WO2021237765A1 - 判断臂架可进行的操作的安全性的方法和装置及工程机械 - Google Patents

判断臂架可进行的操作的安全性的方法和装置及工程机械 Download PDF

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Publication number
WO2021237765A1
WO2021237765A1 PCT/CN2020/094054 CN2020094054W WO2021237765A1 WO 2021237765 A1 WO2021237765 A1 WO 2021237765A1 CN 2020094054 W CN2020094054 W CN 2020094054W WO 2021237765 A1 WO2021237765 A1 WO 2021237765A1
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WIPO (PCT)
Prior art keywords
direction vector
safety
arm
boom
operating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/CN2020/094054
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English (en)
French (fr)
Inventor
曾中炜
聂一彪
付新宇
李淇阳
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Publication date
Application filed by Zoomlion Heavy Industry Science and Technology Co Ltd filed Critical Zoomlion Heavy Industry Science and Technology Co Ltd
Priority to EP20937552.6A priority Critical patent/EP4159384B1/en
Priority to US17/621,120 priority patent/US12103826B2/en
Publication of WO2021237765A1 publication Critical patent/WO2021237765A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution

Definitions

  • the present invention relates to the field of construction machinery, and in particular to a method and device for judging the safety of operations that can be performed by a boom, and construction machinery.
  • Mobile movable arm mechanical equipment that does not carry external loads uses its movable arm as a functional executive part.
  • this type of equipment includes boom concrete pump trucks, concrete spreaders, (high-altitude) work platform machinery with folding arms, and folding arms Fire-fighting equipment, mobile cleaning robot equipment, mobile folding arm lifting equipment, wall-laying machines and other construction equipment (the external load of these equipment is limited and light, that is, it can be quantified and defined as a non-dominant interference factor of).
  • the posture of the movable arm is changed to adapt the work area to the construction requirements.
  • the operating area cannot be extended infinitely. On the one hand, it is limited by the structure of the arm length.
  • the long extension of the movable arm will increase the tipping moment and cause the equipment to tip over safely. In this way, the operating area is limited.
  • the purpose of the present invention is to provide a method and device for judging the safety of the operations that can be performed by the boom, and engineering machinery, which can solve or at least partially solve the above-mentioned problems.
  • one aspect of the present invention provides a method for judging the safety of operations that can be performed on the boom of a construction machine.
  • the method includes: acquiring the parameters of each arm in the boom, wherein , The parameters include inclination, arm length and mass; based on the acquired parameters, determine the position of the full center of mass of the boom and the position of the combined center of mass of the operating section arm to the distal section of the arm; based on the position of the full center of mass and the combined center of mass The position determines the safety judgment basis direction vector; and based on the safety judgment basis direction vector, the safety of the operation that can be performed on the operating joint arm is judged.
  • the safety judgment basis direction vector includes a first direction vector, a second direction vector, and a third direction vector, wherein the first direction vector is the distance from the beginning of the boom to the full center of mass position A projection vector of a direction vector in a horizontal plane, the second direction vector is a projection vector of a direction vector from the beginning of the operating joint arm to the position of the combined centroid in the horizontal plane, and the third direction vector is the The projection vector of the direction vector from the starting end of the operating joint arm to the position of the resultant center of mass in the vertical direction perpendicular to the horizontal plane.
  • the judging the safety of the operations that can be performed on the operating joint arm based on the safety judgment according to a direction vector includes: when the directions of the first direction vector and the second direction vector are consistent and all In the case that the direction of the third direction vector is vertical upward, the operation of unfolding the operating joint arm increases safety, and the operation of closing the operating joint arm increases the risk; in the first direction vector and the first direction vector In the case where the directions of the two direction vectors are the same but the direction of the third direction vector is not upright, the operation of unfolding the operating articulated arm increases the risk, and the operation of retracting the operating articulated arm increases the safety; In the case where the directions of the first direction vector and the second direction vector are inconsistent and the direction of the third direction vector is vertical downward, the operation of unfolding the operating joint arm increases safety, and the operating joint is collapsed.
  • the operation of the arm increases the risk; and in the case where the directions of the first direction vector and the second direction vector are inconsistent and the direction of the third direction vector is not vertical downward, expand the operating section arm
  • the operation of increasing the risk, and the operation of closing the operating section arm increases the safety.
  • the method further includes: judging whether any articulated arm of the boom is arbitrarily operated without risk; and when the arm is arbitrarily operated In the case that any section arm of the frame is safe and risk-free, the safety of the operations that can be performed on the operating section arm is not judged and the operation of the operating section arm is allowed to be expanded or retracted.
  • the method further includes: presenting the safety of the operations that can be performed on the operating section arm in at least one of the following ways: a display screen interface, an indicator light, a sound, a symbol, and a vibration.
  • another aspect of the present invention provides a device for judging the safety of operations that can be performed on the boom of a construction machine.
  • the device includes: a parameter acquisition module for acquiring each section of the boom. Arm parameters, where the parameters include inclination, arm length, and mass; a center of mass position determination module for determining the full center of mass position of the boom and the position of the combined center of mass from the operating section arm to the end section arm based on the acquired parameters ; A direction vector determination module for determining a direction vector of a safety judgment basis based on the position of the full center of mass and the position of the combined center of mass; and a safety judgment module for determining a direction vector based on the safety judgment basis The safety of the operations that can be performed by the operating section arm is described.
  • the safety judgment basis direction vector includes a first direction vector, a second direction vector, and a third direction vector, wherein the first direction vector is the distance from the beginning of the boom to the full center of mass position A projection vector of a direction vector in a horizontal plane, the second direction vector is a projection vector of a direction vector from the beginning of the operating joint arm to the position of the combined centroid in the horizontal plane, and the third direction vector is the The projection vector of the direction vector from the starting end of the operating joint arm to the position of the resultant center of mass in the vertical direction perpendicular to the horizontal plane.
  • the safety judgment module judging the safety of the operations that can be performed on the operating joint arm based on the safety judgment according to a direction vector includes: the difference between the first direction vector and the second direction vector When the directions are the same and the direction of the third direction vector is vertical upward, the operation of unfolding the operating joint arm increases safety, and the operation of retracting the operating joint arm increases the risk; in the first direction vector When the direction of the second direction vector is consistent with the direction of the third direction vector but the direction of the third direction vector is not upright, the operation of unfolding the operating joint increases the risk, and the operation of closing the operating joint increases the safety ⁇ ; In the case where the direction of the first direction vector and the second direction vector are inconsistent and the direction of the third direction vector is vertical downward, the operation of unfolding the operating joint arm increases the safety and closes The operation of the operating joint arm increases the risk; and when the directions of the first direction vector and the second direction vector are inconsistent, and the direction of the third direction vector is not vertical downward, expand the The operation of the operating articulated arm increases the risk, and the
  • the safety judgment module is further configured to: judge whether any articulated arm of the boom is operated arbitrarily without any risk; and In the case that any operation of any section of the boom is safe and risk-free, the safety of the operations that can be performed on the operation section is not judged and the operation of the operation section arm is allowed to be expanded or retracted.
  • the device further includes: a presentation module for presenting the safety of the operations that can be performed on the operating section arm in at least one of the following ways: display screen interface, indicator light, sound, symbol, and vibration.
  • a presentation module for presenting the safety of the operations that can be performed on the operating section arm in at least one of the following ways: display screen interface, indicator light, sound, symbol, and vibration.
  • another aspect of the present invention also provides an engineering machine, which includes the above-mentioned device.
  • another aspect of the present invention also provides a machine-readable storage medium having instructions stored on the machine-readable storage medium, and the instructions are used to cause a machine to execute the above-mentioned method.
  • the safety judgment of the operation that can be performed on the operation joint is realized, and the operation joint has not been operated yet when the safety is judged, so the operation joint
  • the judgment of the safety of the operations that can be performed by the arm is a pre-judgment, that is, the safety of the operations that can be performed on the operation of the articulated arm is pre-judged, and it is predictable.
  • the safety of the operations that can be performed on the operating joint arm can be predicted according to the judgment result, and the operator can increase the safety of the operating joint arm according to the judgment result. In this way, the operator can avoid the possibility of performing and avoiding due to judgment errors. The problem of accidents caused by overturning the opposite operation.
  • FIG. 1 is a flowchart of a method for judging the safety of operations that can be performed on a boom of a construction machine according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a direction vector of a security judgment basis provided by another embodiment of the present invention.
  • FIG. 4 is a logical schematic diagram of a method for judging the safety of operations that can be performed on the boom of a construction machine according to another embodiment of the present invention
  • FIG. 5 is a logical schematic diagram of a method for judging the safety of operations that can be performed on the boom of a construction machine according to another embodiment of the present invention.
  • FIG. 6 is a logical schematic diagram of a method for judging the safety of operations that can be performed on the boom of a construction machine provided by another embodiment of the present invention.
  • FIG. 7 is a schematic diagram showing operation safety provided by another embodiment of the present invention.
  • FIG. 8 is a schematic diagram showing operation safety provided by another embodiment of the present invention.
  • Fig. 9 is a schematic structural diagram of a device for judging the safety of operations that can be performed on the boom of a construction machine provided by another embodiment of the present invention.
  • the first is to detect the support plane area and the center of gravity of the vehicle. According to whether the center of gravity of the vehicle falls into the support area and the proximity of the center of gravity to the boundary, evaluate the safety of not tipping over and implement corresponding control; the second is composite
  • the outrigger force detection is used to evaluate the safety of the equipment against overturning, and combined with the boom posture detection, the influence of the motion of each section of the arm on the safety factor is realized, and the boom motion is restrained accordingly.
  • the first technical solution only focuses on the impact of the position of the center of gravity of the entire vehicle on the tipping, and controls the movement of the boom based on the partition (as a criterion) that meets certain rules in the support area (the center of gravity of the entire vehicle falls) to ensure the prevention of tipping Security.
  • This is an "effect evaluation", that is, the equipment operator can only know afterwards whether the operation has had a favorable or unfavorable effect on the movement of the center of gravity of the vehicle only after performing an operation.
  • an experienced operator he may not be able to correctly judge how to operate the equipment (boom) to make the action of the boom be beneficial to the stability of the vehicle (anti-tilt).
  • the second technical solution expects to use the boom posture detection to realize the judgment of the direction of movement and the safety trend, but the directly related factor of the safety factor is that the center of gravity of the vehicle needs to be returned to determine the safety of the anti-rolling sex. That is to say, the two technologies must be combined to produce sufficient criteria to realize the control and intervention of the safety of the boom movement.
  • the first technical solution does not involve the movement (action) safety control of each boom, only the overall vehicle control; this control has hysteresis; the second technical solution involves the control of each boom
  • the "logical chain" of the criterion is too long.
  • the effect of the first technical solution and the second technical solution is judged as a responsive judgment, which is not foreseeable; the first technical solution and the second technical solution restrict the movement of the boom through global safety The operation effect is judged in a flexible manner. The operator is not informed of the "cautious" operation guidance after the boom stops.
  • the "cautious" and blind operation may still aggravate the risk of tipping, and the equipment may also be in the tipping hazard for a long time and cannot be removed.
  • the second technical solution as the overall anti-tilt technology, contains the idea of judging the control of each boom separately, but the problem is that the method it provides can only be applied to the majority of boom postures, and does not have universal accuracy. .
  • the technical solution provided by the present invention provides a method for predicting the operating safety of the boom, so as to better provide a better basis for the safety control of the equipment against tipping.
  • the common "unforeseeability" problem of the above two technical solutions will also be solved in this solution.
  • An aspect of the embodiments of the present invention provides a method for judging the safety of operations that can be performed on the boom of a construction machine.
  • Fig. 1 is a flowchart of a method for judging the safety of operations that can be performed on a boom of a construction machine provided by an embodiment of the present invention. As shown in Figure 1, the method includes the following.
  • step S10 the parameters of each arm in the boom are obtained, where the parameters include the inclination angle, the arm length and the mass, that is, for each arm, the parameters include the inclination, arm length and mass of the arm.
  • the inclination angle for example, it can be directly detected by the inclination sensor, or indirectly obtained by other detection methods, such as detecting the angle between the booms through an encoder, or detecting the stroke of the boom cylinder to convert between the booms ⁇ The included angle.
  • step S11 based on the acquired parameters, the position of the full center of mass of the boom and the position of the combined center of mass from the operating section arm to the distal arm are determined.
  • ⁇ 1 , ⁇ 2 , ⁇ 3 , ⁇ 4 , and ⁇ 5 represent the inclination angle of the boom.
  • the last arm is denoted as n-arm, and any arm of interest is denoted as k-arm.
  • n represents the arm length
  • L j represents the arm length of the l arm
  • L' i represents the arm length of the i arm
  • ⁇ j represents the inclination angle of the j arm
  • ⁇ i represents the inclination angle of the i arm
  • m j represents the j arm length Mass
  • the apparent coordinate (x kn , y kn ) is the overall center of mass coordinate G kn from the k-arm to the n-arm in the coordinate system
  • G kn represents the combined center of mass from the operating section arm to the terminal arm Position
  • G 1n indicates that the centroid coordinates of all booms are G1n, that is, the position of the full centroid.
  • Figure 2 shows the approximate locations of G35 and G15.
  • step S12 based on the position of the full center of mass and the position of the combined center of mass, the direction vector for the safety judgment basis is determined.
  • the safety of the operation that can be performed on the operating joint arm can be judged according to the direction vector according to the safety judgment, specifically, the judgment is made according to the direction of the direction vector.
  • the safety judgment basis direction vector may include a first direction vector, a second direction vector and a third direction vector, where the first direction vector is the projection of the direction vector from the beginning of the boom to the position of the full center of mass in the horizontal plane Vector, the second direction vector is the projection vector of the direction vector from the beginning of the operating joint arm to the position of the center of mass in the horizontal plane, and the third direction vector is the direction vector from the beginning of the operation section arm to the position of the center of mass in the vertical perpendicular to the horizontal plane.
  • the projection vector in the direction is the projection of the direction vector from the beginning of the boom to the position of the full center of mass in the horizontal plane Vector
  • the second direction vector is the projection vector of the direction vector from the beginning of the operating joint arm to the position of the center of mass in the horizontal plane
  • the third direction vector is the direction vector from the beginning of the operation section arm to the position of the center of mass in the vertical perpendicular to the horizontal plane.
  • the security judgment basis direction vector in the embodiment of the present invention will be exemplarily introduced.
  • the position of the full center of mass and the position of the combined center of mass are obtained with reference to the related introduction in FIG. 2.
  • the end of the No. N boom is the end of the full boom
  • the start of the No. 1 boom is the start of the full boom
  • the end of the small serial number boom is the start of the larger boom, k-arm To operate the section arm.
  • G 1n represents the center of mass of all booms from arm 1 to arm n, that is, the position of the full center of mass
  • G kn is the center of mass of the boom from arm k to n, that is, the position of the combined center of mass
  • K0 is the beginning of the k arm (That is, the end close to point O) point
  • k-arm is the operating joint arm
  • point O is the beginning of the boom.
  • the vector OG 1n represents the direction vector from the beginning of the boom (the beginning of the boom is O, which is the beginning of the No. 1 section arm) to the position of the full center of mass (G 1n )
  • Dr1 is the first direction vector
  • Dr1 is the OG 1n vector The projection vector in the horizontal direction.
  • the vector K0G kn represents the direction vector from the starting end (K0) of the operating section arm (k-arm) to the center of mass position G kn ;
  • Dr2 is the second direction vector, Dr2 is the projection vector of the K0G kn vector in the horizontal direction;
  • Dr3 is the third The direction vector, Dr3 is the projection vector of the K0G kn vector in the vertical direction.
  • the KOG kn vector is decomposed after translation.
  • the first direction vector Dr1 is consistent with the second direction vector Dr2, and the coincidence and the opposite are opposite, and the coincidence refers to the same direction.
  • step S13 based on the safety judgment basis direction vector, it is judged the safety of the operation that can be performed on the operating joint arm, that is, it is judged whether the operation that can be performed on the operating joint arm increases the safety or increases the risk.
  • the safety judgment of the operation that can be performed on the operation joint is realized, and the operation joint has not been operated yet when the safety is judged, so the operation joint
  • the judgment of the safety of the operations that can be performed by the arm is a pre-judgment, that is, the safety of the operations that can be performed on the operation of the articulated arm is pre-judged, and it is predictable.
  • the safety of the operations that can be performed on the operating joint arm can be predicted according to the judgment result, and the operator can increase the safety of the operating joint arm according to the judgment result. In this way, the operator can avoid the possibility of performing and avoiding due to judgment errors. The problem of accidents caused by overturning the opposite operation.
  • the technical solution provided by the embodiment of the present invention has a simple and straightforward judgment basis, a small computing power requirement, and the accuracy can cover all the postures of the chain boom; it is predictable according to the posture of the boom and the center of mass relationship, that is, before the action operation
  • the impact of this action on the construction machinery (anti) tipping has been foreseen, and the judgment of the safe direction is both real-time and advanced.
  • the technical solutions provided by the embodiments of the present invention do not limit the posture of the boom, and are universal; the technical solutions only involve the judgment (pre-judgment) of the operation (for example, spreading and retracting actions) of the chain boom, and does not include The judgment of the safety of the rotating movement of the turntable is thus applicable to some chain-type folding arm equipment that does not include the movement of the turntable.
  • there are many construction machinery used in the technical solution for example, it can be applied to mobile construction machinery that adopts independent computing control units, and it can also be applied to mobile construction machinery that adopts multiple computing control units, such as equipment local detection information acquisition, remote computing safety Judgment, the way the device executes control locally.
  • judging the safety of the operations that can be performed on the operating joint arm based on the safety judgment according to the direction vector includes: the direction of the first direction vector is consistent with the direction of the second direction vector and the third direction vector When the direction of is vertical upwards, the operation of unfolding the operating joint increases the safety, and the operation of retracting the operating joint increases the risk; the direction of the first direction vector is consistent with the direction of the second direction vector but the direction of the third direction vector If it is not vertical downwards, the operation of unfolding the operating joint increases the risk, and the operation of retracting the operating joint increases the safety; the direction of the first direction vector is inconsistent with the second direction vector and the direction of the third direction vector In the case of vertical downwards, the operation of unfolding the operating joint increases safety, and the operation of retracting the operating joint increases the risk; and the direction of the first direction vector and the second direction vector are inconsistent and the direction of the third direction vector If it is not vertically downward, the operation of unfolding the operating joint increases the risk, and the operation of
  • the safety of the operations that can be performed on the operating joint arms in the embodiment of the present invention is exemplarily introduced based on the safety judgment and the direction vector judgment.
  • the first action is the operation of unfolding the boom, and the reverse action of the second action.
  • the first action on the operating arm can cause the end of the operating arm to move upward;
  • the second action For the operation of retracting the boom, the reverse action of the first action, when the boom is fully extended horizontally, the second action on the operating arm can cause the end of the operating arm to move downward.
  • the "bearing area” is the area where the mobile machine is supported by the ground.
  • the pump truck is the area determined by the connection of the four outrigger support points;
  • the aerial work platform is the area determined by the tires;
  • the construction robot is the support and bearing area determined by the combination of the outriggers and tires.
  • the bearing area is a convex polygon.
  • the center of gravity of the mobile device's boom is far away from its load-bearing area, which means that the center of gravity of the mobile device is far away from its load-bearing area.
  • the structural design of the mobile device also needs to meet the load-bearing area and the extension range of the boom (center of gravity) Therefore, the boundary of the load-bearing area is the safety boundary of the mobile equipment against tipping-and the initial state must be safe, that is to say, the center of gravity of the whole machine integrated with the weight of the boom is located within the load-bearing area.
  • the position of the center of mass of the full boom is the position of the full center of mass described in the embodiment of the present invention
  • the k-arm represents the operable arm, that is In the operation section arm described in the embodiment of the present invention
  • the position of the center of mass of the k-arm to the distal section arm is the position of the combined center of mass described in the embodiment of the present invention.
  • the method for determining the position of the centroid can refer to the method described in the foregoing embodiment.
  • the first direction (first direction vector), the second direction (second direction vector), and the third direction (third direction vector) are determined, and the method for determining the direction vector can refer to the method described in the foregoing embodiment.
  • the first action increases safety, and the second action increases danger; if the first direction and second direction are consistent, the third If the direction is not upward, the first action increases the risk, and the second action increases the safety.
  • the first action increases the safety, and the second action increases the danger; if the first direction and the second direction are inconsistent, the first If the three directions are not downward, the first action increases the risk, and the second action increases the safety.
  • the boom section attitude and boom section parameters are acquired, that is, the parameters of each boom section in the boom frame are acquired as described in the foregoing embodiment.
  • Determining the position of the center of mass of the full boom and the position of the combined center of mass of the k-arm to the distal arm is the determination of the position of the center of mass of the entire boom and the position of the combined center of mass described in the foregoing embodiment.
  • the operation safety judgment of the arm section k that is, the judgment of the safety of the action that can be performed on the operating section arm, refer to the judgment method introduced in the above embodiment in conjunction with FIG. 4. In this embodiment, it is understood in conjunction with the introduction about FIG. 4, for example, the definition of the first action and the second action. It should be noted that the definitions of the first action and the second action are exemplary and are not used to limit the present invention.
  • the conditional judgment of "Do you want to limit the boom movement?" can use various reasons and conditions to realize the call of the above judgment.
  • the vehicle stability safety factor judged based on the tipping torque is less than a certain threshold as the trigger condition.
  • the restriction on the movement of the boom in the dangerous direction is activated; based on the support area and the center of gravity
  • the projection position relationship is the condition, when the center of gravity falls outside the limited area, the restriction on the boom movement in the dangerous direction is activated; based on the angle relationship of the boom, it is activated when the angle combination exceeds the pre-set angle combination range Restrictions on the movement of the boom in a dangerous direction, etc.
  • the determination of whether it is necessary to limit the movement of the boom and the safety determination of the operations that can be performed on the operation of the boom are in no particular order, but when controlling the operation of the boom, it is necessary to first understand whether it is necessary. Limit the judgment result of the boom movement, and then operate the boom according to the judgment result.
  • the operation safety of the k-arm is determined according to the judgment result of the k-arm. As shown in Figure 5, if the first movement of the k-arm increases safety, the first movement is allowed but the second movement is not allowed; if the first movement of the k-arm increases the risk, the second movement is allowed but the first movement is not allowed. In the case where there is no need to restrict the boom movement, both the first movement and the second movement are allowed.
  • the safety of boom operation is pre-judged in real time, and its control real-time response does not require temporary calculation of movement safety after the activation of the “restrict boom movement” demand, which greatly saves the system calculation time and delays the judgment, so that the system has The high response timeliness enhances the safety control effect and the safety of the equipment against tipping over.
  • the method before judging the safety of the operations that can be performed on the operating boom, the method further includes: determining whether any operation of any boom of the boom is safe and risk-free; and In the case that any section of the boom is safe and risk-free, the safety of the operations that can be performed on the operating section arm is not judged and the operation of the operating section arm is allowed to be expanded or retracted.
  • Fig. 6 is a logical schematic diagram of a method for judging the safety of operations that can be performed on the boom of a construction machine provided by another embodiment of the present invention.
  • the difference between the method shown in FIG. 6 and FIG. 5 is that, in FIG. 6, the safety judgment of the operation of the vehicle boom is added. If the result of the vehicle boom action safety judgment is that any boom is safe and risk-free, the operation of the k-arm allows the first and second actions; if it is not any boom that is safe and risk-free, return to Figure 5 The method.
  • the idea of judging the safety of the vehicle boom movement can be: according to the support area, a new area is formed by a certain margin away from its boundary. If the center of gravity of the vehicle falls within this area, it is considered to move one or more arbitrarily. It is safe and risk-free when the boom is sectioned.
  • the method described here does not include measuring only the reaction force of the outriggers, and judging safety only based on the relationship of the reaction force of the outriggers.
  • the security judgment is divided into two modules.
  • the judgment part on the right side of Figure 6 does not need to be performed under arbitrary operations, thus saving system calculations.
  • the "Boom Section K Action Safety Judgment" will be decomposed into more than one judgment function module.
  • the subsequent judgment module can be omitted. (Judging part on the right side of Figure 6) calculations to save computing power.
  • the scheme shown in Fig. 6 can be used as a technical improvement scheme of the pumping equipment using the prior art, that is, the judgment part shown on the right side of Fig. 6 is added to the original control program structure to realize the safety of a single boom section. Judgment and control.
  • the method further includes: presenting the safety of the operations that can be performed on the operating joint arm in at least one of the following ways: display screen interface, indicator light, sound, symbol, and vibration.
  • presenting the safety of the operations that can be performed on the operating joint arm in at least one of the following ways: display screen interface, indicator light, sound, symbol, and vibration.
  • the dashed frame represents the visualized man-machine interface window environment.
  • the first indication state is used to indicate the first state of the operability of the arm section (the operation will be responded to), and the second indication state is used to indicate the arm section.
  • the second state of the executable of the operation (the operation will not be responded to).
  • the first indication state and the second indication state should be different, and should be presented in a high-contrast color or a flickering state.
  • An example is the use of indicator lights to indicate the safety of the operations that can be performed on the operating section arm. Among them, the tendency toward safety and the tendency toward danger can be indicated by indicator lights of different colors.
  • a red indicator light is used to indicate that the boom operation corresponding to the indicator symbol is not executable or tends to be dangerous
  • a green indicator light is used to indicate that the boom operation corresponding to the indicator symbol is executable or tends to be safe.
  • the indication symbol can take many forms, for example, it can also be marked by symbols or words of "lock"-"unlock", “prohibit"-"allow”.
  • the human-computer interaction function (that is, presenting the safety of the operations that can be performed on the operating section arm) can be an independent function. Even if the control system does not make any restriction on the movement of the boom, the human-computer interaction system can still be independent To form a reminder and guidance to the operator to avoid dangerous operations, and then to ensure the safety of the operation (posture) of the boom of the construction machinery (for example, mobile machinery).
  • the "display" mode of human-computer interaction can be implemented on the device monitor, display screen, remote control display screen, or other display terminals (such as mobile phones with terminal APP), or It is presented in the form of indicator lights on the remote control, as shown in Figure 8, the 1a indicator corresponds to the executable in the direction of the first operating handle a, and the 1b indicator corresponds to the executable in the direction of the first operating handle b; the same Litui and other handles and indicator lights.
  • the indicator lights indicate the executable in a certain direction through different states. For example, one example is that all the indicator lights are red.
  • the indicator light When the indicator light is on, it indicates that the operation is not allowed (not allowed) or increases the risk; when the indicator light is off, it indicates that the operation is not restricted and can be performed or increased safety. For example, another example is that all the indicator lights are green. When the indicator light is on, the operation of the handle that indicates the direction can be (allowed) to perform or increase safety; when the indicator light is off, it indicates that the operation is restricted, not to perform or increase the risk. .
  • the technical solutions provided by the embodiments of the present invention do not exclude the superimposed use of other human-computer interaction means, such as sound alarms, vibration reminders, and so on.
  • Display is not the only way of human-computer interaction of the technical solution provided by the embodiment of the present invention, and it is preferably supplemented by a sound alarm to strengthen the reminder to the operator.
  • the alarm function occurs when a restriction is taken or when it is judged that a restriction must be taken by a person (boom operation).
  • the system structure includes: the boom posture detection unit is connected to the calculation control unit; the boom motion control unit is connected to the calculation control unit; the calculation control unit is connected to the boom motion execution unit.
  • the boom posture detection unit is used to detect the posture of each boom section.
  • the realization methods include boom angle detection (inclination sensor or included angle potentiometer or rotary encoder, etc.), or boom cylinder stroke detection sensor (linear Encoder or pull-wire sensor or laser distance sensor, etc.); the boom motion control unit is used for the operator to send the control instructions of the boom motion to the mobile device, and the realization method is a remote control or a program-controlled intelligent control device (pre-programmed, triggered by the operator) ;
  • the calculation control unit receives the data and signals from the boom posture detection unit and the boom motion control unit, and performs calculation processing: the boom posture data from the boom posture detection unit is output to the calculation control unit and can be based on the boom structure And the electro-hydraulic system to determine the safety of the boom motion direction.
  • the determination results of the boom posture detection unit and the calculation control unit are used as the intervention calculation control unit when the boom motion instruction from the boom motion control unit is received.
  • the output of the boom motion execution unit is to intervene in the execution of the boom motion.
  • the system only needs the boom attitude detection unit and the calculation control unit; in order to maintain the integrity of the control, the actual system is the boom attitude detection unit, the boom motion control unit, the calculation control unit and the boom Action execution unit; if the calculation and control of the safety judgment are not realized by the same device, the calculation control unit is divided into a calculation judgment unit and a control unit.
  • the calculation judgment unit and the control unit are connected through communication, and the calculation judgment unit outputs the boom motion to the control unit Judgment result of the safe direction;
  • the system structure is: the boom posture detection unit and the boom action control unit are connected in parallel to the calculation and judgment unit, the calculation and judgment unit is connected to the control unit, and the control unit is connected to the boom action execution unit.
  • another aspect of the embodiments of the present invention provides a device for judging the safety of operations that can be performed on the boom of a construction machine.
  • Fig. 9 is a structural block diagram of a device for judging the safety of operations that can be performed on the boom of a construction machine provided by another embodiment of the present invention.
  • the device includes a parameter acquisition module 1, a centroid position determination module 2, a direction vector determination module 3, and a safety judgment module 4.
  • the parameter acquisition module 1 is used to acquire the parameters of each arm in the boom, where the parameters include inclination, arm length and mass;
  • the centroid position determination module 2 is used to determine the full center of mass position of the boom based on the acquired parameters And the position of the combined centroid of the operating section arm to the distal arm;
  • the direction vector determination module 3 is used to determine the direction vector of the safety judgment basis based on the position of the total centroid and the position of the combined centroid;
  • the safety judgment module 4 is used to determine the direction vector based on the safety judgment basis, Determine the safety of the operations that can be performed on the operating joint arm.
  • the safety judgment basis direction vector includes a first direction vector, a second direction vector, and a third direction vector, where the first direction vector is the direction from the beginning of the boom to the position of the full center of mass
  • the second direction vector is the projection vector of the direction vector from the beginning of the operating section arm to the position of the center of mass.
  • the third direction vector is the direction vector from the beginning of the operation section to the position of the center of mass.
  • the projection vector in the vertical direction perpendicular to the horizontal plane.
  • the safety judging module judges the safety of the operations that can be performed on the operating articulated arm based on the safety judgment and the direction vector includes: the first direction vector is consistent with the second direction vector and When the direction of the third direction vector is upright, the operation of unfolding the operating joint increases the safety, and the operation of retracting the operating joint increases the risk; the direction of the first direction vector is consistent with the direction of the second direction vector but the third When the direction of the direction vector is not upright, the operation of unfolding the operating joint increases the risk, and the operation of retracting the operating joint increases the safety; the direction of the first direction vector and the second direction vector are inconsistent and the third direction When the direction of the vector is vertical downward, the operation of unfolding the operating joint increases safety, and the operation of retracting the operating joint increases the risk; and the directions of the first direction vector and the second direction vector are inconsistent and the third direction When the direction of the vector is not vertical downwards, the operation of unfolding the operating joint increases the risk, and the operation of retracting the operating joint increases the safety
  • the safety judgment module before judging the safety of the operations that can be performed on the operating articulated arm, is further used to: judge whether any articulated arm of the boom is operated arbitrarily is safe and risk-free ; And in the case that any section arm of any operation boom is safe and risk-free, the safety of the operation that can be performed on the operation section arm is not judged and the operation of the operation section arm is allowed to expand or retract.
  • the device further includes: a presentation module for presenting the safety of operations that can be performed on the operating section arm in at least one of the following ways: display screen interface, indicator light, sound, symbol And vibration.
  • a presentation module for presenting the safety of operations that can be performed on the operating section arm in at least one of the following ways: display screen interface, indicator light, sound, symbol And vibration.
  • Another aspect of the embodiments of the present invention also provides an engineering machine, which includes the device described in the foregoing embodiment.
  • another aspect of the embodiments of the present invention also provides a machine-readable storage medium having instructions stored on the machine-readable storage medium, and the instructions are used to cause a machine to execute the method described in the foregoing embodiment.

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Abstract

一种判断臂架可进行的操作的安全性的方法和装置及工程机械，判断臂架可进行的操作的安全性的方法包括：获取臂架中的每节臂的参数，其中，参数包括倾角、臂长及质量；基于所获取的参数，确定臂架的全质心位置及操作节臂到末节臂的合质心位置；基于全质心位置和合质心位置，确定安全性判断依据方向向量；以及基于安全性判断依据方向向量，判断对操作节臂可进行的操作的安全性。

Description

判断臂架可进行的操作的安全性的方法和装置及工程机械 技术领域
本发明涉及工程机械领域，具体地，涉及一种判断臂架可进行的操作的安全性的方法和装置及工程机械。
背景技术
不承载外负荷的移动式活动臂机械设备，以其活动臂为功能执行部件，其中，这类设备包含臂架混凝土泵车、混凝土布料机、带折臂的(高空)作业平台机械、折臂消防设备、移动式清洗机械手设备、移动折臂式起重设备、砌墙机等建筑设备(这些设备的外负载都是有限的、轻的，即可以量化并限定为一个非显性的干扰因素的)。活动臂的姿态改变使作业区域适应施工需求。但是，作业区域不能无限远伸，一方面受到臂长的结构限制，另一方面受到活动臂远伸会导致倾翻力矩增加而使设备倾翻的安全限制，这样，作业区域是有限的。
将臂架展开远伸，设备处于临界倾翻的状态，此时需要非常准确的进行避免加剧倾翻的操作，而现在并没有这种技术来预见对臂架进行的操作的安全性，操作人员因为判断失误可能反而进行了与避免倾翻相反的操作，最终导致事故。
发明内容
本发明的目的是提供一种判断臂架可进行的操作的安全性的方法和装置及工程机械，其可解决或者至少部分解决上述问题。
为了实现上述目的，本发明的一个方面提供一种用于判断对工程机械的臂架可进行的操作的安全性的方法，该方法包括：获取所述臂架中的每节臂的参数，其中，所述参数包括倾角、臂长及质量；基于所获取的参数，确定所述臂架的全质心位置及操作节臂到末节臂的合质心位置；基于所述全质心位置和所述合质心位置，确定安全性判断依据方向向量；以及基于所述安全性判断依据方向向量，判断对所述操作节臂可进行的操作的安全性。
可选地，所述安全性判断依据方向向量包括第一方向向量、第二方向向量 和第三方向向量，其中，所述第一方向向量为所述臂架的始端至所述全质心位置的方向向量在水平面内的投影向量，所述第二方向向量为所述操作节臂的始端至所述合质心位置的方向向量在所述水平面内的投影向量，所述第三方向向量为所述操作节臂的始端至所述合质心位置的方向向量在垂直于所述水平面的竖直方向上的投影向量。
可选地，所述基于所述安全性判断依据方向向量判断对所述操作节臂可进行的操作的安全性包括：在所述第一方向向量与所述第二方向向量的方向一致且所述第三方向向量的方向为竖直向上的情况下，展开所述操作节臂的操作增加安全性，收拢所述操作节臂的操作增加危险性；在所述第一方向向量与所述第二方向向量的方向一致但所述第三方向向量的方向不为竖直向上的情况下，展开所述操作节臂的操作增加危险性，收拢所述操作节臂的操作增加安全性；在所述第一方向向量与所述第二方向向量的方向不一致且所述第三方向向量的方向为竖直向下的情况下，展开所述操作节臂的操作增加安全性，收拢所述操作节臂的操作增加危险性；以及在所述第一方向向量与所述第二方向向量的方向不一致且所述第三方向向量的方向不为竖直向下的情况下，展开所述操作节臂的操作增加危险性，收拢所述操作节臂的操作增加安全性。
可选地，在判断对所述操作节臂可进行的操作的安全性之前，该方法还包括：判断是否任意操作所述臂架的任意节臂均安全无风险；以及在任意操作所述臂架的任意节臂均安全无风险的情况下，不判断对所述操作节臂可进行的操作的安全性并允许对所述操作节臂进行展开或收拢操作。
可选地，该方法还包括：采用以下至少一种方式呈现对所述操作节臂可进行的操作的安全性：显示屏界面、指示灯、声音、符号及振动。
相应地，本发明的另一方面提供一种用于判断对工程机械的臂架可进行的操作的安全性的装置，该装置包括：参数获取模块，用于获取所述臂架中的每节臂的参数，其中，所述参数包括倾角、臂长及质量；质心位置确定模块，用于基于所获取的参数，确定所述臂架的全质心位置及操作节臂到末节臂的合质心位置；方向向量确定模块，用于基于所述全质心位置和所述合质心位置，确定安全性判断依据方向向量；以及安全性判断模块，用于基于所述安全性判断依据方向向量，判断对所述操作节臂可进行的操作的安全性。
可选地，所述安全性判断依据方向向量包括第一方向向量、第二方向向量和第三方向向量，其中，所述第一方向向量为所述臂架的始端至所述全质心位置的方向向量在水平面内的投影向量，所述第二方向向量为所述操作节臂的始端至所述合质心位置的方向向量在所述水平面内的投影向量，所述第三方向向量为所述操作节臂的始端至所述合质心位置的方向向量在垂直于所述水平面的竖直方向上的投影向量。
可选地，所述安全性判断模块基于所述安全性判断依据方向向量判断对所述操作节臂可进行的操作的安全性包括：在所述第一方向向量与所述第二方向向量的方向一致且所述第三方向向量的方向为竖直向上的情况下，展开所述操作节臂的操作增加安全性，收拢所述操作节臂的操作增加危险性；在所述第一方向向量与所述第二方向向量的方向一致但所述第三方向向量的方向不为竖直向上的情况下，展开所述操作节臂的操作增加危险性，收拢所述操作节臂的操作增加安全性；在所述第一方向向量与所述第二方向向量的方向不一致且所述第三方向向量的方向为竖直向下的情况下，展开所述操作节臂的操作增加安全性，收拢所述操作节臂的操作增加危险性；以及在所述第一方向向量与所述第二方向向量的方向不一致且所述第三方向向量的方向不为竖直向下的情况下，展开所述操作节臂的操作增加危险性，收拢所述操作节臂的操作增加安全性。
可选地，在判断对所述操作节臂可进行的操作的安全性之前，所述安全性判断模块还用于：判断是否任意操作所述臂架的任意节臂均安全无风险；以及在任意操作所述臂架的任意节臂均安全无风险的情况下，不判断对所述操作节臂可进行的操作的安全性并允许对所述操作节臂进行展开或收拢操作。
可选地，该装置还包括：呈现模块，用于采用以下至少一种方式呈现对所述操作节臂可进行的操作的安全性：显示屏界面、指示灯、声音、符号及振动。
此外，本发明的另一方面还提供一种工程机械，该工程机械包括上述的装置。
另外，本发明的另一方面还提供一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行上述的方法。
通过上述技术方案，基于臂架中的每节臂的参数，实现了对操作节臂可进行的操作的安全性的判断，并且在判断安全性时还未操作该操作节臂，因此对操 作节臂可进行的操作的安全性的判断为预判，即，实现了预先判断即将对操作节臂可进行的操作的安全性，具有预见性。此外，根据判断结果可预知对操作节臂可进行的操作的安全性，操作人员可以根据判断结果对操作节臂进行增加安全性的操作，如此，避免了操作人员因为判断失误可能进行了与避免倾翻相反的操作而导致事故的问题。
本发明的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：
图1是本发明一实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的方法的流程图；
图2是本发明另一实施例提供的质心计算示意图；
图3是本发明另一实施例提供的安全性判断依据方向向量示意图；
图4是本发明另一实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的方法的逻辑示意图；
图5是本发明另一实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的方法的逻辑示意图；
图6是本发明另一实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的方法的逻辑示意图；
图7是本发明另一实施例提供的操作安全性的显示示意图；
图8是本发明另一实施例提供的操作安全性的显示示意图；以及
图9是本发明另一实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的装置的结构示意图。
附图标记说明
1 参数获取模块      2 质心位置确定模块
3 方向向量确定模块  4 安全性判断模块
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
现有技术中，公开了以下两种评价设备倾翻安全性的技术方案。第一种是对支撑平面区域与整车重心进行检测，根据整车重心是否落入支撑区域内及重心与边界的临近程度评价不至倾翻的安全性并实施相应控制；第二种是复合使用支腿力检测评价设备防倾翻的安全性，并结合臂架姿态检测实现对各节臂的动作对安全系数的影响，据此约束臂架动作。
第一种技术方案仅聚焦设备整车重心位置对倾翻的影响，并以(整车重心落在)支撑区域内满足一定规则的分区(作为判据)来控制臂架运动，保障防倾翻的安全。这是一个“效果评判”，即设备操作者只有实施一个操作后，才能事后地获知该操作是否产生了对整车重心位置移动的有利或不利的影响。而且，除非是经验丰富的操作者，他不一定能正确地判断如何操作设备(臂架)才能使臂架的动作是有利于整车稳定(防倾翻)的。
第二种技术方案期望借助臂架姿态检测实现了对运动方向对安全趋势的判断，但安全系数直接关联因素为整车重心又需要返回去通过反力来求取，进而判断防倾翻的安全性。即必须结合两个技术，才能产生充足的判据，实现臂架动作安全性的控制干预。
因此，第一种技术方案没有涉及到各节臂架的运动(动作)安全性控制，只有整车全局性的控制；这个控制具有滞后性；第二种技术方案虽然涉及到了各臂架的控制，但是判据的“逻辑链”太长，虽然在对比技术发明人看来是更优选和全面保障的实现技术，但技术实现成本高、环节多也带来可靠性问题。综上，第一种技术方案和第二种技术方案的效果评判为响应性的判断，没有预见性；第一种技术方案和第二种技术方案对臂架运动的限制是通过全局性的安全性进行操作效果的判断，操作员并没有在臂架停止运动后获知“谨慎”操作的指导，“谨慎”而盲目的操作仍可能加剧倾翻危险，设备也可能长期处于倾翻危险下不能解除；第二种技术方案作为整体防倾翻技术，其中包含了对各臂架分别控制的判断思路，但问题是其提供的方法只能适用于较大多数的臂架姿态，不具备普遍准确性。
本发明提供的技术方案提供了臂架操作安全性的预判方法，从而可以更好地为设备防倾翻的安全控制提供更好的依据。上述两种技术方案的共性的“没有预见性”的问题，也将在本方案中得以解决。
本发明实施例的一个方面提供一种用于判断对工程机械的臂架可进行的操作的安全性的方法。
图1是本发明一实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的方法的流程图。如图1所示，该方法包括以下内容。
在步骤S10中，获取臂架中的每节臂的参数，其中，参数包括倾角、臂长及质量，即，针对于每节臂，参数包括该节臂的倾角，臂长和质量。获取倾角的方式可以有多种，例如，可以直接采用倾角传感器检测，也可以由其他检测方式间接获取，如通过编码器检测臂架间的夹角、或检测臂架油缸行程换算出臂架间的夹角。
在步骤S11中，基于获取的参数，确定臂架的全质心位置及操作节臂到末节臂的合质心位置。
下面结合图2以5节臂为例，示例性介绍如何计算全质心位置及合质心位置。其中，在图2中，θ 1、θ 2、θ 3、θ 4、θ 5表示臂架倾角。此外，记末臂为n臂，记关注的任意臂为k臂。
如图2所示，以1臂始端为坐标原点，臂架水平展开方向为x正方向，竖直方向为y正方向，则：
首先，计算出各节臂末端坐标(x i，y i)：
Figure PCTCN2020094054-appb-000001
其次，计算出各节臂的质心坐标(x′ i，y′ i)：
Figure PCTCN2020094054-appb-000002
最后，第k节臂往末节臂整体的质心坐标(x kn，y kn)：
Figure PCTCN2020094054-appb-000003
其中，n表示第几节臂；L j表示l臂的臂长；L′ i表示i臂的臂长；θ j表示j臂的倾角；θ i表示i臂的倾角；m j表示j臂的质量；视坐标(x kn，y kn)为坐标系内从k臂到n臂的整体的质心坐标G kn；若k臂为操作节臂，则G kn表示操作节臂到末节臂的合质心位置；若k臂为1臂，则G 1n表示全部臂架的质心坐标为G1n，即，全质心位置。图2中给出了G35和G15的大概位置。
在步骤S12中，基于全质心位置和合质心位置，确定安全性判断依据方向向量。其中，根据该安全性判断依据方向向量可以判断对操作节臂可进行的操作的安全性，具体地，根据方向向量的方向进行判断。
可选地，安全性判断依据方向向量可以包括第一方向向量、第二方向向量和第三方向向量，其中，第一方向向量为臂架的始端至全质心位置的方向向量在水平面内的投影向量，第二方向向量为操作节臂的始端至合质心位置的方向向量在水平面内的投影向量，第三方向向量为操作节臂的始端至合质心位置的方向向量在垂直于水平面的竖直方向上的投影向量。
下面结合图3为例，对本发明实施例中的安全性判断依据方向向量进行示例性介绍。其中，全质心位置和合质心位置参照图2的相关介绍得出。此外，需要说明的是，N号臂节的末端就是全臂架的末端，1号臂节的始端就是全臂架的始端，小序号臂节的末端就是大一号臂节的始端，k臂为操作节臂。
如图3所示，G 1n表示1臂到n臂全部的臂架质心，即，全质心位置；G kn是k臂到n臂的臂架质心，即合质心位置；K0是k臂的始端(即靠近O点的一端)点，k臂为操作节臂，O点是臂架的始端。向量OG 1n表示从臂架的始端(臂架的始端为O，也就是1号节臂的始端)至全质心位置(G 1n)的方向向量，Dr1为第一方向向量，Dr1是OG 1n向量在水平方向上的投影向量。向量K0G kn表示操作节臂(k臂)的始端(K0)至合质心位置G kn的方向向量；Dr2为第二方向向量，Dr2是K0G kn向量在水平方向上的投影向量；Dr3为第三方向向量，Dr3是K0G kn向量在竖直方向上的投影向量。图3中为了表示清晰，将KOG kn向量 进行平移后再做的分解。另外，第一方向向量Dr1与第二方向向量Dr2一致，一致和相反是对立的，一致就是指方向一致。
在步骤S13中，基于安全性判断依据方向向量，判断对操作节臂可进行的操作的安全性，即，判断对操作节臂可进行的操作增加安全性还是增加危险性。
通过上述技术方案，基于臂架中的每节臂的参数，实现了对操作节臂可进行的操作的安全性的判断，并且在判断安全性时还未操作该操作节臂，因此对操作节臂可进行的操作的安全性的判断为预判，即，实现了预先判断即将对操作节臂可进行的操作的安全性，具有预见性。此外，根据判断结果可预知对操作节臂可进行的操作的安全性，操作人员可以根据判断结果对操作节臂进行增加安全性的操作，如此，避免了操作人员因为判断失误可能进行了与避免倾翻相反的操作而导致事故的问题。本发明实施例提供的技术方案，判断依据简单直接，算力需求较小，并正确性可以覆盖链式臂架的全部姿态；依据臂架姿态和质心关系，具有预见性，即在动作操作之前已经预见了该动作对工程机械(防)倾翻的影响，安全方向的判断既是实时的，又是超前的。另外，本发明实施例提供的技术方案不对臂架姿态进行限制，具有普遍性；本技术方案仅涉及链式臂架的操作(例如，展收动作)安全性的判断(预判)，不包含转台转动动作的安全性的判断，如此，对于一些不包含转台动作的链式折臂设备也可适用。此外，技术方案使用的工程机械很多，例如，可适用于采用独立计算控制单元的移动工程机械，也可以应用与采用多计算控制单元的移动工程机械，如采用设备本地检测信息获取、远程运算安全判断、设备本地执行控制的方式。
可选地，在本发明实施例中，基于安全性判断依据方向向量判断对操作节臂可进行的操作的安全性包括：在第一方向向量与第二方向向量的方向一致且第三方向向量的方向为竖直向上的情况下，展开操作节臂的操作增加安全性，收拢操作节臂的操作增加危险性；在第一方向向量与第二方向向量的方向一致但第三方向向量的方向不为竖直向下的情况下，展开操作节臂的操作增加危险性，收拢操作节臂的操作增加安全性；在第一方向向量与第二方向向量的方向不一致且第三方向向量的方向为竖直向下的情况下，展开操作节臂的操作增加安全性，收拢操作节臂的操作增加危险性；以及在第一方向向量与第二方向向量的方向不一致且第三方向向量的方向不为竖直向下的情况下，展开操作节臂的操作增加危险性， 收拢操作节臂的操作增加安全性。
下面结合图4以操作含N节链式折臂的移动机械为例，对本发明实施例中的基于安全性判断依据方向向量判断对操作节臂可进行的操作的安全性进行示例性介绍。需要说明的是，第一动作为展开臂架的操作，第二动作的反向动作，在臂架水平全展时对操作臂的第一动作可产生令操作臂末端向上的运动；第二动作为收拢臂架的操作，第一动作的反向动作，在臂架水平全展时对操作臂的第二动作可产生令操作臂末端向下的运动。
含N节链式折臂的移动机械，对任意第k节臂(0<k≤N)的驱动动作，如果引起了全臂架重心远离移动机械的承载区域，则为危险动作，该驱动引起的该节臂的动作方向为危险方向，相反的为安全方向。这里，所述“承载区域”为移动机械受地面支撑力的区域。如，泵车为四个支腿支撑点连线确定的区域；高空作业平台为其承载轮胎确定的区域；建筑机器人为支腿和轮胎组合确定的支撑承载区域。在本方案中，该承载区域为凸多边形。对于凸多边形的承载区域，移动设备的臂架重心远离其承载区域，意味着移动设备的整机重心远离其承载区域，移动设备的结构设计也需满足承载区域与臂架延展范围(重心范围)的相适应，所以承载区域的边界就是移动设备防倾翻的安全边界——而初始状态必定是安全的，也就是说集成了臂架重量的整机重心位于该承载区域之内。因此，臂架重心对承载区域的远离会使整机重心靠近承载区域边沿并最终超出该承载区域，进而导致倾翻的危险。因此，每个臂节的动作都有一个动作方向为危险方向(和一个安全方向)。对每节臂的动作的安全性进行准确的识别，是防止倾翻的臂架控制的依据。
如图4所示，确定全臂架质心位置及k臂到末节臂质心位置，其中，全臂架质心位置为本发明实施例中所述的全质心位置，k臂表示可操作臂，也就是本发明实施例中所述的操作节臂，k臂到末节臂质心位置为本发明实施例中所述的合质心位置。其中，确定质心位置的方法可以参见上述实施例中所述的方法。
确定第一方向(第一方向向量)、第二方向(第二方向向量)及第三方向(第三方向向量)，其中确定方向向量的方法可以参见上述实施例中所述的方法。
判断第一方向和第二方向是否一致；在一致的情况下判断第三方向是否向上；在不一致的情况下，判断第三方向是否向下。
若在第一方向和第二方向一致的情况下，第三方向向上，则第一动作增加安全性，第二动作增加危险性；若在第一方向和第二方向一致的情况下，第三方向不为向上，则第一动作增加危险性，第二动作增加安全性。
若在第一方向和第二方向不一致的情况下，第三方向向下，则第一动作增加安全性，第二动作增加危险性；若在第一方向和第二方向不一致的情况下，第三方向不为向下，则第一动作增加危险性，第二动作增加安全性。
可选地，在本发明实施例中，在具体控制臂架操作的时，还可以先判断是否需要限制臂架动作，在需要限制臂架动作的情况下，根据对操作节臂可进行的操作的判断结果，控制操作操作节臂。下面结合图5对本部分内容进行示例性介绍。在需要限制臂架动作(以保障工程机械，例如，移动链式臂架设备，防倾翻)时，根据图5的控制流程实施，可限制整机重心从承载区域中心向其边界靠拢(甚至越过边界线导致倾翻)的臂架操作。
获取臂节姿态及臂节参数(参数包含臂节尺寸、质量及分布)，即，上述实施例中所述的获取臂架中的每节臂的参数。
各臂节到末臂整体质心获取，获取了k臂到末臂整体的质心坐标，k为1～N；当k＝N时就是末臂的质心坐标，当k＝1是就是全臂架质心的坐标。
确定全臂架质心位置及k臂到末节臂合质心位置，也就是上述实施例中所述的确定全质心位置及合质心位置。
臂节k动作安全性判断，即，判断对操作节臂可进行的动作的安全性，参见上述实施例中结合图4介绍的判断方法。在该实施例中，结合关于图4的介绍进行理解，例如，第一动作和第二动作的定义。需要说明的是，第一动作和第二动作的定义为示例性的，并不用于限制本发明。
判断是否需要限制臂架动作。“是否要限制臂架动作？”的条件判断，可以用各种原因、各种条件来实现上述判断的调用。例如，在泵车上，以基于倾翻扭矩判断的整车稳定安全性系数小于某一阈值为触发条件，当条件满足后就激活对臂架向危险方向动作的限制；以基于支撑区域及重心投影位置关系为条件，当重心落在限定的区域外就激活对臂架向危险方向动作的限制；以基于臂架角度关系为条件，当角度组合超出预先设定的角度组合范围时，就激活对臂架向危险方向动作的限制等。需要说明的是，在本发明实施例中，是否需要限制臂架动作的 判断与对操作节臂可进行的操作的安全性判断不分先后，但是在控制臂架操作时需要根据先了解是否需要限制臂架动作的判断结果，然后根据判断结果再去操作臂架。
在需要限制臂架动作的情况下，根据k臂动作安全性的判断结果确定可以对k臂进行哪些操作。如图5所示，若k臂第一动作增加安全性，则允许第一动作但不允许第二动作；若k臂第一动作增加危险性，则允许第二动作但不允许第一动作。在不需要限制臂架动作的情况下，既允许第一动作又允许第二动作。
臂架操作的安全性是实时预判的，其控制实时响应不需要在“限制臂架动作”的需求激活后临时计算运动安全性，大大节省了系统运算时长带来判断延时，使系统具有很高的响应及时性，增强了安全控制效果和设备防倾翻的安全性。
可选地，在本发明实施例中，在判断对操作节臂可进行的操作的安全性之前，该方法还包括：判断是否任意操作臂架的任意节臂均安全无风险；以及在任意操作臂架的任意节臂均安全无风险的情况下，不判断对操作节臂可进行的操作的安全性并允许对操作节臂进行展开或收拢操作。其中，判断是否任意操作臂架的任意节臂均安全风风险的方案有很多，例如，根据支撑区域，并由远离其边界一定余量所形成新的区域，若整车重心落在该区域内，则认为任意动一节或多节臂架时安全无风险。如此，实现了不需要在任何情况下都判断对操作节臂可进行的操作的安全性，节省了运算，提高了工作效率。
图6是本发明另一实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的方法的逻辑示意图。图6与图5所示的方法的不同之处在于，在图6中，增加了整车臂架动作安全性判断。若整车臂架动作安全性判断的结果是任意动臂安全无风险，则对k臂的操作允许第一动作和第二动作；若不是任意动臂安全无风险，则回到图5所示的方法上。
其中，整车臂架动作安全性判断思路可以是：根据支撑区域，并由远离其边界一定余量所形成新的区域，若整车重心落在该区域内，则认为任意动一节或多节臂架时安全无风险。其中，这里所述的方式不包含仅测量支腿反力，并仅根据支腿反力关系来判断安全性。
在图6所示的方法中，将安全性判断分成了两个模块，图6右侧的判断部分，并不需要在任意操作下进行，因而节省了系统运算。为了节省控制系统运算 能力资源，“臂节k动作安全性判断”里会分解成不止一个判断功能模块，在前一级的判断中判断对工程机械操控是安全的时候，就可不进行后继判断模块(图6右侧的判断部分)的运算，从而节省算力。图6所示的方案可以作为采用了现有技术的泵送设备的技术改进的方案，即在原有的控制程序结构上增加图6右侧所示的判断部分，实现对单个臂节动作安全性的判断与控制。
可选地，在本发明实施例中，该方法还包括：采用以下至少一种方式呈现对操作节臂可进行的操作的安全性：显示屏界面、指示灯、声音、符号及振动。通过显示安全性的判断结果可以给操作人员(用户)更明确的指导信息，让他“眼见为实”，知道控制系统在后台进行了哪些限制控制，让他更容易理解控制系统的状态，避免无效的操作。
下面结合图7和图8对显示操作节臂可进行的操作的安全性的方式进行介绍。
如图7所示，虚线框表示可视化人机界面窗口环境，第一指示状态用于指示臂节操作可执行性的第一状态(操作会被得到响应)，第二指示状态用于指示臂节操作可执行性的第二状态(操作不会被得到响应)。第一指示状态和第二指示状态应不同，宜采用高对比的色彩或是否闪烁的状态来呈现。一个实例是，用指示灯指示对操作节臂可进行的操作的安全性。其中，趋向于安全性和趋向于危险性可以用不同颜色的指示灯来表示。例如，用红色指示灯表示该指示符号对应的臂架操作不可执行或趋向于危险，用绿色指示灯表示该指示符号对应的臂架操作可执行或趋向于安全。此外，所述指示符号可以采取多种形式，例如，还可以采取“锁”-“开锁”，“禁止”-“允许”的符号或文字来标示。
事实上，人机交互功能(即，呈现对操作节臂可进行的操作的安全性)可以是独立的功能，即使控制系统不对臂架运动做出任何的限制干预，人机交互系统仍可以独立地形成对操作人员的提醒和指导，避免危险操作，进而保障工程机械(例如，移动式机械)的臂架的操作(姿态)安全。
以移动式机械臂架为例，该人机交互的“显示”方式，可以在设备监视器、显示屏、遥控器显示屏，或其他显示终端(如带终端APP的手机)上实现，也可以在遥控器上以指示灯的形式呈现，如图8所示，第1a指示灯对应第1操作手柄a方向的可执行性，第1b指示灯对应第1操作手柄b方向的可执行性；同 理推及其他手柄和指示灯。指示灯通过不同状态标示某方向的可执行性。如，一个实例是，全部指示灯采用红灯，指示灯亮的时候标示该操作不可(不允许)执行或增加危险性；指示灯灭的时候标示操作不受限制，可执行或增加安全性。如，另一个实例是，全部指示灯采用绿灯，指示灯亮的时候标示该方向的手柄操作可(允许)执行或增加安全性；指示灯灭的时候标示操作受限制，不以执行或增加危险性。此外，本发明实施例提供的技术方案不排除其他人机交互手段的叠加使用，如声音报警、振动提醒等。
显示不是本发明实施例提供的技术方案的唯一人机交互途径，优选辅以声音报警的方式，强化对操作人员的提醒。报警功能在采取了限制或判断需由人采取限制(臂架操作)的时候发生。
此外，与本发明实施例提供的技术方案对应的控制系统部分可以参见下面的示例性介绍来进行理解。
系统结构包含：臂架姿态检测单元连接计算控制单元；臂架动作控制单元连接计算控制单元；计算控制单元连接臂架动作执行单元。其中，臂架姿态检测单元用于检测各节臂架的姿态，实现方式有臂架夹角检测(倾角传感器或夹角电位计或回转编码器等)，或臂架油缸行程检测的传感器(直线编码器或拉线传感器或激光距离传感器等)；臂架动作控制单元用于操作人员向移动设备发送臂架动作的控制指令，实现方式为遥控器或程控智能控制器件(预先编程，操作人员触发)；计算控制单元接收来自臂架姿态检测单元和臂架动作控制单元的数据和信号，并进行计算处理：来自臂架姿态检测单元的臂架姿态数据输出到计算控制单元后即可根据臂架结构和电液系统判断出臂架动作方向的安全性，臂架姿态检测单元和计算控制单元的判断结果用于作为在接收到来自臂架动作控制单元的臂架动作指令时，干预计算控制单元对臂架动作执行单元的输出，即干预臂架动作的执行。
所以，如果只是单纯的判断方法，系统只需要臂架姿态检测单元和计算控制单元；为保持控制的完整性，实际系统为臂架姿态检测单元、臂架动作控制单元、计算控制单元和臂架动作执行单元；如果安全判断的计算与控制不采用同一器件实现，将计算控制单元分为计算判断单元和控制单元，计算判断单元和控制单元通过通讯连接，计算判断单元向控制单元输出臂架动作安全方向的判断结果； 此时系统结构为：臂架姿态检测单元和臂架动作控制单元并连在计算判断单元上，计算判断单元连接控制单元，控制单元连接臂架动作执行单元。
相应地，本发明实施例的另一方面提供一种用于判断对工程机械的臂架可进行的操作的安全性的装置。
图9是本发明另一实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的装置的结构框图。如图9所示，该装置包括参数获取模块1、质心位置确定模块2、方向向量确定模块3和安全性判断模块4。其中，参数获取模块1用于获取臂架中的每节臂的参数，其中，参数包括倾角、臂长及质量；质心位置确定模块2用于基于所获取的参数，确定臂架的全质心位置及操作节臂到末节臂的合质心位置；方向向量确定模块3用于基于全质心位置和合质心位置，确定安全性判断依据方向向量；安全性判断模块4用于基于安全性判断依据方向向量，判断对操作节臂可进行的操作的安全性。
可选地，在本发明实施例中，安全性判断依据方向向量包括第一方向向量、第二方向向量和第三方向向量，其中，第一方向向量为臂架的始端至全质心位置的方向向量在水平面内的投影向量，第二方向向量为操作节臂的始端至合质心位置的方向向量在水平面内的投影向量，第三方向向量为操作节臂的始端至合质心位置的方向向量在垂直于水平面的竖直方向上的投影向量。
可选地，在本发明实施例中，安全性判断模块基于安全性判断依据方向向量判断对操作节臂可进行的操作的安全性包括：在第一方向向量与第二方向向量的方向一致且第三方向向量的方向为竖直向上的情况下，展开操作节臂的操作增加安全性，收拢操作节臂的操作增加危险性；在第一方向向量与第二方向向量的方向一致但第三方向向量的方向不为竖直向上的情况下，展开操作节臂的操作增加危险性，收拢操作节臂的操作增加安全性；在第一方向向量与第二方向向量的方向不一致且第三方向向量的方向为竖直向下的情况下，展开操作节臂的操作增加安全性，收拢操作节臂的操作增加危险性；以及在第一方向向量与第二方向向量的方向不一致且第三方向向量的方向不为竖直向下的情况下，展开操作节臂的操作增加危险性，收拢操作节臂的操作增加安全性。
可选地，在本发明实施例中，在判断对操作节臂可进行的操作的安全性之前，安全性判断模块还用于：判断是否任意操作所述臂架的任意节臂均安全无风 险；以及在任意操作臂架的任意节臂均安全无风险的情况下，不判断对操作节臂可进行的操作的安全性并允许对操作节臂进行展开或收拢操作。
可选地，在本发明实施例中，该装置还包括：呈现模块，用于采用以下至少一种方式呈现对操作节臂可进行的操作的安全性：显示屏界面、指示灯、声音、符号及振动。
本发明实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的装置的具体工作原理及益处与本发明实施例提供的用于判断对工程机械的臂架可进行的操作的安全性的方法的具体工作原理及益处相似，这里将不再赘述。
此外，本发明实施例的另一方面还提供一种工程机械，该工程机械包括上述实施例中所述的装置。
另外，本发明实施例的另一方面还提供一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行上述实施例中所述的方法。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，这些简单变型均属于本发明的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。
此外，本发明的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所公开的内容。

Claims (12)

  1. 一种用于判断对工程机械的臂架可进行的操作的安全性的方法，其特征在于，该方法包括：
    获取所述臂架中的每节臂的参数，其中，所述参数包括倾角、臂长及质量；
    基于所获取的参数，确定所述臂架的全质心位置及操作节臂到末节臂的合质心位置；
    基于所述全质心位置和所述合质心位置，确定安全性判断依据方向向量；以及
    基于所述安全性判断依据方向向量，判断对所述操作节臂可进行的操作的安全性。
  2. 根据权利要求1所述的方法，其特征在于，所述安全性判断依据方向向量包括第一方向向量、第二方向向量和第三方向向量，其中，所述第一方向向量为所述臂架的始端至所述全质心位置的方向向量在水平面内的投影向量，所述第二方向向量为所述操作节臂的始端至所述合质心位置的方向向量在所述水平面内的投影向量，所述第三方向向量为所述操作节臂的始端至所述合质心位置的方向向量在垂直于所述水平面的竖直方向上的投影向量。
  3. 根据权利要求2所述的方法，其特征在于，所述基于所述安全性判断依据方向向量判断对所述操作节臂可进行的操作的安全性包括：
    在所述第一方向向量与所述第二方向向量的方向一致且所述第三方向向量的方向为竖直向上的情况下，展开所述操作节臂的操作增加安全性，收拢所述操作节臂的操作增加危险性；
    在所述第一方向向量与所述第二方向向量的方向一致但所述第三方向向量的方向不为竖直向上的情况下，展开所述操作节臂的操作增加危险性，收拢所述操作节臂的操作增加安全性；
    在所述第一方向向量与所述第二方向向量的方向不一致且所述第三方向向量的方向为竖直向下的情况下，展开所述操作节臂的操作增加安全性，收拢所述操作节臂的操作增加危险性；以及
    在所述第一方向向量与所述第二方向向量的方向不一致且所述第三方向向量的方向不为竖直向下的情况下，展开所述操作节臂的操作增加危险性，收拢所述操作节臂的操作增加安全性。
  4. 根据权利要求1-3任一所述的方法，其特征在于，在判断对所述操作节臂可进行的操作的安全性之前，该方法还包括：
    判断是否任意操作所述臂架的任意节臂均安全无风险；以及
    在任意操作所述臂架的任意节臂均安全无风险的情况下，不判断对所述操作节臂可进行的操作的安全性并允许对所述操作节臂进行展开或收拢操作。
  5. 根据权利要求1所述的方法，其特征在于，该方法还包括：
    采用以下至少一种方式呈现对所述操作节臂可进行的操作的安全性：显示屏界面、指示灯、声音、符号及振动。
  6. 一种用于判断对工程机械的臂架可进行的操作的安全性的装置，其特征在于，该装置包括：
    参数获取模块，用于获取所述臂架中的每节臂的参数，其中，所述参数包括倾角、臂长及质量；
    质心位置确定模块，用于基于所获取的参数，确定所述臂架的全质心位置及操作节臂到末节臂的合质心位置；
    方向向量确定模块，用于基于所述全质心位置和所述合质心位置，确定安全性判断依据方向向量；以及
    安全性判断模块，用于基于所述安全性判断依据方向向量，判断对所述操作节臂可进行的操作的安全性。
  7. 根据权利要求6所述的装置，其特征在于，所述安全性判断依据方向向量包括第一方向向量、第二方向向量和第三方向向量，其中，所述第一方向向量为所述臂架的始端至所述全质心位置的方向向量在水平面内的投影向量，所述第二方向向量为所述操作节臂的始端至所述合质心位置的方向向量在所述水平面 内的投影向量，所述第三方向向量为所述操作节臂的始端至所述合质心位置的方向向量在垂直于所述水平面的竖直方向上的投影向量。
  8. 根据权利要求7所述的装置，其特征在于，所述安全性判断模块基于所述安全性判断依据方向向量判断对所述操作节臂可进行的操作的安全性包括：
    在所述第一方向向量与所述第二方向向量的方向一致且所述第三方向向量的方向为竖直向上的情况下，展开所述操作节臂的操作增加安全性，收拢所述操作节臂的操作增加危险性；
    在所述第一方向向量与所述第二方向向量的方向一致但所述第三方向向量的方向不为竖直向上的情况下，展开所述操作节臂的操作增加危险性，收拢所述操作节臂的操作增加安全性；
    在所述第一方向向量与所述第二方向向量的方向不一致且所述第三方向向量的方向为竖直向下的情况下，展开所述操作节臂的操作增加安全性，收拢所述操作节臂的操作增加危险性；以及
    在所述第一方向向量与所述第二方向向量的方向不一致且所述第三方向向量的方向不为竖直向下的情况下，展开所述操作节臂的操作增加危险性，收拢所述操作节臂的操作增加安全性。
  9. 根据权利要求6-8任一所述的装置，其特征在于，在判断对所述操作节臂可进行的操作的安全性之前，所述安全性判断模块还用于：
    判断是否任意操作所述臂架的任意节臂均安全无风险；以及
    在任意操作所述臂架的任意节臂均安全无风险的情况下，不判断对所述操作节臂可进行的操作的安全性并允许对所述操作节臂进行展开或收拢操作。
  10. 根据权利要求6所述的装置，其特征在于，该装置还包括：
    呈现模块，用于采用以下至少一种方式呈现对所述操作节臂可进行的操作的安全性：显示屏界面、指示灯、声音、符号及振动。
  11. 一种工程机械，其特征在于，该工程机械包括权利要求6-10中任一项 所述的装置。
  12. 一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行权利要求1-5中任意一项所述的方法。
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