CN110485502A - A kind of excavator intelligent walking system, excavator and control method - Google Patents
A kind of excavator intelligent walking system, excavator and control method Download PDFInfo
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- CN110485502A CN110485502A CN201910646308.6A CN201910646308A CN110485502A CN 110485502 A CN110485502 A CN 110485502A CN 201910646308 A CN201910646308 A CN 201910646308A CN 110485502 A CN110485502 A CN 110485502A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000006073 displacement reaction Methods 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 6
- 238000009412 basement excavation Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 3
- 241000092161 Pithys Species 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000004891 communication Methods 0.000 description 4
- 239000004575 stone Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention relates to excavator control technology fields, and more particularly to a kind of excavator intelligent walking system, excavator and control method, which includes: level inclination sensor, for detecting the front-rear direction of excavator and the obliquity information of left and right directions；Vision module, for shooting the image in excavator walking path region；Intelligent walking controller, its posture that corresponding control instruction adjustment excavator is sent after being analyzed and judged according to the obliquity information of level inclination sensor, and the flat situation of road can be judged according to the image recognition that the camera is shot, cliff of displacement situation and megalith existence, and issue corresponding control instruction and carry out hedging；And warning device.The present invention obtains obliquity information by level inclination sensor, the image in walking path region is obtained by vision module, the control of intelligent walking controller controls excavator according to obliquity information and image and changes posture, active hedging, improves the safety that excavator intelligently travels.
Description
Technical field
The present invention relates to excavator control technology fields, more particularly to a kind of hydraulic crawler excavator intelligent walking system and control
Method processed.
Background technique
Excavator is the capital equipment of earth and rock works, and excavator has operating environment complicated in operation, working condition
It is changeable, the features such as operation form is various.In the prior art, excavator generallys use the mobile traveling of mode of manual control, still
Since practice of construction building site environment is sometimes complex and severe so that manually-operated difficulty improve, drive safety compared with
It is low.The operational safety of conventional excavators is completely dependent on the experience and ability of driver, when excavator works in great slope, In
When hollow road is advanced, excavator is easy unstability, and the accident that excavator is tumbled can occur when serious.
With the continuous development of unmanned intelligent automobile technology, also gradually start unmanned excavation occur in the market
Machine, by multinomial artificial intelligence technology, so that the manipulation difficulty of excavator reduces, the excavator driving safety under complex environment
It is promoted.But in terms of the improvement of unmanned excavator at present mainly still concentrates on AUTONOMOUS TASK mode, for example realize
The functions such as operations and intelligent weighing such as autonomous ditching, the side of getting rid of, entrucking.In face of walking control complicated, under dangerous work environment
System, still relies primarily on pilot steering at present or remote driving is realized.The excavator of the prior art lacks reliable anti-tipping
Function also can not effectively evade automatically for the cliff of displacement in walking path, dilapidated walls, megalith progress, drive when pilot steering or automatically
When sailing, the risk that overthrow accident occurs in excavator is larger, loses if tumbling serious.
Summary of the invention
The purpose of the present invention is overcoming the deficiencies of existing technologies, provide one kind can effectively prevent tumbling, safety it is higher
Excavator intelligent walking system and its control method, and using the system excavator.
In order to achieve the above object, the first aspect of the present invention is to provide a kind of excavator intelligent walking system, it includes
Electric proportional control multi-way valve, the excavator main valve connecting with the electric proportional control multi-way valve are connect with the excavator main valve
Main pump oil circuit and main pump oil circuit control actuating mechanism of excavating machine, it further include:
The portion of getting off of excavator is arranged in level inclination sensor, for detecting front-rear direction and the left and right of excavator
The obliquity information in direction；
Vision module comprising at least two cameras and supplementary lighting sources on board a dredger are set, are dug for shooting
Image in pick machine walking path region；
Intelligent walking controller receives the obliquity information of the level inclination sensor and the figure of camera shooting
Picture；The obliquity information is compared the intelligent walking controller with preset rollover threshold in intelligent walking controller,
Judge the tilt condition of excavator and sends corresponding control instruction to the electric proportional control multi-way valve；The intelligent walking control
Device processed carries out identification and sentences also according to the image that the camera is shot to road flat condition condition, cliff of displacement situation and megalith existence
It is disconnected, and corresponding control instruction is issued to the electric proportional control multi-way valve；
Warning device is connect with the intelligent walking controller.
Wherein, the actuating mechanism of excavating machine includes engine, running gear, slewing equipment, swing arm, dipper and work
Head, it is preferable that the running gear and the slewing equipment pass through the revolving platform rotation being arranged on the running gear and connect
It connects, the level inclination sensor is arranged in the portion of getting off.
Preferably, the vision module further includes image processor, receives the image of the camera and is handled
Picture signal is sent to the intelligent walking controller afterwards.The image of camera shooting is after image analysis processing, conversion
It is sent to intelligent walking controller for picture signal, intelligent walking controller is identified and judgeed according to picture signal, obtained
Within the scope of the travel path of excavator whether road surface evenness, if there are the cliffs of displacement, dilapidated walls, if there is the megalith etc. that can not be crossed
As a result.Intelligent walking controller is further sent out the mobile traveling of control signal control excavator further according to judging result.
Wherein, the excavator includes driver's cabin, it is preferable that the top of the driver's cabin is arranged in the camera.It is excellent
In the case of choosing, camera is fixed on the top immediately ahead of driver's cabin, can shoot the ambient image immediately ahead of direction of travel.Camera shooting
Head can be fixed on board a dredger using rotary connection type, in order to which excavator intelligent walking system of the invention starts
When, camera can carry out surrounding pan to the working region surrounding locating for excavator.In some embodiments, the present invention can also
To include multiple combinations, to obtain more fully ambient image, such as 360 ° of panoramic shooting systems are constituted.
Wherein, the excavator intelligent walking system further includes manual control system, and the manual control system includes electricity
Pilot handle is controlled, the automatically controlled pilot handle is connect with the electric proportional control multi-way valve.Intelligent walking system of the invention is used
In or the excavator of manual control system can be provided in the excavator of autonomous intelligence traveling or in the excavator of remote driving
In.It is provided with the excavator of manual control system, anti-tipping early warning can be carried out through the invention when actually driving, that is, occurred
When the obliquity information of level inclination sensor exceeds rollover threshold, intelligent walking controller issues alarm signal, operator's root
It is suitably operated according to alarm signal, prevents excavator from tumbling.
Preferably, the rollover threshold includes front-rear direction rollover threshold and left and right directions rollover threshold.
Compared to the prior art, it includes front-rear direction inclination angle, left and right directions that the present invention is obtained by level inclination sensor
The obliquity information at inclination angle, intelligent walking controller by obliquity information with include tumbling for front and back rollover threshold and left and right rollover threshold
Threshold value is compared, and judges the tilt condition of excavator, when there is obliquity information more than rollover threshold, intelligent walking controller
Control signal is issued in time, takes a variety of anti-tipping policy control actuating mechanism of excavating machine movements, to adjust the posture of excavator,
Excavator can be effectively prevented to tumble, so that the traveling of excavator is safer.
Wherein, anti-tipping strategy includes:
It gets on the bus equilibrium strategy: controlling the rotatable portion on revolving platform by the slewing equipment of actuating mechanism of excavating machine
The rotation of (including driver's cabin, engine, swing arm, dipper, scraper bowl etc.), shift the center of gravity of excavator, so as to adjust excavation
Machine posture prevents from tumbling；
Direction of advance adjustable strategies: being moved forward by the running gear of actuating mechanism of excavating machine, adjust direction of advance, around
Crossing makes the inclined obstacle of excavator, restores the posture of excavator；
It retreats strategy: being moved backward by the running gear of actuating mechanism of excavating machine, exiting makes the inclined obstacle of excavator,
Restore the posture of excavator；
Parking alarm strategy: intelligent walking controller issues stop sign and alarm signal, and actuating mechanism of excavating machine stops
Movement, warning device alarm.
The intelligent walking controller can be used a kind of anti-tipping tactful or adopt simultaneously according to the obliquity information of excavator
With a variety of anti-tipping strategies.
In addition, anti-tipping strategy can also include:
The flat strategy of future: confirming the stone segment difference flatness of direction of travel, and suitable control digger operating device carries out
Smooth, front road is flat, and the running gear for controlling excavator, which moves forward, advances, after disengaging makes the inclined road surface of excavator,
Restore the posture of excavator；
Continuous rolling Preservation tactics: when excavator is unavoidable to tumble, equipment is turned into excavator side, under
Vehicle is vertical, and equipment is all packed up.
Second aspect of the present invention is to provide a kind of excavator, it includes above-mentioned excavator intelligent walking system.
Third aspect present invention is to provide the control method of the excavator intelligent walking system, which includes disconnected
Precipice avoids mode, megalith evacuation mode and anti-tipping mode, in which:
The cliff of displacement avoids mode: when on the travel path of excavator there are when the cliff of displacement, dilapidated walls, the intelligent walking controller root
Go out the position of the cliff of displacement, dilapidated walls according to the image recognition that the vision module is shot, and issues control letter to electric proportional control multi-way valve
Number, control the excavator the cliff of displacement, dilapidated walls certain distance outside move, avoid that the cliff of displacement, dilapidated walls are mobile to advance；
Megalith avoids mode: when there is the megalith that can not be crossed on the travel path of excavator, the intelligent walking control
Device processed goes out the position of megalith according to the image recognition that the vision module is shot, and issues control letter to electric proportional control multi-way valve
Number, it controls the actuating mechanism of excavating machine and is moved outside the certain distance of megalith, avoid the mobile traveling of the megalith；
Anti-tipping mode: when the front-rear direction inclination angle of the level inclination sensor detection of excavator and/or left and right directions incline
When angle information exceeds default rollover threshold, the intelligent walking controller issues control signal, control to electric proportional control multi-way valve
The actuating mechanism of excavating machine is made to take equilibrium strategy of getting on the bus, retreat strategy, direction of advance adjustable strategies and parking alarm strategy
The anti-tipping Developing Tactics excavator of one or more of them posture to prevent from tumbling, until excavator level inclination sense
In default rollover threshold, excavator continues to move to move ahead for the front-rear direction inclination angle of device detection and left and right directions obliquity information.
Preferably, the anti-tipping mode further include: the intelligent walking controller is provided with anti-tipping default adjustment time
Number, when the practical adjustment number of the posture of actuating mechanism of excavating machine adjustment excavator is more than the anti-tipping default adjustment time
When number, the front-rear direction inclination angle of the level inclination sensor detection and/or left and right directions obliquity information still exceed default tumble
When threshold value, the intelligent walking controller issues stopping signal, controls the actuating mechanism of excavating machine and stops working, the alarm
Device alarm.
As preferred specific embodiment, above-mentioned control method the following steps are included:
(1) system starts；
(2) working region of vision module pan excavator；
(3) determine that moving target position, central controller plan travel path；
(4) gear is adjusted, into Move Mode；
(5) vision module obtains the image in walking path region；
(6) intelligent walking controller judges to whether there is within the scope of walking path according to the image information that vision module transmits
The cliff of displacement, dilapidated walls, when there are the cliff of displacement, dilapidated walls, intelligent walking controller goes out disconnected according to the image recognition that the vision module is shot
Precipice, dilapidated walls position, and to electric proportional control multi-way valve issue control signal, control the excavator the cliff of displacement, dilapidated walls one
It is mobile outside set a distance, avoid the mobile traveling of the cliff of displacement, dilapidated walls；Otherwise it continues to move to move ahead；
(7) intelligent walking controller judges to whether there is within the scope of walking path according to the image information that vision module transmits
The megalith that can not be crossed, when there are megalith, intelligent walking controller is huge out according to the image recognition that the vision module is shot
The position of stone, and control signal is issued to electric proportional control multi-way valve, the excavator is controlled in the cliff of displacement, the certain distance of dilapidated walls
The mobile traveling of the megalith is avoided in outer movement；Otherwise it continues to move to move ahead；
(8) in the mobile traveling process of excavator, the front-rear direction inclination angle detected when the level inclination sensor of excavator and/
Or left and right directions obliquity information, when exceeding default rollover threshold, the intelligent walking controller is issued to electric proportional control multi-way valve
Signal is controlled, the actuating mechanism of excavating machine is controlled and takes equilibrium strategy of getting on the bus, retreats strategy, direction of advance adjustable strategies and stop
The posture of the anti-tipping Developing Tactics excavator of one or more of them of vehicle alarm strategy is to prevent from tumbling, until the water of excavator
In default rollover threshold, excavator continues for the front-rear direction inclination angle of flat obliquity sensor detection and left and right directions obliquity information
It is mobile to move ahead；Taking the posture number of Developing Tactics excavator when the actuating mechanism of excavating machine is more than that intelligent walking controller is set
When the anti-tipping preset times set, the front-rear direction inclination angle of the level inclination sensor detection of excavator and/or left and right directions incline
Angle information still exceeds default rollover threshold, and the intelligent walking controller issues stopping signal and alarm signal, the excavator
It shuts down, warning device alarm terminates；Otherwise it continues to move to move ahead；
(9) terminate after reaching target position, excavator stops movement；Otherwise return step (6).
Compared to the prior art, the beneficial effects of the present invention are:
1. excavator intelligent walking system of the invention obtains obliquity information by obliquity sensor, obtained by vision module
Ambient image is taken, intelligent walking controller judges excavator tilt condition further according to obliquity information, judges to dig according to image information
The pavement behavior of pick machine travel path automatically controls excavator adjustment posture and active hedging, so that excavator be made intelligently to travel
Process is safer.
2. excavator intelligent walking system of the invention can indirect labor drive, when occur tumbling risk when, intelligent walking
Controller issues pre-warning signal of tumbling in time, and excavator is shut down in time, and warning device alarm, driver can adjust excavation in time
The posture of machine prevents from tumbling.
3. excavator intelligent walking system of the invention has the intelligent driving of higher active hedging horizontal, driven for nobody
It sails excavator and provides higher levels of safety guarantee.
Detailed description of the invention
Fig. 1 is the schematic diagram of the present embodiment excavator intelligent walking system；
Fig. 2 is the structural schematic diagram of the present embodiment excavator；
Fig. 3 is the control method flow chart of the present embodiment excavator intelligent walking system；
In figure, 1, warning device；2, network communication module；3, camera；4, intelligent walking controller；5, level inclination passes
Sensor.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Referring to Fig.1, a kind of excavator intelligent walking system, it includes electric proportional control multi-way valve and the electric ratio control
The excavator that the excavator main valve of multi-way valve connection processed, main pump oil circuit, the main pump oil circuit connecting with the excavator main valve control
Executing agency, level inclination sensor 5, vision module, intelligent walking controller 4, warning device.The system applies to such as Fig. 2
Shown in have in the excavator of Function for Automatic Pilot.
Wherein, the portion of getting off of excavator is arranged in level inclination sensor 5, is specifically arranged in actuating mechanism of excavating machine
Running gear revolving platform on, for detecting the front-rear direction of excavator and the obliquity information of left and right directions.Vision module
Including be arranged on board a dredger camera 3 (quantity of camera 3 can select according to actual needs, usually two or
It is more than two) and supplementary lighting sources, specifically, the setting of camera 3 is in driver's cabin top front, for shooting excavator walking road
Image in diameter region.Camera 3 in the present embodiment is preferably CCD camera, and rotary connection type is used to be fixed on digging
On pick machine, when in order to excavator intelligent walking system starting of the invention, camera 3 can be to the workspace locating for excavator
Domain surrounding carries out surrounding pan.The rotary connection structure of camera 3 is conventional mounting means, and details are not described herein.In this implementation
In example, it also cooperates laser range sensor to use.
The image that intelligent walking controller 4 receives the obliquity information of the level inclination sensor 5 and camera 3 is shot.
It include front-rear direction inclination angle and left and right directions inclination angle, intelligent walking control by the obliquity information that level inclination sensor 5 obtains
Preset rollover threshold includes front and back rollover threshold (for example front-rear direction tilts 35 ° of angles) in device 4 and left and right rollover threshold is (for example
Left and right directions tilts 30 ° of angles), intelligent walking controller 4 compares the obliquity information of level inclination sensor 5 with rollover threshold
To and judgement, and then the executing agency of excavator is issued and makes further control signal.In the present embodiment, vision module
It further include image processor, the image that camera 3 is shot, which is sent to after image processor is analyzed and processed, obtains picture signal,
Picture signal is transferred into intelligent walking controller 4, and intelligent walking controller 4 is identified and judgeed according to picture signal, obtained
Out within the scope of the travel path of excavator whether road surface evenness, if there are the cliffs of displacement, dilapidated walls, if there is the megalith that can not be crossed
Etc. results.Intelligent walking controller 4 is further sent out the mobile traveling of control signal control excavator further according to judging result.Its
In, intelligent walking controller 4 can be separately provided or be integrated in the central controller of excavator.Intelligent walking controller 4 is single
Solely when setting, communicated with the central controller of the excavator.
The excavator of the present embodiment further includes operational module, power plant module and network communication module 2.Operational module includes
Slewing equipment, the angular displacement sensor for detecting the slewing equipment rotational angle, swing arm, boom angle sensor, dipper,
Dipper obliquity sensor, work head and work head obliquity sensor, the slewing equipment, swing arm, dipper and work head are equal
It is connect with the excavator main valve, the angular displacement sensor, boom angle sensor, dipper obliquity sensor and work head
Obliquity sensor is connect with the intelligent walking controller.Power plant module includes the automatically controlled gear connecting with central controller
Device, the controller for excavators being connect with the automatically controlled position retaining device, the engine being connect with the excavator and start with described
The hydraulic variable displacement pump of machine connection, the hydraulic variable displacement pump are connect with the excavator main valve.Network communication module 2 is used for and center
Controller connection, and communicated by wireless communication mode with cell phone application, so that operator can manipulate excavator by cell phone application.
The running gear and the slewing equipment pass through the revolving platform rotation connection being arranged on the running gear, level inclination
Sensor 5 is arranged on the revolving platform, as shown in Figure 2.
Intelligent walking controller 4 compares the obliquity information and preset rollover threshold in intelligent walking controller 4
It is right, judge the tilt condition of excavator and sends corresponding control instruction to the electric proportional control multi-way valve；The intelligence row
Controller 4 is walked to carry out road flat condition condition, cliff of displacement situation and megalith existence also according to the image that the camera 3 is shot
Identification judgement, and corresponding control instruction is issued to the electric proportional control multi-way valve.
Warning device 1 includes the alarm connecting with the intelligent walking controller 4.As needed, alarm can be
Voice guard or photoelectric alarm or both all have.
Wherein, the excavator intelligent walking system further includes manual control system, and the manual control system includes electricity
Pilot handle is controlled, the automatically controlled pilot handle is connect with the electric proportional control multi-way valve.Intelligent walking system of the invention is used
In or the excavator of manual control system can be provided in the excavator of autonomous intelligence traveling or in the excavator of remote driving
In.It is provided with the excavator of manual control system, anti-tipping early warning can be carried out through the invention when actually driving, that is, occurred
When the obliquity information of level inclination sensor 5 exceeds rollover threshold, intelligent walking controller 4 issues alarm signal, operator
It is suitably operated according to alarm signal, prevents excavator from tumbling.
In excavator moving process, when there is obliquity information more than rollover threshold, intelligent walking controller 4 is sent out in time
Signal is controlled out, takes a variety of anti-tipping policy control actuating mechanism of excavating machine movements, it, can be effective to adjust the posture of excavator
Ground prevents excavator from tumbling, so that the traveling of excavator is safer.Wherein, anti-tipping strategy includes:
It gets on the bus equilibrium strategy: controlling the rotatable portion on revolving platform by the slewing equipment of actuating mechanism of excavating machine
The rotation of (including driver's cabin, engine, swing arm, dipper, scraper bowl etc.), shift the center of gravity of excavator, so as to adjust excavation
Machine posture prevents from tumbling；
Direction of advance adjustable strategies: being moved forward by the running gear of actuating mechanism of excavating machine, adjust direction of advance, around
Crossing makes the inclined obstacle of excavator, restores the posture of excavator；
It retreats strategy: being moved backward by the running gear of actuating mechanism of excavating machine, exiting makes the inclined obstacle of excavator,
Restore the posture of excavator；
Parking alarm strategy: intelligent walking controller 4 issues stop sign and alarm signal, and actuating mechanism of excavating machine stops
Movement, warning device 1 are alarmed.
A kind of anti-tipping strategy or simultaneously can be used according to the obliquity information of excavator in the intelligent walking controller 4
Using a variety of anti-tipping strategies.
In addition, anti-tipping strategy can also include:
The flat strategy of future: confirming the stone segment difference flatness of direction of travel, and suitable control digger operating device carries out
Smooth, the front road of direction of travel is flat, and the running gear for controlling excavator, which moves forward, advances, and disengaging tilts excavator
Road surface after, restore the posture of excavator；
Continuous rolling Preservation tactics: when excavator is unavoidable to tumble, equipment is turned into excavator side, under
Vehicle is vertical, and equipment is all packed up.
As shown in figure 3, the control method of the excavator intelligent walking system in the present embodiment, which includes the cliff of displacement
Evacuation mode, megalith evacuation mode and anti-tipping mode, in which:
The cliff of displacement avoids mode: when on the travel path of excavator there are when the cliff of displacement, dilapidated walls, 4 basis of intelligent walking controller
The image recognition of the vision module shooting goes out the position of the cliff of displacement, dilapidated walls, and issues control signal to electric proportional control multi-way valve,
The certain distance (distance of the present embodiment is set as 10m) that the excavator is controlled in the cliff of displacement, dilapidated walls moves outside, avoids described disconnected
Precipice, the mobile traveling of dilapidated walls；
Megalith avoids mode: when there is the megalith that can not be crossed on the travel path of excavator, the intelligent walking control
Device 4 processed goes out the position of megalith according to the image recognition that the vision module is shot, and issues and control to electric proportional control multi-way valve
Signal, the certain distance (distance of the present embodiment is set as 5m) for controlling the actuating mechanism of excavating machine in megalith are moved outside, are avoided
The megalith is mobile to advance；
Anti-tipping mode: when the front-rear direction inclination angle of the detection of level inclination sensor 5 of excavator and/or left and right directions incline
When angle information exceeds default rollover threshold, the intelligent walking controller 4 issues control signal, control to electric proportional control multi-way valve
The actuating mechanism of excavating machine is made to take equilibrium strategy of getting on the bus, retreat strategy, direction of advance adjustable strategies and parking alarm strategy
The anti-tipping Developing Tactics excavator of one or more of them posture to prevent from tumbling, until excavator level inclination sense
The front-rear direction inclination angle and left and right directions obliquity information that device 5 detects are being preset in rollover threshold, and excavator continues to move to move ahead.
In order to avoid excavator still can not get rid of possible situation of tumbling after prolonged repeatedly adjust automatically, this
Embodiment is also provided with anti-tipping default adjustment number (such as 5 times) in intelligent walking controller 4, when actuating mechanism of excavating machine tune
When the practical adjustment number of the posture of whole excavator is more than the anti-tipping default adjustment number, level inclination sensor 5 is detected
Front-rear direction inclination angle and/or left and right directions obliquity information when still exceeding default rollover threshold, the sending of intelligent walking controller 4 stops
Machine signal, control actuating mechanism of excavating machine stop working, warning device alarm.After shutdown, operator's remote control can be passed through
The pose adjustment of excavator to normal condition is prevented from tumbling by excavator or pilot steering excavator.
Reference Fig. 3, the control method of the excavator intelligent walking system of the present embodiment, specifically includes the following steps:
(1) system starts；
(2) camera 3 of vision module sweeps the working region of excavator；
(3) moving target position, central controller rule are determined by the way that (such as remotely setting by cell phone application) is manually set
Paddle inbound path；
(4) gear is manually adjusted by operator or central controller adjust automatically gear, excavator enters movement
Mode, running gear drive excavator to move ahead by the travel path planned in advance is mobile；
(5) in excavator traveling process, image in the 3 captured in real-time walking path region of camera of vision module,
And captured image is analyzed and processed by image processor, obtained picture signal is sent to intelligent walking controller
4；
(6) intelligent walking controller 4 judges whether deposit within the scope of walking path according to the image information that vision module transmits
In the cliff of displacement, dilapidated walls, when there are the cliff of displacement, dilapidated walls, intelligent walking controller 4 goes out according to the image recognition that the vision module is shot
The position of the cliff of displacement, dilapidated walls, and control signal is issued to electric proportional control multi-way valve, the excavator is controlled in the cliff of displacement, dilapidated walls
It is mobile outside 10m, avoid the mobile traveling of the cliff of displacement, dilapidated walls；Otherwise it continues to move to move ahead；
(7) intelligent walking controller 4 judges whether deposit within the scope of walking path according to the image information that vision module transmits
In the megalith that can not be crossed, when there are megalith, intelligent walking controller 4 goes out according to the image recognition that the vision module is shot
The position of megalith, and to electric proportional control multi-way valve issue control signal, control the excavator the cliff of displacement, dilapidated walls 5m outside move
It is dynamic, avoid the mobile traveling of the megalith；Otherwise it continues to move to move ahead；
(8) in the mobile traveling process of excavator, when the front-rear direction inclination angle that the level inclination sensor 5 of excavator detects
And/or left and right directions obliquity information is when exceeding default rollover threshold, the intelligent walking controller 4 is to electric proportional control multi-way valve
Control signal is issued, the actuating mechanism of excavating machine is controlled and takes equilibrium strategy of getting on the bus, retreats strategy, direction of advance adjustable strategies
Posture with the anti-tipping Developing Tactics excavator of one or more of them of parking alarm strategy is to prevent from tumbling, until excavator
The front-rear direction inclination angle detected of level inclination sensor 5 and left and right directions obliquity information in default rollover threshold, excavate
Machine continues to move to move ahead；Taking the posture number of Developing Tactics excavator when the actuating mechanism of excavating machine is more than intelligent walking control
When the anti-tipping preset times that device 4 processed is arranged, front-rear direction inclination angle and/or a left side that the level inclination sensor 5 of excavator detects
Right direction obliquity information still exceeds default rollover threshold, and the intelligent walking controller 4 issues stopping signal and alarm signal, institute
Excavator shutdown is stated, warning device 1 is alarmed, and is terminated；Otherwise it continues to move to move ahead；
(9) terminate after reaching target position, excavator stops movement；Otherwise return step (6).
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of excavator intelligent walking system, including electric proportional control multi-way valve, it connect with the electric proportional control multi-way valve
Excavator main valve, the main pump oil circuit that is connect with the excavator main valve and the actuating mechanism of excavating machine of main pump oil circuit control,
It is characterized by further comprising:
The portion of getting off of excavator is arranged in level inclination sensor, for detecting the front-rear direction and left and right directions of excavator
Obliquity information；
Vision module comprising at least two cameras and supplementary lighting sources on board a dredger are set, for shooting excavator
Image in walking path region；
Intelligent walking controller receives the obliquity information of the level inclination sensor and the image of camera shooting；
The obliquity information is compared the intelligent walking controller with preset rollover threshold in intelligent walking controller, judgement
The tilt condition of excavator simultaneously sends corresponding control instruction to the electric proportional control multi-way valve；The intelligent walking controller
Identification judgement is carried out to road flat condition condition, cliff of displacement situation and megalith existence also according to the image of camera shooting,
And corresponding control instruction is issued to the electric proportional control multi-way valve；
Warning device is connect with the intelligent walking controller.
2. excavator intelligent walking system according to claim 1, which is characterized in that the actuating mechanism of excavating machine includes
Engine, running gear, slewing equipment, swing arm, dipper and work head, the running gear and the slewing equipment pass through setting
Revolving platform rotation connection on the running gear, the level inclination sensor are arranged in the portion of getting off.
3. excavator intelligent walking system according to claim 1, which is characterized in that the vision module further includes image
Picture signal is sent to the intelligent walking controller after receiving the image of the camera and being handled by processor.
4. excavator intelligent walking system according to claim 1, which is characterized in that the excavator includes driver's cabin,
The top of the driver's cabin is arranged in the camera.
5. excavator intelligent walking system according to claim 1, which is characterized in that the excavator intelligent walking system
It further include manual control system, the manual control system includes automatically controlled pilot handle, the automatically controlled pilot handle and the electricity
Ratio control multi-way valve connection.
6. a kind of excavator, which is characterized in that including excavator intelligent walking system a method as claimed in any one of claims 1 to 5.
7. a kind of control method of the excavator intelligent walking system as described in claim 1-5 any one, which is characterized in that packet
Include cliff of displacement evacuation mode, megalith evacuation mode and anti-tipping mode, in which:
The cliff of displacement avoids mode: when, there are when the cliff of displacement, dilapidated walls, the controller of tumbling is according to the view on the travel path of excavator
Feel that the image recognition of module photograph goes out the position of the cliff of displacement, dilapidated walls, and issue control signal to electric proportional control multi-way valve, controls institute
State excavator the cliff of displacement, dilapidated walls certain distance outside move, avoid that the cliff of displacement, dilapidated walls are mobile to advance；
Megalith avoids mode: when there is the megalith that can not be crossed on the travel path of excavator, the intelligent walking controller
Go out the position of megalith according to the image recognition that the vision module is shot, and issue control signal to electric proportional control multi-way valve,
It controls the actuating mechanism of excavating machine to move outside the certain distance of megalith, avoids the mobile traveling of the megalith；
Anti-tipping mode: front-rear direction inclination angle and/or left and right directions inclination angle letter when the level inclination sensor detection of excavator
When breath is beyond default rollover threshold, the intelligent walking controller issues control signal to electric proportional control multi-way valve, controls institute
Actuating mechanism of excavating machine is stated to take equilibrium strategy of getting on the bus, retreat strategy, direction of advance adjustable strategies, parking alarm strategy wherein
The posture of one or more anti-tipping Developing Tactics excavators is to prevent from tumbling, until the level inclination sensor of excavator detects
Front-rear direction inclination angle and left and right directions obliquity information in default rollover threshold, excavator continues to move to move ahead.
8. the control method of excavator intelligent walking system according to claim 7, which is characterized in that the anti-tipping mode
Further include: the intelligent walking controller is provided with anti-tipping default adjustment number, digs when the actuating mechanism of excavating machine adjusts
When the practical adjustment number of the posture of pick machine is more than the anti-tipping default adjustment number, the level inclination sensor detection
When front-rear direction inclination angle and/or left and right directions obliquity information still exceed default rollover threshold, the intelligent walking controller is issued
Stopping signal controls the actuating mechanism of excavating machine and stops working, the warning device alarm.
9. the control method of excavator intelligent walking system according to claim 7, which is characterized in that the rollover threshold packet
Include front-rear direction rollover threshold and left and right directions rollover threshold.
10. according to the control method of any excavator intelligent walking system of claim 7-9, which is characterized in that including with
Lower step:
(1) system starts；
(2) working region of vision module pan excavator；
(3) determine that moving target position, the central controller of excavator plan travel path；
(4) gear is adjusted, into Move Mode；
(5) vision module obtains the image in walking path region；
(6) intelligent walking controller judges within the scope of walking path according to the image information that vision module transmits with the presence or absence of disconnected
Precipice, dilapidated walls, when there are the cliff of displacement, dilapidated walls, intelligent walking controller according to the image recognition that the vision module is shot go out the cliff of displacement,
The position of dilapidated walls, and control signal is issued to electric proportional control multi-way valve, the excavator is controlled in a spacing of the cliff of displacement, dilapidated walls
From outer movement, the mobile traveling of the cliff of displacement, dilapidated walls is avoided；Otherwise it continues to move to move ahead；
(7) intelligent walking controller judges within the scope of walking path according to the image information that vision module transmits with the presence or absence of can not
The megalith crossed, when there are megalith, intelligent walking controller goes out megalith according to the image recognition that the vision module is shot
Position, and to electric proportional control multi-way valve issue control signal, control the excavator the cliff of displacement, dilapidated walls certain distance outside move
It is dynamic, avoid the mobile traveling of the megalith；Otherwise it continues to move to move ahead；
(8) in the mobile traveling process of excavator, when the front-rear direction inclination angle and/or a left side that the level inclination sensor of excavator detects
When right direction obliquity information exceeds default rollover threshold, the intelligent walking controller is issued to electric proportional control multi-way valve and is controlled
Signal controls the actuating mechanism of excavating machine and equilibrium strategy of getting on the bus is taken to retreat strategy and direction of advance adjustable strategies, parking report
The posture of the pithy anti-tipping Developing Tactics excavator of one or more of them omited is to prevent from tumbling, until the level of excavator is inclined
In default rollover threshold, excavator is continued to move to for the front-rear direction inclination angle of angle transducer detection and left and right directions obliquity information
It moves ahead；Taking the posture number of anti-tipping Developing Tactics excavator when the actuating mechanism of excavating machine is more than intelligent walking controller
When the anti-tipping preset times being arranged, the front-rear direction inclination angle of the level inclination sensor detection of excavator and/or left and right directions
Obliquity information still exceeds default rollover threshold, and the intelligent walking controller issues stopping signal and alarm signal, the excavation
Machine is shut down, and warning device alarm terminates；Otherwise it continues to move to move ahead；
(9) terminate after reaching target position, excavator stops movement；Otherwise return step (6).
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Application publication date: 20191122 |