and the first separation distance; determining relative space parameters between the engineering equipment and the distance virtual boundary under the condition that the engineering equipment moves to the next position; and controlling the engineering equipment to execute corresponding control parameters according to the relative space parameters, so that the engineering equipment can work safely. Under the condition that the position of the engineering equipment is changed, the operation can be carried out in the range of the set virtual space area, the engineering equipment is prevented from touching the actual barrier, and the operation safety of the engineering equipment can be improved.
Description
Technical Field
The application relates to the field of intelligent control of engineering equipment, in particular to a control method for the engineering equipment, a storage medium and a processor.
Background
When the engineering equipment is constructed in a complex environment of a city, obstacles such as electric wires, optical cables, buildings and the like exist around the equipment, and an operator needs to pay close attention to the obstacles when working. However, the engineering equipment often touches the obstacles, so that safety accidents occur. The current limit position of the electronic fence is relative to the position of the central point of the engineering equipment, and the electronic fence can be effectively limited under the condition that the chassis of the engineering equipment is static and the upper vehicle rotates around. Once the engineering equipment moves or rotates, the electronic fence must be reset, and the actual operation requirements of the engineering equipment cannot be met.
Disclosure of Invention
An object of an embodiment of the application is to provide a control method for engineering equipment, the engineering equipment, a storage medium and a processor.
In order to achieve the above object, a first aspect of the present application provides a control method for an engineering equipment, the engineering equipment including a positioning device, the method including:
acquiring the current position of the engineering equipment through a positioning device;
determining a first separation distance between the current position and obstacles around the engineering equipment;
determining a virtual area aiming at the engineering equipment according to the current position and the first separation distance, wherein the virtual area is a virtual space area which is formed by a plurality of virtual boundaries and is overlapped with the obstacle;
determining relative space parameters between the engineering equipment and the distance virtual boundary under the condition that the engineering equipment moves from the current position to the next position;
and determining control parameters of the engineering equipment according to the relative space parameters so as to control the engineering equipment to execute the control parameters to ensure that the engineering equipment works safely.
A second aspect of the present application provides an engineering apparatus, comprising:
the positioning device is used for acquiring the current position of the engineering equipment; and the number of the first and second groups,
is configured to execute the above-described control method for the engineering equipment.
A third aspect of the present application provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to be configured to execute the above-described control method for an engineering apparatus.
A fourth aspect of the present application provides a processor configured to execute the above-described control method for an engineering apparatus.
Through the technical scheme, the current position of the engineering equipment can be acquired through the positioning device, and the first separation distance between the current position and the obstacle around the engineering equipment is determined. According to the current position and the first separation distance, a virtual space area formed by a plurality of virtual boundaries aiming at the engineering equipment can be determined, and the virtual boundaries are coincided with the actual positions of the obstacles. When the engineering equipment moves from the current position to the next position, relative space parameters such as a limiting distance and a limiting angle between the engineering equipment and the virtual boundary can be determined. And determining control parameters of the engineering equipment according to the relative space parameters so as to control the engineering equipment to execute the control parameters to ensure that the engineering equipment can work safely. Under the condition that the position of the engineering equipment is changed, the operation can be carried out in the range of the set virtual space area, the engineering equipment is prevented from touching an actual barrier, and the operation safety of the engineering equipment can be improved.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
fig. 1 schematically shows a flow chart of a control method for a construction equipment according to an embodiment of the present application;
fig. 2 schematically shows a schematic view of a construction apparatus according to an embodiment of the present application;
fig. 3 schematically shows a schematic diagram of a limit angle of the engineering equipment relative to a virtual boundary according to an embodiment of the application;
fig. 4 schematically shows a schematic view of a turning angle of a working device according to an embodiment of the application;
FIG. 5 schematically illustrates a schematic view of a first heading angle of an engineering device according to an embodiment of the application;
fig. 6 schematically shows a schematic view of a construction equipment according to an embodiment of the present application and a third stopping distance from a virtual boundary;
FIG. 7 schematically illustrates a schematic view of a first heading angle and a limit angle of a piece of engineering equipment according to an embodiment of the application;
FIG. 8 schematically illustrates a schematic diagram of a limit point of an engineering device according to an embodiment of the present application;
fig. 9 schematically shows a block diagram of a construction apparatus according to an embodiment of the present application;
fig. 10 schematically shows a block diagram of a construction apparatus according to another embodiment of the present application;
fig. 11 schematically shows an internal structural diagram of a computer device according to an embodiment of the present application.
Description of the reference numerals
The method comprises the following steps of 1-a chassis, 2-a rotary encoder, 3-a movable arm, 4-a bucket rod, 5-a bucket, 6-a bucket tilt angle sensor, 7-a bucket rod tilt angle sensor, 8-a movable arm tilt angle sensor, 9-a camera, 10-a laser radar, 11-a GNSS positioning device, 12-a cab and 13-a processor.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 schematically shows a flow chart of a control method for an engineering device according to an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, there is provided a control method for engineering equipment, including the steps of:
and S102, acquiring the current position of the engineering equipment through the positioning device.
Engineering equipment refers to electromechanical equipment, metallic structural equipment, instrumentation and other similar equipment and devices that the engineering equipment constitutes or is intended to constitute a part of a permanent project. For example, it may be an excavator, a crane, or the like. The positioning device is a device configured to identify a spatial position as an object and related to each other, and the construction equipment can identify its own position information by mounting the positioning device thereon. The positioning device may be a GNSS positioning device (global navigation satellite system). The global navigation satellite system is a space-based radio navigation positioning system capable of providing users with all-weather three-dimensional coordinates and speed and time information at any location on the earth's surface or in near-earth space. The processor can acquire the current position of the engineering equipment through the positioning device, wherein the current position comprises the longitude and latitude coordinates, the altitude and other position information of the position of the engineering equipment at the current moment. As shown in fig. 2, in addition to the GNSS positioning apparatus 11, a camera 9 and/or a lidar 10 may be installed to blend with GNSS signals, so as to improve performance of GNSS positioning.
And S104, determining a first separation distance between the current position and an obstacle around the engineering equipment.
Obstacles around the engineering equipment, such as electric wires, optical cables or buildings, can interfere with the normal operation of the engineering equipment, and in severe cases, the engineering equipment can be damaged, so that safety accidents occur. The processor may determine a first stand-off distance between a current location of the construction equipment and a surrounding obstacle. The first separation distance comprises the separation distances between the front, back, left, right, upper and lower obstacles of the engineering equipment and the engineering equipment. The first separation distance may be detected according to the driving distance, the driving direction, and the altitude collected by the GNSS positioning apparatus, or may be determined by a technician through a detection tool such as a detector.
And S106, determining a virtual area aiming at the engineering equipment according to the current position and the first separation distance, wherein the virtual area is a virtual space area which is formed by a plurality of virtual boundaries and is overlapped with the obstacle.
The virtual area refers to a virtual space area that allows movement and work of the construction equipment and structural components, devices, or equipment on the construction equipment. And a plurality of virtual boundaries of the virtual space area coincide with actual obstacles around the construction equipment. The processor can determine the longitude and latitude data and the altitude of the plurality of virtual boundaries according to the longitude and latitude data and the altitude of the current position of the engineering equipment and the first separation distance. The virtual boundary is a virtual electronic fence of the engineering equipment, and the movable virtual area of the engineering equipment is divided according to the first separation distance to limit the movement and operation of the engineering equipment so as to avoid the engineering equipment from touching an actual obstacle. The operator can input the first distance between the engineering equipment and the surrounding obstacles from the human-computer interaction interface to be used as basic data for dividing the virtual area.
And S108, determining relative space parameters between the engineering equipment and the distance virtual boundary under the condition that the engineering equipment moves from the current position to the next position.
And S110, determining control parameters of the engineering equipment according to the relative space parameters so as to control the engineering equipment to execute the control parameters and enable the engineering equipment to work safely.
The next position of the engineering equipment is relative to the current position, and when the engineering equipment moves to the next position, the longitude and latitude, the altitude or the spatial pose of the engineering equipment are changed correspondingly. The processor can determine the movable distance, angle and other relative space parameters between the engineering equipment and the virtual boundary when determining the next position. According to the distance, the angle and other relative space parameters, the processor can determine control parameters of the engineering equipment, wherein the control parameters comprise parameters such as output voltage and current of the engineering equipment so as to control the moving speed of the chassis, the speed of the oil cylinder and the like. The processor controls the engineering equipment to execute the control parameters and limits the engineering equipment to move in the corresponding virtual area, so that the engineering equipment can work safely.
In one embodiment, the engineering equipment further comprises a working device, the relative space parameter comprises a limit angle of the engineering equipment relative to the virtual boundary at the next position, and the determining of the relative space parameter between the engineering equipment and the virtual boundary comprises: acquiring position data of a next position through a positioning device, wherein the position data comprises longitude and latitude data; determining longitude and latitude data of the virtual boundary; determining a second distance between the engineering equipment and each virtual boundary according to the longitude and latitude data of the next position and the longitude and latitude data of the virtual boundary; determining the elongation length of the working device in the horizontal direction; and determining a limiting angle according to the second separation distance and the extension length.
The engineering equipment further comprises a working device, for example, the engineering equipment is an excavator, and the working device of the excavator comprises an arm support. As shown in fig. 2, the boom includes a boom 3, an arm 4, a bucket 5, and the like. In the case where the excavator is at the next position, the processor may acquire latitude and longitude data of the excavator through the GNSS positioning device 11, and determine a second separation distance between the excavator and each virtual boundary according to the latitude and longitude data of the determined virtual boundary. The second separation distance refers to a separation distance between a center position of the excavator and each virtual boundary. And the processor can also determine the extension length of the arm frame in the horizontal direction, wherein the extension length refers to the spacing distance between the farthest point of the arm frame and the center point of the excavator in the horizontal direction when the arm frame is at the next position. And determining the limit angle of the excavator relative to the virtual boundary according to the second separation distance and the elongation length. For example, assuming an extension length a and a second separation distance b, the sine of the limiting angle β can be calculated from the ratio of the second separation distance b to the extension length a. Referring to fig. 2, an included angle between the arm support of the excavator and the virtual boundary of the side surface of the excavator is a limit angle β, and if the upper vehicle part of the excavator rotates to the left, the arm support will cross the virtual boundary of the side surface. That is, the arm support of the excavator collides with an actual obstacle. As shown in fig. 3, the limiting angle β is a maximum included angle between the arm support and a virtual boundary of the side surface when the arm support of the excavator is allowed to move, so as to limit the arm support of the excavator to perform work.
In one embodiment, the engineering equipment further comprises a turning angle sensor, the relative space parameter comprises a walking direction of the engineering equipment, and the determining the relative space parameter between the engineering equipment and the distance virtual boundary comprises: acquiring position data of a next position through a positioning device, wherein the position data comprises a first course angle of a vehicle-mounted part of the engineering equipment; acquiring the rotation angle of the engineering equipment at the next position through a rotation angle sensor; determining a second course angle of a get-off part of the engineering equipment according to the first course angle and the rotation angle; and determining the walking direction of the engineering equipment at the next position according to the second heading angle.
The rotary angle sensor may be a rotary encoder. As shown in fig. 2, the rotary encoder 2 may be mounted on a rotary motor center shaft. As shown in fig. 4, a turning angle sensor for determining a relative turning angle α between the getting on part and the getting off part of the construction equipment. The lower vehicle part of the engineering equipment mainly comprises a chassis used for controlling the walking direction of the engineering equipment. Referring to fig. 5, the GNSS positioning apparatus 11 may be installed on a boarding portion of the engineering equipment, and a GNSS antenna, a positioning antenna and a directional antenna, may be installed at a tail portion of the boarding portion, and an absolute angle of the boarding portion may be calculated by an angle between a connection line between the two antennas and the magnetic field of the earth. I.e. the first heading angle gamma. The processor can calculate a second heading angle of the get-off part according to the difference between the first heading angle gamma and the turning angle alpha so as to determine the walking direction of the engineering equipment at the next position.
In one embodiment, the relative space parameter includes a first limit distance and a second limit distance at which the engineering equipment is movable up and down relative to the virtual area, and the determining the relative space parameter between the engineering equipment and the virtual boundary includes: obtaining position data of a next position by a positioning device, the position data including an altitude; determining a first altitude of an upper boundary and a second altitude of a lower boundary of the virtual area; determining a height limit value of the virtual area according to the first altitude and the second altitude; and determining a first limit distance and a second limit distance according to the altitude limit value and the altitude of the next position, wherein the first limit distance refers to the distance which can move upwards when the engineering equipment is at the next position, and the second limit distance refers to the distance which can move downwards when the engineering equipment is at the next position.
The first limit distance is a distance that the engineering equipment can move upwards relative to the upper virtual boundary when in the next position, and the second limit distance is a distance that the engineering equipment can move downwards relative to the lower virtual boundary when in the next position. The processor may determine a first altitude of an upper boundary and a second altitude of a lower boundary of the virtual area, and acquire, by the GNSS positioning apparatus, an altitude of the central point of the engineering equipment at a next position. The first limit distance of the engineering equipment can be determined according to the first altitude and the altitude of the next position engineering equipment, and the second limit distance of the engineering equipment can be determined according to the second altitude and the altitude of the next position engineering equipment. Therefore, the construction equipment can be prevented from colliding with obstacles such as an upper electric wire, a building, an underground cable, a pipeline and the like during operation.
In one embodiment, the relative space parameter includes a third limit distance that the engineering equipment allows to move towards the virtual boundary direction, and determining the relative space parameter between the engineering equipment and the virtual boundary includes: acquiring position data of a next position through a positioning device, wherein the position data comprises longitude and latitude data and a first course angle of a vehicle-loading part of the engineering equipment; determining a second distance between the engineering equipment and each virtual boundary according to the longitude and latitude data of the next position and the longitude and latitude data of each virtual boundary; and determining a third limit distance of the engineering equipment relative to each virtual boundary according to the second separation distance and the first heading angle.
The third limit distance is a distance that the engineering equipment is allowed to move towards the virtual boundary direction, and specifically, is a distance that the chassis of the engineering equipment is allowed to move towards the virtual boundary direction. The upper vehicle part of the engineering equipment may comprise a working device which extends forwards. For example, the upper part of the excavator comprises an arm support. Referring to fig. 6, if the boarding portion of the construction equipment is not vertically close to the virtual boundary (front fence), the center point of the construction equipment may also be closer to the direction of the virtual boundary in practice. The processor may then determine latitude and longitude data for the virtual boundary and obtain, via the GNSS positioning apparatus, a first heading angle for the boarding portion of the engineering equipment at the next location. And determining an included angle B between the direction of the central point of the engineering equipment, which is perpendicular to the virtual boundary, and the direction of the working device according to the first course angle and the latitude and longitude data of the virtual boundary. According to the extension length of the working device of the engineering equipment and the included angle B, the shortest distance between the allowable engineering equipment and the virtual boundary can be determined. The second separation distance is a separation distance between the central point of the engineering equipment and the virtual boundary at the next position, and can be determined according to the longitude and latitude data of the central point of the engineering equipment at the next position and the longitude and latitude data of each virtual boundary. Then, the processor may determine a third limiting distance at which the central point of the engineering equipment may move toward the virtual boundary direction according to a difference between the second separation distance and the closest distance. In another more specific embodiment, the limit distance of the other virtual boundary adjacent to the front wall needs to be considered, so as to prevent the engineering equipment from exceeding the other virtual boundary when approaching the front wall, and then touching the obstacle. Therefore, when the processor controls the engineering equipment to approach any virtual boundary, if the moving distance of the engineering equipment exceeds the third limit distance relative to one of the virtual boundaries, the engineering equipment can be controlled to stop working or move towards the opposite direction of the virtual boundary.
In one embodiment, the relative space parameter includes a limit angle of the engineering equipment relative to the virtual boundary at the next position, and the control parameter of the engineering equipment is determined according to the relative space parameter, so as to control the engineering equipment to execute the control parameter, so that the safety operation of the engineering equipment comprises: acquiring position data of a next position through a positioning device, wherein the position data comprises a first course angle of a vehicle-mounted part of the engineering equipment; and under the condition that the difference value between the limiting angle and the first course angle is smaller than or equal to a preset angle threshold, controlling a rotary motor of the engineering equipment to stop working, or controlling the engineering equipment to move towards the direction far away from a virtual boundary which is closest to the engineering equipment, so that the engineering equipment can safely work.
When the engineering equipment is at the next position, the controller can determine the control parameters of the engineering equipment according to the relative space parameters so as to control the engineering equipment to execute the control parameters to ensure that the engineering equipment works safely. Referring to fig. 7, under the condition that the virtual boundary and the earth magnetic field are in the same direction, the first heading angle γ of the boarding portion is determined by the GNSS positioning apparatus, and it can be determined whether the first heading angle γ exceeds the limit angle β according to the geometric relationship. If the virtual boundary and the earth magnetic field direction are not in the same direction, the relative angle between the virtual boundary and the earth magnetic field direction can be determined according to the longitude and latitude data of the virtual boundary. Then, an angle difference between the relative angle and the limit angle β may be calculated to compare the first heading angle γ with the angle difference to determine whether the boarding portion of the construction equipment exceeds the limit angle β. Then, the technician can set a preset angle threshold value according to the actual working condition, wherein the preset angle threshold value comprises the angle difference value and a buffer angle reserved for the stop of the engineering equipment. And under the condition that the difference value between the limiting angle and the first course angle is smaller than or equal to a preset angle threshold value, controlling a rotary motor of the engineering equipment to stop working, or controlling the engineering equipment to move towards a direction far away from a virtual boundary which is closest to the engineering equipment, so that the engineering equipment can safely work. The rotary motor is a braking device for realizing the rotation of any angle between the upper vehicle part and the lower vehicle part of the engineering equipment and stopping the rotation of any angle. For example, the preset angle threshold may be set to 2 °, and in a case where the difference between the limit angle and the first heading angle is less than or equal to 2 °, the swing motor of the engineering equipment is controlled to stop operating, or the engineering equipment is controlled to move in a direction away from the virtual boundary closest to the engineering equipment.
In one embodiment, the engineering equipment comprises an inclination angle sensor which is correspondingly installed with each monitoring point, and the control parameters of the engineering equipment are determined according to the relative space parameters so as to control the engineering equipment to execute the control parameters, so that the safe operation of the engineering equipment comprises the following steps: determining the pose of the engineering equipment at the next position through the tilt angle sensor; determining a third separation distance between each monitoring point and the central point of the engineering equipment according to the pose; determining the monitoring point with the maximum third phase separation distance value as a limit point; determining a fourth separation distance between the limit point and a virtual boundary closest to the engineering equipment; and under the condition that the fourth separation distance is smaller than or equal to the preset distance threshold, controlling the oil cylinder speed of the engineering equipment to be reduced to zero, or controlling the engineering equipment to move towards the direction away from the virtual boundary closest to the engineering equipment so as to ensure that the engineering equipment can safely operate.
The engineering equipment comprises an inclination angle sensor which is correspondingly installed with each monitoring point, for example, the engineering equipment can be an excavator, and the working device of the excavator comprises an arm support. Referring to fig. 2 and 8, the tilt angle sensor may detect a tilt angle corresponding to each component of the boom, and is installed corresponding to a monitoring point (G point) of the boom, including a bucket tilt angle sensor 6, a stick tilt angle sensor 7, a boom tilt angle sensor 8, and the like. The monitoring point (G point) may be any one or more of a hinged point of a boom, a stick, a bucket, a rocker, a bucket link of the arm support, or a point of a shovel. The spatial pose of the arm support of the excavator can be determined by acquiring a plurality of dip angles through a plurality of dip angle sensors, and the processor can determine the three-dimensional spatial coordinates of each monitoring point by taking the central point of the excavator as the original point according to the spatial pose of the arm support so as to determine the fourth distance between each monitoring point and the central point of the engineering equipment. The third separation distance is a straight-line distance between each monitoring point and the central point of the engineering equipment, and the processor can determine the monitoring point with the maximum third separation distance value as a limit point. Then, at the next position, according to the distance between the center point of the excavator and the virtual boundary and the third distance, the fourth distance between the limit point and the virtual boundary closest to the engineering equipment can be determined. The technical staff can set a preset distance threshold value by combining with the actual working condition, and under the condition that the fourth separation distance is smaller than or equal to the preset distance threshold value, the speed of the oil cylinder of the engineering equipment is controlled to be reduced until the speed is reduced to zero, or the engineering equipment is controlled to move towards the direction far away from the virtual boundary which is closest to the engineering equipment, so that the engineering equipment can work safely. The oil cylinder of the engineering equipment is arranged corresponding to the arm support, and the structural part of the engineering equipment can be driven to move through self expansion and contraction. For example, the preset distance threshold may be set to 50cm, and in the case that the limit point is less than or equal to 50cm from the virtual boundary, the speed of the cylinder of the engineering equipment is controlled to decrease to zero, or the engineering equipment is controlled to move in a direction away from the virtual boundary closest to the engineering equipment.
In one embodiment, in the case that the engineering equipment moves from the current position to the next position, all relative spatial parameters between the engineering equipment and the virtual boundary need to be considered at the same time, so as to avoid the engineering equipment from crossing the virtual boundary and touching the obstacle when moving for operation. The relative space parameters comprise a limit angle of the engineering equipment relative to the virtual boundary, a walking direction, a first limit distance capable of moving up and down, a second limit distance capable of moving up and down and a third limit distance capable of moving towards the virtual boundary. The processor can acquire position data of the engineering equipment at the next position through the GNSS positioning device, wherein the position data comprises longitude and latitude data, altitude and a first heading angle of the on-board part of the engineering equipment.
According to the longitude and latitude data of the engineering equipment at the next position and the longitude and latitude data of the virtual boundaries, a second distance between the center position of the engineering equipment and each virtual boundary can be determined. And determining a limit angle beta of the engineering equipment relative to the virtual boundary according to the second separation distance and the extension length of the arm support in the horizontal direction. The elongation length refers to the spacing distance between the farthest point of the arm frame and the center point of the engineering equipment in the horizontal direction. For example, assuming an extension length a and a second separation distance b, the sine of the limiting angle β can be calculated from the ratio of the second separation distance b to the extension length a.
And the turning angle sensor is used for determining the relative turning angle alpha between the upper vehicle part and the lower vehicle part of the engineering equipment. The lower vehicle part of the engineering equipment mainly comprises a chassis used for controlling the walking direction of the engineering equipment. Referring to fig. 5, the GNSS positioning apparatus 11 may be installed on a boarding portion of the engineering equipment, and a GNSS antenna, a positioning antenna and a directional antenna, may be installed at a tail portion of the boarding portion, and an absolute angle of the boarding portion may be calculated by an angle between a connection line between the two antennas and the magnetic field of the earth. I.e. the first heading angle gamma. The processor can calculate a second heading angle when the get-off part is at the next position according to the difference between the first heading angle gamma and the turning angle alpha so as to determine the walking direction of the engineering equipment at the next position.
The first limit distance of the engineering equipment can be determined according to the first altitude of the upper boundary of the virtual area and the altitude of the next position engineering equipment, and the second limit distance of the engineering equipment can be determined according to the second altitude of the lower boundary of the virtual area and the altitude of the next position engineering equipment. Therefore, the construction equipment can be prevented from colliding with obstacles such as an upper electric wire, a building, an underground cable, a pipeline and the like during operation.
The upper vehicle part of the engineering equipment may comprise a working device which extends forwards. For example, the upper part of the excavator comprises an arm support. Referring to fig. 6, if the boarding portion of the construction equipment is not vertically close to the virtual boundary (front fence), the center point of the construction equipment may also be closer to the direction of the virtual boundary in practice. Then, the processor may determine an included angle B between a direction perpendicular to the virtual boundary and a direction of the working device by the central point of the engineering equipment according to the first heading angle and the latitude and longitude data of the virtual boundary. According to the extension length of the working device of the engineering equipment and the included angle B, the shortest distance between the allowable engineering equipment and the virtual boundary can be determined. The processor may determine a third limiting distance by which the center point of the engineering equipment may move toward the virtual boundary direction according to a difference between the second separation distance and the closest distance.
Through the technical scheme, the current position of the engineering equipment can be acquired through the positioning device, and the first separation distance between the current position and the obstacle around the engineering equipment is determined. According to the current position and the first separation distance, a virtual space area formed by a plurality of virtual boundaries aiming at the engineering equipment can be determined, and the virtual boundaries are coincided with the actual positions of the obstacles. Under the condition that the engineering equipment moves from the current position to the next position, the limiting distance, the limiting angle, the walking direction of the engineering equipment and other relative space parameters between the engineering equipment and a working device of the engineering equipment and the virtual boundary can be determined according to the inclination angle sensor, the revolution angle sensor, the GNSS positioning device and the like. And determining control parameters of the engineering equipment according to the relative space parameters so as to control devices such as a rotary motor and an oil cylinder to execute the control parameters to ensure that the engineering equipment can safely work. Under the condition of the position change of the engineering equipment, the position of the engineering equipment and the pose condition of the working device are monitored in real time, so that the engineering equipment can operate in the set virtual space area range, the engineering equipment is prevented from touching practical obstacles, and the operation safety of the engineering equipment can be improved.
Fig. 1 is a flowchart illustrating a control method for an engineering device according to an embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 9, there is provided an engineering apparatus 900 comprising:
and the positioning device 902 is used for acquiring the current position of the engineering equipment.
A processor 904 configured to perform the above-described control method for the engineering equipment.
The positioning device 902 may be a GNSS positioning device (global navigation satellite system), for example, a beidou satellite navigation system (BDS), GALILEO satellite navigation system (GALILEO), global positioning satellite system (GPS), or the like. The global navigation satellite system is a space-based radio navigation positioning system capable of providing users with all-weather three-dimensional coordinates and speed and time information at any location on the earth's surface or in near-earth space. The positioning device 902 may transmit the current position and the next position of the engineering equipment to the processor 904, including the longitude and latitude coordinates, the altitude, and the like of the position of the engineering equipment. The processor 904 may determine a virtual area composed of a plurality of virtual boundaries according to the received position information of the current position and the determined first separation distance, so as to limit movement and operation of the engineering equipment and prevent the engineering equipment from touching an actual obstacle. Further, after the spatial position of the engineering device is changed, the processor 904 may further determine a relative spatial parameter between the engineering device and the distance virtual boundary at the next position according to the divided virtual area.
In one embodiment, as shown in fig. 10, the engineering equipment 900 further includes: a rotation angle sensor 906 for acquiring a rotation angle of the engineering equipment at a next position and transmitting the rotation angle to the processor 904; the processor 904 is further configured to: receiving position data of a next position transmitted by a positioning device, wherein the position data comprises a first course angle of an upper vehicle part of the engineering equipment; determining a second course angle of a get-off part of the engineering equipment according to the first course angle and the rotation angle; and determining the walking direction of the engineering equipment at the next position according to the second heading angle.
The swing angle sensor 906 may be a swing encoder for acquiring a relative swing angle α between the boarding portion and the alighting portion of the next position engineering equipment and transmitting the swing angle α to the processor 904. Specifically, the rotary encoder may be mounted on the central shaft of the rotary motor 908. The lower part of the excavator mainly comprises a chassis used for controlling the walking direction of the engineering equipment. Referring to fig. 4, the positioning apparatus 902 may be installed on a boarding portion of the engineering equipment, a GNSS antenna, one positioning antenna and one directional antenna are installed at a tail of the boarding portion, and an absolute angle of the boarding portion may be calculated by an angle between a connection line between the two antennas and the earth magnetic field. I.e. the first heading angle gamma. The processor 904 can calculate a second heading angle of the alighting portion based on a difference between the first heading angle γ and the turning angle α to determine a walking direction of the construction equipment at a next position.
In one embodiment, as shown in fig. 10, the engineering equipment 900 further includes: the working device 910 is used for controlling engineering equipment to work; a plurality of tilt sensors 912, each of which is installed corresponding to each monitoring point and is configured to acquire a plurality of tilt angles corresponding to the monitoring points and transmit the tilt angles to the processor 904; the processor 904 is further configured to: determining the pose of the engineering equipment at the next position according to the plurality of inclination angles; determining a third distance between each monitoring point and the central point of the engineering equipment according to the pose; determining the monitoring point with the maximum third phase distance value as a limit point; determining a fourth separation distance between the limit point and a virtual boundary closest to the engineering equipment; and under the condition that the fourth separation distance is smaller than or equal to the preset distance threshold, controlling the speed of the oil cylinder 914 of the engineering equipment to be reduced to zero, or controlling the engineering equipment to move towards a direction away from a virtual boundary closest to the engineering equipment so as to ensure that the engineering equipment can safely work.
The engineering equipment further comprises a working device 910, for example, the engineering equipment is an excavator, and the working device 910 of the excavator comprises an arm support. Referring to fig. 2 and 8, the boom includes a boom, an arm, a bucket, a stick, and a bucket link, and a plurality of tilt sensors 912 may detect tilt angles corresponding to respective components of the boom and are installed corresponding to monitoring points (G points) of the boom, including a bucket tilt sensor 6, an arm tilt sensor 7, a boom tilt sensor 8, and the like. The monitoring point (G point) may be any one or more of a boom, an arm, a bucket, a rocker, a hinge point of a bucket link of the arm support, or a bucket tip point. The multiple tilt angle sensors collect multiple tilt angles and transmit the multiple tilt angles to the processor 904, the processor 904 can determine a spatial pose of an arm support of the excavator, and the processor can determine a three-dimensional spatial coordinate of each monitoring point with an excavator central point as an origin according to the spatial pose of the arm support so as to determine a third separation distance between each monitoring point and a central point of the engineering equipment. The third separation distance is a straight-line distance between each monitoring point and the central point of the engineering equipment, and the processor can determine the monitoring point with the maximum third separation distance value as a limit point. Then, at the next position, according to the difference between the separation distance between the center point of the excavator and the virtual boundary and the third separation distance, the fourth separation distance between the limit point and the virtual boundary with the closest distance to the engineering equipment can be determined. The technician may set a preset distance threshold in combination with the actual working condition, and in the case that the fourth separation distance is less than or equal to the preset distance threshold, control the oil cylinder 914 of the engineering equipment to decrease in speed until the speed decreases to zero, or control the engineering equipment to move in a direction away from the virtual boundary closest to the engineering equipment, so as to enable the engineering equipment to operate safely. The oil cylinder 914 of the engineering equipment is arranged corresponding to the working device 910, and the oil cylinder 914 can drive the working device 910 to move through the self expansion and contraction. To implement complex control strategies, the operational input and control output signals of the excavator may be electrical or electro-hydraulic control signals. The processor 904 may control the cylinders 914 of the engineering equipment to move through the electronically controlled main valves 916 according to the corresponding control parameters. For example, the preset distance threshold may be set to 50cm, and when the limit point is less than or equal to 50cm from the virtual boundary, the speed of the cylinder 912 of the engineering equipment is controlled to decrease to zero, or the engineering equipment is controlled to move away from the virtual boundary closest to the engineering equipment.
In one embodiment, as shown in fig. 10, the engineering device 900 further includes a swing motor 918, and the processor 904 is further configured to: acquiring position data of a next position through a positioning device 902, wherein the position data comprises a first course angle of a vehicle-on part of the engineering equipment; and under the condition that the difference value between the limiting angle and the first course angle is smaller than or equal to a preset angle threshold value, controlling a rotary motor 918 of the engineering equipment to stop working, or controlling the engineering equipment to move towards the direction far away from a virtual boundary which is closest to the engineering equipment, so that the engineering equipment can safely work.
When the engineering equipment is at the next position, the processor 904 may determine the control parameters of the engineering equipment according to the relative spatial parameters, so as to control the engineering equipment to execute the control parameters, so that the engineering equipment can work safely. Referring to fig. 7, assuming that the virtual boundary is in the same direction as the earth's magnetic field, the first heading angle γ of the boarding portion is determined by the positioning device 902, and it can be determined whether the first heading angle γ exceeds the limit angle β according to the geometric relationship. If the virtual boundary and the earth magnetic field direction are not in the same direction, the relative angle between the virtual boundary and the earth magnetic field direction can be determined according to longitude and latitude data of the virtual boundary. Then, an angle difference between the relative angle and the limit angle β may be calculated to compare the first heading angle γ with the angle difference to determine whether the boarding portion of the construction equipment exceeds the limit angle β. Then, the technician can set a preset angle threshold value according to the actual working condition, wherein the preset angle threshold value comprises the angle difference value and a buffer angle reserved for the stop of the engineering equipment. Then, when the difference between the limit angle and the first heading angle is smaller than or equal to the preset angle threshold, the rotation motor 918 of the engineering equipment is controlled to stop working, or the engineering equipment is controlled to move towards the direction away from the virtual boundary closest to the engineering equipment, so that the engineering equipment can work safely. The turning motor 918 is a brake device for turning at an arbitrary angle between the boarding portion and the alighting portion of the construction equipment and stopping the turning at an arbitrary angle. The processor 904 may control the swing motor 918 of the engineering equipment to move through the electronically controlled main valve 916 according to the corresponding control parameters.
In one embodiment, as shown in FIG. 10, the engineering device 900 further includes a human-machine interface 920 from which an operator may input relevant data, such as a first separation distance of the engineering device from an obstacle. The processor 904 may receive the first separation distance transmitted by the human-machine interface 920 as basic data for dividing the virtual area.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the control method for the engineering equipment is realized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present application provides a storage medium on which a program is stored, the program implementing the above-described control method for an engineering device when executed by a processor.
The embodiment of the application provides a processor, wherein the processor is used for running a program, and the program executes the control method for the engineering equipment when running.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 11. The computer apparatus includes a processor a01, a network interface a02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Wherein the processor a01 of the computer device is arranged to provide computing and control capabilities. The memory of the computer apparatus includes an internal memory a03 and a nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory a03 provides an environment for running the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used to store control data for the engineering plant. The network interface a02 of the computer apparatus is used for communicating with an external terminal through a network connection. The computer program B02 is executed by the processor a01 to implement a control method for an engineering plant.
It will be appreciated by those skilled in the art that the configuration shown in fig. 11 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the steps of the control method for the engineering equipment are realized when the processor executes the program.
The present application also provides a computer program product adapted to execute a program for initializing the steps of the control method for an engineering plant when executed on a data processing device.
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 (12)
1. A control method for an engineering apparatus, characterized in that the engineering apparatus includes a positioning device, the control method comprising:
acquiring the current position of the engineering equipment through the positioning device;
determining a first separation distance between the current position and an obstacle around the engineering equipment;
determining a virtual area for the engineering equipment according to the current position and the first separation distance, wherein the virtual area is a virtual space area consisting of a plurality of virtual boundaries and coinciding with the obstacle;
determining a relative spatial parameter between the engineering equipment and the distance from the virtual boundary when the engineering equipment moves from the current position to a next position;
and determining control parameters of the engineering equipment according to the relative space parameters so as to control the engineering equipment to execute the control parameters to ensure that the engineering equipment works safely.
2. The control method for construction equipment according to claim 1, wherein the construction equipment further comprises a working device, the relative spatial parameter comprises a limit angle of the construction equipment relative to the virtual boundary at the next position, and the determining the relative spatial parameter between the construction equipment and the distance from the virtual boundary comprises:
acquiring position data of the next position through the positioning device, wherein the position data comprises longitude and latitude data;
determining longitude and latitude data of the virtual boundary;
determining a second distance between the engineering equipment and each virtual boundary according to the longitude and latitude data of the next position and the longitude and latitude data of the virtual boundary;
determining the elongation length of the working device in the horizontal direction;
determining the limit angle according to the first spacing distance and the extension length.
3. The control method for engineering equipment according to claim 1, wherein the engineering equipment further comprises a turning angle sensor, the relative space parameter comprises a walking direction of the engineering equipment, and the determining the relative space parameter between the engineering equipment and the distance from the virtual boundary comprises:
acquiring position data of the next position through the positioning device, wherein the position data comprises a first course angle of a vehicle-loading part of the engineering equipment;
acquiring the rotation angle of the engineering equipment at the next position through the rotation angle sensor;
determining a second course angle of a get-off part of the engineering equipment according to the first course angle and the rotation angle;
and determining the walking direction of the engineering equipment at the next position according to the second course angle.
4. The control method for construction equipment according to claim 1, wherein the relative space parameters include a first limit distance and a second limit distance at which the construction equipment is movable up and down relative to the virtual area, and the determining the relative space parameters between the construction equipment and the virtual boundary includes:
obtaining, by the positioning device, position data for the next position, the position data including an altitude;
determining a first altitude of an upper boundary and a second altitude of a lower boundary of the virtual area;
determining a height limit value of the virtual area according to the first altitude and the second altitude;
and determining the first limit distance and the second limit distance according to the height limit value and the altitude of the next position, wherein the first limit distance refers to the distance which can move upwards when the engineering equipment is at the next position, and the second limit distance refers to the distance which can move downwards when the engineering equipment is at the next position.
5. The control method for engineering equipment according to claim 1, wherein the relative space parameter includes a third limit distance that the engineering equipment allows to move in the direction of the virtual boundary, and the determining the relative space parameter between the engineering equipment and the virtual boundary includes:
acquiring position data of the next position through the positioning device, wherein the position data comprises longitude and latitude data and a first course angle of a vehicle-mounted part of the engineering equipment;
determining a second distance between the engineering equipment and each virtual boundary according to the longitude and latitude data of the next position and the longitude and latitude data of each virtual boundary;
and determining a third limit distance of the engineering equipment relative to each virtual boundary according to the second separation distance and the first course angle.
6. The control method for the engineering equipment according to any one of claims 1 to 5, wherein the relative space parameter comprises a limit angle of the engineering equipment relative to the virtual boundary at the next position, and the determining the control parameter of the engineering equipment according to the relative space parameter to control the engineering equipment to execute the control parameter so that the engineering equipment performs the safe operation comprises:
acquiring position data of the next position through the positioning device, wherein the position data comprises a first course angle of a vehicle-loading part of the engineering equipment;
and under the condition that the difference value between the limiting angle and the first course angle is smaller than or equal to a preset angle threshold value, controlling a rotary motor of the engineering equipment to stop working, or controlling the engineering equipment to move towards a direction far away from a virtual boundary which is closest to the engineering equipment, so that the engineering equipment can work safely.
7. The control method for the engineering equipment according to any one of claims 1 to 5, wherein the engineering equipment comprises an inclination sensor installed corresponding to each monitoring point, and the determining of the control parameters of the engineering equipment according to the relative spatial parameters to control the engineering equipment to perform the control parameters so that the engineering equipment performs the safe operation comprises:
determining the pose of the engineering equipment at the next position through the tilt angle sensor;
determining a third distance between each monitoring point and the central point of the engineering equipment according to the pose;
determining the monitoring point with the maximum third phase separation distance value as a limit point;
determining a fourth separation distance between the limit point and a virtual boundary closest to the engineering equipment;
and under the condition that the fourth separation distance is smaller than or equal to a preset distance threshold, controlling the speed of the oil cylinder of the engineering equipment to be reduced until the speed is reduced to zero, or controlling the engineering equipment to move towards a direction away from a virtual boundary which is closest to the engineering equipment, so that the engineering equipment can work safely.
8. A processor characterized by being configured to execute the control method for an engineering apparatus according to any one of claims 1 to 7.
9. An engineering apparatus, comprising:
the positioning device is used for acquiring the current position of the engineering equipment; and the number of the first and second groups,
the processor of claim 8.
10. The engineering apparatus of claim 9, further comprising:
the rotation angle sensor is used for acquiring the rotation angle of the engineering equipment at the next position and transmitting the rotation angle to the processor;
the processor is further configured to:
receiving position data of the next position transmitted by the positioning device, wherein the position data comprises a first course angle of an upper vehicle part of the engineering equipment;
determining a second course angle of a get-off part of the engineering equipment according to the first course angle and the rotation angle;
and determining the walking direction of the engineering equipment at the next position according to the second course angle.
11. The engineering apparatus of claim 9, further comprising:
the working device is used for controlling the engineering equipment to work;
the inclination angle sensors are correspondingly arranged with the monitoring points and used for acquiring a plurality of inclination angles corresponding to the monitoring points and transmitting the inclination angles to the processor;
the processor is further configured to:
determining the pose of the engineering equipment at the next position according to the plurality of dip angles;
determining a third distance between each monitoring point and the central point of the engineering equipment according to the pose;
determining the monitoring point with the maximum third phase separation distance value as a limit point;
determining a fourth separation distance between the limit point and a virtual boundary closest to the engineering equipment;
and under the condition that the fourth separation distance is smaller than or equal to a preset distance threshold, controlling the speed of the oil cylinder of the engineering equipment to be reduced to zero, or controlling the engineering equipment to move towards a direction away from a virtual boundary which is closest to the engineering equipment, so that the engineering equipment can safely operate.
12. A machine-readable storage medium having instructions stored thereon, which when executed by a processor causes the processor to be configured to execute the control method for an engineering apparatus according to any one of claims 1 to 7.
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| CN111501865A (en) * | 2020-04-26 | 2020-08-07 | 三一重机有限公司 | Operation method of electronic fence for excavator, electronic fence and excavator |
| CN111593783A (en) * | 2020-06-05 | 2020-08-28 | 徐州徐工挖掘机械有限公司 | Anti-collision control method, device and system for excavator and excavator |
| CN112982541A (en) * | 2020-07-22 | 2021-06-18 | 百度（美国）有限责任公司 | Engineering mechanical equipment, safety control method and system thereof and storage medium |
| CN112411663A (en) * | 2020-11-06 | 2021-02-26 | 徐州徐工挖掘机械有限公司 | Control method and control device for excavator and excavator |
| CN114059614A (en) * | 2021-11-10 | 2022-02-18 | 中联重科股份有限公司 | Walking type engineering equipment, control method and device thereof, and controller |
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