CN111622295A - Excavator running safety system and method - Google Patents
Excavator running safety system and method Download PDFInfo
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- CN111622295A CN111622295A CN202010322123.2A CN202010322123A CN111622295A CN 111622295 A CN111622295 A CN 111622295A CN 202010322123 A CN202010322123 A CN 202010322123A CN 111622295 A CN111622295 A CN 111622295A
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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
- E02F9/24—Safety devices, e.g. for preventing overload
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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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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- Mining & Mineral Resources (AREA)
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- General Engineering & Computer Science (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
According to the invention, the environment detection equipment laser scanner adopting a special installation method is used for carrying out real-time scanning modeling on the surrounding environment of the excavator, the shape information of the front road surface is provided in real time in the traveling process after being processed by a computer, the traveling safety is predicted by evaluation, and the comprehensive position and posture and the road surface information are judged by a design method in the traveling process, so that the automatic traveling efficiency of the excavator is improved, especially the safety passing performance under the complex high-risk road condition.
Description
Technical Field
The present invention relates to an excavator, and more particularly to a travel safety system of an automatic travel excavator.
Background
In the automatic operation process of the excavator, automatic driving is an important link, and by means of sensing equipment and computer technology, the excavator can automatically go to a target working area from a set initial position like an automobile to perform various operations. However, due to the diversity of construction sites, there are non-standard driving sites such as rescue and high-risk work in addition to general capital construction. Under the severe environment, the road surface has the characteristics of uneven road surface performance, uneven appearance and the like. The safety of the excavator in the driving process needs to be considered, and the dangerous conditions of overturning, clamping and the like are avoided, so that rescue and other special operations are influenced.
The scheme that the obstacle is avoided through camera detection, the inclination angle detection in the walking and climbing processes of the excavator is carried out through a horizontal inclination angle sensor, and the overturning danger is prevented is provided in the prior art. However, the conventional anti-tip-over system based on a gyroscope or other type of body tilt sensor is implemented for an automatic excavator by detecting the attitude angle of the body in real time, stopping the machine operation or returning the machine while detecting that the body is in danger of tipping over. In a disaster site or in a narrow space, the situation that the excavator is difficult to return, cannot return or causes new danger in the return process can occur, so that the execution efficiency is greatly reduced, and secondary risk can be generated under the more serious situation.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a safe prediction travel system for braking travel of an excavator.
To achieve the above object, the present invention provides in one aspect an excavator travel safety system characterized by comprising a laser scanning device disposed at a side of a boom of an excavator so that the laser scanning device can have an observation range of at least 270 ° on a first plane including a boom extension direction, and a scanning angle of the laser scanning device on a second plane perpendicular to the first plane is at least 30 °; the laser scanning device is set to perform cyclic scanning in a period T and send scanning data to the control device; the pose detection device is arranged to monitor the included angle alpha between the normal vector f of the plane of the excavator body and the vertical direction in real time and send the included angle alpha data to the control device; the control device is arranged to receive data sent by the laser scanning device and the pose detection device, and further comprises a mapping module, wherein the mapping module carries out three-dimensional mapping on the received data of the road condition morphology scanned by the laser scanning device to obtain a three-dimensional map of a road section in front of the advancing direction of the excavator; and the prejudgment and decision module predicts the posture of the excavator on the next road section according to the three-dimensional map, judges the driving safety risk and further controls the driving state of the excavator: when the three-dimensional map displays that the included angle beta between the integral normal vector F of the road surface of the next road section and the vertical direction is smaller than the safe inclination angle theta of the excavator, the excavator runs at a normal speed V; when the three-dimensional map data of the next road section is empty, the driving speed of the excavator is reduced from V to V1 until the three-dimensional map data is no longer empty; when the included angle beta is larger than the safe inclination angle theta, avoiding can be carried out by searching for an alternative route form, if no other alternative route exists, the running speed of the excavator is reduced to V2, the included angle alpha is monitored in real time by a pose detection device, and then: if the included angle alpha is increased to X% of the safe inclination angle theta, but the included angle beta of the front road section is in a descending trend compared with the current road section, further reducing the running speed of the excavator from V2 to V3; if the included angle alpha is within the time Z and the margin of the safe inclination angle theta is kept above Y%, the running speed of the excavator is recovered to V2; if the included angle alpha is increased to X% of the safe inclination angle theta and the included angle beta of the front road section is in an ascending trend compared with the current road section, the excavator is reversed until the advancing route is selected again at the safe inclination angle theta where the included angle beta is smaller than the safe inclination angle theta; and finally, stopping the vehicle under the condition of judging that the vehicle cannot run without the optional route, sending an obstacle type safety alarm to a control center, and waiting for clearing the road surface abnormity. Wherein V > V1> V2> V3; 95% and X% and 90%; y% is not less than 5%; z is ≧ 5 min; and when the included angle beta of the front road section is smaller than the safe inclined angle theta, the running speed of the excavator is recovered to V1.
Furthermore, the laser scanning device is two multi-line laser scanners which are respectively arranged at two sides of the movable arm.
Furthermore, the laser scanning device is two multi-line laser scanners which are respectively arranged at two sides of the movable arm.
Further, the three-dimensional map includes at least a 30-meter section of road ahead of the excavator.
Further, the mapping module obtains point cloud data of road conditions through data sent by the laser scanning device, then partitions the data through setting resolution, and converts the point cloud data into a raster map; removing interference points through principal component analysis, and identifying a solid surface area and the elevation where the solid surface area is located; and obtaining a normal vector of the surface of the entity by a random sampling consistency method, thereby determining the surface gradient of each region.
In another aspect, the invention provides an automatic safe driving method for an excavator, which is characterized by comprising the following steps
(1) Arranging a laser scanning device at the side of a movable arm of the excavator, so that the laser scanning device can have an observation range of at least 270 degrees on a first plane including the extension direction of the movable arm, and the scanning angle of the laser scanning device on a second plane vertical to the first plane is at least 30 degrees; setting the laser scanning device to perform cyclic scanning at a period T and sending scanning data to the control device;
(2) the method comprises the following steps that a pose detection device is arranged on the excavator, the pose detection device is arranged to monitor an included angle alpha between a normal vector f of a plane of an excavator body and the vertical direction in real time, and the included angle alpha data is sent to a control device;
(3) the excavator is provided with a control device, the control device is arranged to receive data sent by the laser scanning device and the pose detection device, and the excavator further comprises a drawing establishing module and a prejudging and controlling module
(4) The mapping module performs three-dimensional mapping on the received road condition morphology data scanned by the laser scanning device to obtain a three-dimensional map of a road section in front of the advancing direction of the excavator;
(5) the prejudging and controlling module predicts the posture of the excavator on the next road section according to the three-dimensional map, judges the driving safety risk and further controls the driving state of the excavator:
when the three-dimensional map displays that the included angle beta between the integral normal vector F of the road surface of the next road section and the vertical direction is smaller than the safe inclination angle theta of the excavator, the excavator runs at a normal speed V;
when the three-dimensional map data of the next road section is empty, the driving speed of the excavator is reduced from V to V1 until the three-dimensional map data is no longer empty;
when the included angle beta is larger than the safe inclination angle theta, avoiding can be carried out by searching for an alternative route form, if no other alternative route exists, the running speed of the excavator is reduced to V2, the included angle alpha is monitored in real time by a pose detection device, and then: if the included angle alpha is increased to X% of the safe inclination angle theta, but the included angle beta of the front road section is in a descending trend compared with the current road section, further reducing the running speed of the excavator from V2 to V3; if the included angle alpha is within the time Z and the margin of the safe inclination angle theta is kept above Y%, the running speed of the excavator is recovered to V2; if the included angle alpha is increased to X% of the safe inclination angle theta and the included angle beta of the front road section is in an ascending trend compared with the current road section, the excavator is reversed until the advancing route is selected again at the safe inclination angle theta where the included angle beta is smaller than the safe inclination angle theta; and finally, stopping the vehicle under the condition of judging that the vehicle cannot run without the optional route, sending an obstacle type safety alarm to a control center, and waiting for clearing the road surface abnormity. Wherein V > V1> V2> V3; 95% and X% and 90%; y% is not less than 5%; z is ≧ 5 min; when the included angle beta of the front road section is smaller than the safe inclination angle theta, the running speed of the excavator is recovered to V1;
furthermore, the laser scanning device is two multi-line laser scanners which are respectively arranged at two sides of the movable arm.
Furthermore, the laser scanning device is two multi-line laser scanners which are respectively arranged at two sides of the movable arm.
Further, the three-dimensional map includes at least a 30-meter section of road ahead of the excavator.
Further, the mapping module obtains point cloud data of road conditions through data sent by the laser scanning device, then partitions the data through setting resolution, and converts the point cloud data into a raster map; removing interference points through principal component analysis, and identifying a solid surface area and the elevation where the solid surface area is located; and obtaining a normal vector of the surface of the entity by a random sampling consistency method, thereby determining the surface gradient of each region.
The invention carries out real-time scanning modeling on the surrounding environment of the excavator through the laser scanner of the environment detection equipment adopting a special installation method, provides the shape information of the front road surface in real time in the traveling process after being processed by a computer, predicts the traveling safety through evaluation, and judges the comprehensive position and the road surface information in the traveling process through a design method, thereby improving the safety passing performance of the excavator during automatic traveling, especially under the complex high-risk road condition.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic front view of a preferred embodiment of the present invention;
FIG. 2 is a side view of a preferred embodiment of the present invention;
FIG. 3 is a flow chart of a first decision process of the security system in a preferred embodiment of the invention;
FIG. 4 is a flow chart of a second decision process for a security system in accordance with a preferred embodiment of the present invention;
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
During the autonomous driving process of the excavator, the existing environment modeling generally adopts a laser radar or a vision-based detection method to install equipment on the top of a cab or the front part of a vehicle body. However, due to the design, the observation range is greatly limited due to the structure of the machine body, the observation of the surface relief characteristics in front of the running is insufficient, and meanwhile, the observation of the air obstacles is not in place, so that accidents are easily caused.
Firstly, a laser scanning device is arranged on the excavator. Fig. 1 and 2 show an embodiment according to the present invention, in which two multi-line laser scanners 1 are respectively provided on both sides of a boom of an excavator 2 to form a pitching observation range of at least 270 degrees in a vertical plane of a forward direction right in front of the excavation, and the same observation range can be similarly achieved by rotating an upper body when the excavator backs up, thereby detecting a forward/backward road. Each laser scanner has a lateral scan angle of at least 30 degrees and periodically provides scan results. By observing the excavation face at the same time, the direct excavation face shape can be registered, and the surface condition of the surrounding working face can be detected.
The excavator is also provided with a pose detection device. In this embodiment, Inertial Measurement Unit (IMU) sensors are employed. The pose detection device can monitor the included angle alpha between the normal vector f of the plane of the excavator body and the vertical direction in real time and send the included angle alpha data to the control device
The excavator is also provided with an airborne controller. The controller comprises a drawing establishing module and a prejudging and deciding module. The mapping module carries out three-dimensional mapping on the received road condition morphology data scanned by the laser scanning device to obtain a three-dimensional map of a road section in front of the advancing direction of the excavator. In this embodiment, the laser scanner cyclically scans obstacles in a radial range with a period T, and sends periodic data to the onboard controller through the bus to build a map, which mainly includes a distance, a detection angle, a sampling time, and the like of a road surface ahead. And after the map is sent to the target machine, a road surface grid map can be established according to the position and the posture of the self physical installation position relative to the far point of the machine body. The building distance can reach the range of 30m in front. In this embodiment, the mapping module obtains point cloud data of the road condition information through data returned by the laser scanner, and further converts the point cloud data into the grid map in a partitioning manner by setting a proper resolution. And further removing interference points caused by impurities in the map through principal component analysis, and identifying the surface area and the elevation of the entity. And further obtaining a normal vector of the surface by a random sampling consistency method, and determining the surface gradient of each region.
In the automatic driving process for special operation, the intelligent excavator may have multiple total risk factors on the road, including large up-down gradient, large lateral gradient and single-side fluctuation obstacle, such as single-side protruding earth-rock pile obstacle or single-side sunken pothole obstacle. The device is free from manual intervention, and mainly aims to solve the problem of safely arriving at a set place to operate under the condition of preventing overturning and collision. And the prejudging and decision-making module predicts the posture of the excavator on the next road section according to the three-dimensional map, judges the driving safety risk and further controls the driving state of the excavator.
Fig. 3 and 4 show a flow chart according to a preferred embodiment of the present invention.
Firstly, the road condition information in the driving direction of the excavator is divided into two types of measurable information and non-measurable information. The laser return time is prolonged, and if the laser radar return time exceeds a threshold value, the road condition information cannot be measured. When the return time of the laser radar changes suddenly, the situation information cannot be measured, and a hole or a downhill exists. For the situation that the measurement cannot be carried out, the regions which cannot be measured are mainly of a pot hole type and a steep downgrade type, and due to the fact that the slope of the side faces of the pot hole type and the steep downgrade type is large, the surface of the pot hole type and the steep downgrade type cannot be effectively measured before the pot hole type and the steep downgrade type reach the. The inability to measure is mainly manifested in that the continuity of the measured road information is suddenly destroyed, because the laser propagation time due to a pit or a downhill is sharply lengthened. Under the condition, the pre-judging and decision-making module reduces the opening degree of the walking electromagnetic valve of the excavator, simultaneously starts closed-loop speed control, reduces the running speed of the excavator from the normal speed V to V1 and reaches the edge until a road map with the angle of 90 degrees below the foot can be built, and unmeasurable road information is changed into measurable road information.
And when the three-dimensional map displays that the included angle beta between the integral normal vector F of the road surface of the next road section and the vertical direction is smaller than the safe inclination angle theta of the excavator, the excavator controls the driving at the normal speed V through the closed-loop speed of the hydraulic actuating mechanism. When abnormal road conditions include integral uphill, integral downhill, unilateral uphill, unilateral downhill and integral slope and the like, and the included angle beta is larger than the safety inclination angle theta, the method can be avoided by searching for alternative route forms, the running speed of the excavator is reduced to V2 under the condition that no other alternative route exists after path planning, and the included angle alpha is monitored in real time by a pose detection device. If the included angle alpha is increased to X% of the safe inclination angle theta, but the included angle beta of the front road section is in a descending trend compared with the current road section, the front road section is judged to be a cautious passing road section, and the running speed of the excavator is further reduced from V2 to V3; if the included angle alpha is within the time Z and the margin of the safe inclination angle theta is kept above Y%, the running speed of the excavator is recovered to V2; if the included angle alpha is increased to X% of the safe inclination angle theta and the included angle beta of the front road section is in an ascending trend compared with the current road section, the overturning risk is displayed. At the moment, the walking electromagnetic valve is closed, the rotary electromagnetic valve is opened, and the excavator is driven backwards until the included angle beta is smaller than the safe inclination angle theta to perform path planning again through the environment model and select a forward route; and finally, stopping the vehicle under the condition of judging that the vehicle cannot run without the optional route, sending an obstacle type safety alarm to a control center, and waiting for clearing the road surface abnormity. Wherein V > V1> V2> V3; 95% and X% and 90%; y% is not less than 5%; z is not less than 5min, and can be adjusted manually according to specific conditions; and when the included angle beta of the front road section is smaller than the safe inclination angle theta, the running speed of the excavator is recovered to V1 for normal running.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. An excavator traveling safety system is characterized by comprising
The device comprises a laser scanning device, a control device and a control device, wherein the laser scanning device is arranged on the side of a movable arm of the excavator, so that the laser scanning device can have an observation range of at least 270 degrees on a first plane including the extension direction of the movable arm, and the scanning angle of the laser scanning device on a second plane perpendicular to the first plane is at least 30 degrees; the laser scanning device is set to perform cyclic scanning at a period T and send scanning data to the control device; the pose detection device is arranged to monitor an included angle alpha between a normal vector f of a plane of the excavator body and the vertical direction in real time and send included angle alpha data to the control device; the control device is arranged to receive data sent by the laser scanning device and the pose detection device, and further comprises a mapping module, wherein the mapping module is used for performing three-dimensional mapping on the received data of the road condition morphology scanned by the laser scanning device to obtain a three-dimensional map of a road section in front of the advancing direction of the excavator; the pre-judging and controlling module predicts the posture of the excavator on the next road section according to the three-dimensional map, judges the driving safety risk and further controls the driving state of the excavator: when the three-dimensional map displays that the included angle beta between the whole normal vector F of the road surface of the next road section and the vertical direction is smaller than the safe inclination angle theta of the excavator, the excavator runs at a normal speed V; when the three-dimensional map data of the next road section is empty, the driving speed of the excavator is reduced from V to V1 until the three-dimensional map data is no longer empty; when the included angle beta is larger than the safe inclination angle theta, avoiding by searching for an alternative route form, if no other alternative route exists, reducing the running speed of the excavator to V2, and monitoring the included angle alpha in real time by the pose detection device, and then: if the included angle alpha is increased to X% of the safe inclination angle theta, but the included angle beta of the front road section is in a descending trend compared with the current road section, further reducing the running speed of the excavator from V2 to V3; if the included angle alpha is within the time Z and the margin of the safe inclination angle theta is kept above Y%, the running speed of the excavator is recovered to V2; if the included angle alpha is increased to X% of the safe inclination angle theta and the included angle beta of the front road section is in an ascending trend compared with the current road section, the excavator is reversed until the included angle beta is smaller than the safe inclination angle theta, and a forward route is selected again; finally, stopping the vehicle under the condition of judging that the vehicle cannot run without the optional route, sending an obstacle type safety alarm to a control center, and waiting for clearing the road surface abnormity; wherein V > V1> V2> V3; 95% and X% and 90%; y% is not less than 5%; z is ≧ 5 min; and when the included angle beta of the road section in front is smaller than the safe inclination angle theta, the running speed of the excavator is recovered to V1.
2. The excavator travel safety system of claim 1, wherein the laser scanning devices are two multi-line laser scanners and are respectively provided at both sides of the boom.
3. The excavator travel safety system of claim 1, wherein the pose detection apparatus is an Inertial Measurement Unit (IMU) sensor.
4. The excavator travel safety system of claim 1, wherein the three dimensional map includes at least a 30 meter section of road ahead of the excavator.
5. The excavator traveling safety system of claim 1, wherein the mapping module obtains point cloud data of road conditions from the data sent by the laser scanning device, and then performs partitioning by setting a resolution to convert the point cloud data into a grid map; removing interference points through principal component analysis, and identifying a solid surface area and the elevation where the solid surface area is located; and obtaining a normal vector of the surface of the entity by a random sampling consistency method, thereby determining the surface gradient of each region.
6. An automatic safe driving method of an excavator is characterized by comprising the following steps:
arranging a laser scanning device at the side of a movable arm of the excavator, so that the laser scanning device can have an observation range of at least 270 degrees on a first plane including the extension direction of the movable arm, and the scanning angle of the laser scanning device on a second plane perpendicular to the first plane is at least 30 degrees; setting the laser scanning device to perform cyclic scanning at a period T and sending scanning data to a control device;
the method comprises the following steps that a pose detection device is arranged on the excavator, the pose detection device is arranged to monitor an included angle alpha between a normal vector f of a plane of an excavator body and the vertical direction in real time, and the included angle alpha data is sent to a control device;
(3) the control device is arranged on the excavator, is used for receiving data sent by the laser scanning device and the pose detection device, and further comprises a drawing establishing module and a prejudging and controlling module
(4) The mapping module carries out three-dimensional mapping on the received road condition morphology data scanned by the laser scanning device to obtain a three-dimensional map of a road section in front of the advancing direction of the excavator;
(5) the prejudging and controlling module predicts the posture of the excavator on the next road section according to the three-dimensional map, judges the driving safety risk and further controls the driving state of the excavator:
when the three-dimensional map displays that the included angle beta between the whole normal vector F of the road surface of the next road section and the vertical direction is smaller than the safe inclination angle theta of the excavator, the excavator runs at a normal speed V;
when the three-dimensional map data of the next road section is empty, the driving speed of the excavator is reduced from V to V1 until the three-dimensional map data is no longer empty;
when the included angle beta is larger than the safe inclination angle theta, avoiding by searching for an alternative route form, if no other alternative route exists, reducing the running speed of the excavator to V2, and monitoring the included angle alpha in real time by the pose detection device, and then: if the included angle alpha is increased to X% of the safe inclination angle theta, but the included angle beta of the front road section is in a descending trend compared with the current road section, further reducing the running speed of the excavator from V2 to V3; if the included angle alpha is within the time Z and the margin of the safe inclination angle theta is kept above Y%, the running speed of the excavator is recovered to V2; if the included angle alpha is increased to X% of the safe inclination angle theta and the included angle beta of the front road section is in an ascending trend compared with the current road section, the excavator is reversed until the included angle beta is smaller than the safe inclination angle theta to select a forward route again; finally, stopping the vehicle under the condition of judging that the vehicle cannot run without the optional route, sending an obstacle type safety alarm to a control center, and waiting for clearing the road surface abnormity; wherein V > V1> V2> V3; 95% and X% and 90%; y is not less than 5%; z is ≧ 5 min;
and when the included angle beta of the road section in front is smaller than the safe inclination angle theta, the running speed of the excavator is recovered to V1.
7. The automatic safety running method of an excavator according to claim 6, wherein the laser scanning devices are two multi-line laser scanners and are respectively provided at both sides of the boom.
8. The automatic safety running method of an excavator according to claim 6, wherein the pose detection means is an Inertial Measurement Unit (IMU) sensor.
9. The excavator automatic safety running method as claimed in claim 6, wherein the three-dimensional map includes at least a section of 30m in front of the excavator.
10. The automatic safe driving method of the excavator as claimed in claim 6, wherein the mapping module obtains point cloud data of road conditions from the data sent by the laser scanning device, and then partitions the point cloud data by setting a resolution to convert the point cloud data into a grid map; removing interference points through principal component analysis, and identifying a solid surface area and the elevation where the solid surface area is located; and obtaining a normal vector of the surface of the entity by a random sampling consistency method, thereby determining the surface gradient of each region.
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| CN113240682A (en) * | 2021-05-31 | 2021-08-10 | 华中科技大学 | Overturn-preventing construction driving map generation method and system for crawler crane |
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