阅读说明：本技术 挖掘机电子围墙的建立方法 (Method for establishing electronic enclosure wall of excavator ) 是由 张斌 宋之克 耿家文 刘立祥 蔺相伟 王敦坤 邢泽成 魏红敏 尹雪峰 于 2021-09-27 设计创作，主要内容包括：本发明涉及一种挖掘机电子围墙的建立方法,其中挖掘机包括车架、可转动地安装在车架上的回转平台、可俯仰摆动地安装在回转平台上的工作臂和可转动地安装在工作臂上的铲斗,工作臂包括与回转平台铰接的第一工作臂和与第一工作臂铰接的第二工作臂,第二工作臂的远离第一工作臂的一端与铲斗铰接,建立方法包括：建立三维坐标系,三维坐标系包括X轴、Y轴、Z轴和原点O；以及获得挖掘机的工作臂和铲斗的工作区域的同一高度在三维坐标系中的边界线,包括：获得工作区域的在高度沿挖掘机的周向上的多个边界点在三维坐标系中的坐标；将相邻的两个边界点相连,以形成依次相连的多条直线,将多条直线形成的边界线作为电子围墙。(The invention relates to a method for establishing an electronic enclosure wall of an excavator, wherein the excavator comprises a frame, a rotary platform rotatably mounted on the frame, a working arm mounted on the rotary platform in a pitching and swinging manner and a bucket rotatably mounted on the working arm, the working arm comprises a first working arm hinged with the rotary platform and a second working arm hinged with the first working arm, and one end of the second working arm far away from the first working arm is hinged with the bucket, and the method for establishing the electronic enclosure wall of the excavator comprises the following steps: establishing a three-dimensional coordinate system, wherein the three-dimensional coordinate system comprises an X axis, a Y axis, a Z axis and an origin O; and obtaining a boundary line of the same height of the working area of the working arm and the bucket of the excavator in the three-dimensional coordinate system, including: obtaining coordinates of a plurality of boundary points of a working area in the height along the circumferential direction of the excavator in a three-dimensional coordinate system; and connecting two adjacent boundary points to form a plurality of sequentially connected straight lines, and taking the boundary line formed by the straight lines as an electronic fence.)

1. A method for building an electronic fence of an excavator, wherein the excavator comprises a frame (1), a rotary platform (2) rotatably mounted on the frame, a working arm (3) tiltably mounted on the rotary platform (2) and a bucket (4) rotatably mounted on the working arm (3), the working arm (3) comprises a first working arm (31) articulated with the rotary platform (2) and a second working arm (32) articulated with the first working arm (31), and one end of the second working arm (32) far away from the first working arm (31) is articulated with the bucket (4), the method is characterized by comprising:

establishing a three-dimensional coordinate system, wherein the three-dimensional coordinate system comprises an X axis, a Y axis, a Z axis and an origin O; and

obtaining a boundary line (5) of the same height of a working area of a working arm (3) and a bucket (4) of the excavator in the three-dimensional coordinate system, comprising: obtaining coordinates of a plurality of boundary points of the working area in the circumferential direction of the excavator at the height in the three-dimensional coordinate system; and connecting two adjacent boundary points to form a plurality of sequentially connected straight lines, and taking the boundary line (5) formed by the straight lines as an electron enclosing wall.

2. The method of building according to claim 1, wherein the X-axis and the Y-axis of the three-dimensional coordinate system are located in the same horizontal plane, and the Z-axis of the three-dimensional coordinate system extends in a vertical direction.

3. Method of establishing according to claim 2, characterized in that the origin O of the three-dimensional coordinate system is the hinge point of the working arm (3) and the revolving platform (2).

4. The method of establishing as claimed in claim 2, wherein one of the X-axis and the Y-axis extends in a width direction of the excavator and the other extends in a length direction of the excavator.

5. The method of establishing according to claim 1, further comprising:

calculating a function y = f of a straight line connecting two adjacent boundary points according to the coordinates of the two adjacent boundary points_n(x) Wherein n is a natural number and represents the number of a straight line;

and monitoring the coordinates (x, y) of monitoring points on the working arm (3) and/or the bucket (4), and judging whether the coordinates (x, y) of the monitoring points are positioned in the boundary line (5).

6. The establishing method according to claim 5, wherein said determining whether the coordinates (x, y) of said monitoring point are located within said boundary line (5) comprises:

the coordinate value X of the X axis and the coordinate value Y of the Y axis of the coordinate (X, Y) of the monitoring point are brought into a functional formula Y-f_n(x) And judging whether the obtained result is positive or negative, and if the result is a preset result, judging that the monitoring point is positioned in the boundary line (5).

7. The method of claim 6, further comprising setting the predetermined result, the setting the predetermined result comprising:

placing the monitoring point at a test point (X, Y) in the boundary line (5), and bringing the coordinate value X of the X axis and the coordinate value Y of the Y axis of the test point into a functional formula Y-f_n(x) If the obtained result is a negative number, the preset result is negative, and if the obtained result is a positive number, the preset result is positive.

8. The method of building according to claim 1, wherein obtaining coordinates of the boundary point in the three-dimensional coordinate system comprises:

measuring or calculating the distance of the boundary point from the excavator and the azimuth angle relative to the excavator; and

and calculating the coordinates of the boundary point in the three-dimensional coordinate system according to the distance and the azimuth angle.

9. The method of building according to claim 1, wherein obtaining coordinates of the boundary point in the three-dimensional coordinate system comprises:

and moving the monitoring point on the working arm (3) and/or the bucket (4) to a boundary point of the working area, reading the coordinate of the monitoring point, and taking the coordinate as the coordinate of the boundary point.

10. Method of establishing according to claim 1, characterized in that monitoring points on the working arm (3) and/or bucket (4) that are limited within the boundary line (5) comprise:

a first monitoring point (A1) located at the cutting edge of the end of the bucket (4) remote from the second working arm (32); and/or

A second monitoring point (A2) located at an end of the bottom of the bucket (4) remote from the second work arm (32); and/or

A third monitoring point (A3) located at an end of the bottom of the bucket (4) near the second work arm (32); and/or

A fourth monitoring point (B2) located at an end of the top of the bucket (4) near the second work arm (32); and/or

And a fifth monitoring point (C1) is positioned at one end of the first working arm (31) close to the second working arm (32).

11. Method of establishing according to claim 1, characterized in that boundary lines (5) of a plurality of heights of the working area of the working arm (3) and the bucket (4) of the excavator in the three-dimensional coordinate system are obtained and a plurality of said boundary lines (5) are taken as electrical fence.

Technical Field

The invention relates to the technical field of automatic control of engineering machinery, in particular to a method for establishing an electronic enclosure wall of an excavator.

Background

The excavator comprises a frame, a rotary platform arranged on the frame, a first arm arranged on the rotary platform in a pitching and swinging mode, a second arm hinged with the first arm and a bucket hinged with the second arm. The swing platform is configured to rotate in a horizontal plane relative to the frame, and the second arm is hinged at one end to the first arm and at the other end to the bucket. The second arm is configured to be swingable in a vertical plane with respect to the first arm, and the bucket is configured to be pitchable in a vertical plane with respect to the second arm.

The hydraulic system of the excavator includes a drive member for driving the swing platform to rotate, the drive member including one of a hydraulic cylinder and a hydraulic motor. The hydraulic system further includes a first hydraulic cylinder for driving the first arm to pitch and yaw relative to the swing platform, a second hydraulic cylinder for driving the second arm to yaw relative to the first arm, and a third hydraulic cylinder for driving the bucket to yaw relative to the second arm.

The excavator further includes a first angle sensor that detects a swing angle of the swing platform with respect to the frame, a second angle sensor that detects an angle of the first arm with respect to the swing platform, a third angle sensor that detects an angle of the second arm with respect to the first arm, and a fourth angle sensor that detects an angle of the bucket with respect to the second arm.

The controller of the excavator is in signal connection with the first to fourth angle sensors and the hydraulic system to limit the working range of the bucket of the excavator, so that an electronic enclosure is formed.

With the progress of science and technology, the intelligent development of the excavator also enters an accelerated stage, and when some special operations such as rescue, slope repair, flat ground and the like are carried out, the excavator is more or less used for unmanned construction, but in some special occasions, particularly occasions with small activity space and variable activity space along with height change, such as mine hole excavation, irregular pit cleaning operation and the like, the working range of the excavator needs to be limited so as to avoid causing a car collision accident or excavating to a place where the excavator is not required to be excavated.

In the prior art, an electronic fence only considers the horizontal distance between a bucket and an obstacle to limit the working radius of the bucket, and does not consider a complicated specific working scene, so that the activity area of the bucket is limited to be too large or too small.

Disclosure of Invention

The invention aims to provide a method for establishing an excavator electronic fence, which aims to solve the problem that the excavator electronic fence does not accord with an actual working scene in the related technology.

According to an aspect of an embodiment of the present invention, there is provided a method for building an electronic enclosure of an excavator, wherein the excavator comprises a frame, a revolving platform rotatably mounted on the frame, a working arm tiltably mounted on the revolving platform, and a bucket rotatably mounted on the working arm, the working arm comprises a first working arm hinged to the revolving platform and a second working arm hinged to the first working arm, and an end of the second working arm remote from the first working arm is hinged to the bucket, the method for building comprises: establishing a three-dimensional coordinate system, wherein the three-dimensional coordinate system comprises an X axis, a Y axis, a Z axis and an origin O; and obtaining a boundary line of the same height of the working area of the working arm and the bucket of the excavator in the three-dimensional coordinate system, comprising: obtaining coordinates of a plurality of boundary points of the working area in the circumferential direction of the excavator at the same height in a three-dimensional coordinate system; and connecting two adjacent boundary points to form a plurality of sequentially connected straight lines, and taking the boundary line formed by the straight lines as an electronic fence.

In some embodiments, the X-axis and the Y-axis of the three-dimensional coordinate system lie within the same horizontal plane, and the Z-axis of the three-dimensional coordinate system extends in a vertical direction.

In some embodiments, the origin O of the three-dimensional coordinate system is the hinge point of the working arm and the rotating platform.

In some embodiments, one of the X-axis and the Y-axis extends along a width direction of the excavator and the other extends along a length direction of the excavator.

In some embodiments, the establishing method further comprises: calculating a function y = f of a straight line connecting two adjacent boundary points according to the coordinates of the two adjacent boundary points_n(x) Wherein n is a natural number and represents the number of a straight line; and monitoring the coordinates of monitoring points on the working arm and/or the bucket, and judging whether the coordinates of the monitoring points are positioned in the boundary line.

In some embodiments, determining whether the coordinates of the monitored point lie within the boundary line comprises: the coordinate value X of the X axis and the coordinate value Y of the Y axis of the coordinate of the monitoring point are substituted into a functional formula Y-f_n(x) And judging whether the obtained result is positive or negative, and if the result is a preset result, judging that the monitoring point is positioned in the boundary line.

In some embodiments, the method of establishing further comprises setting the predetermined result, the setting the predetermined result comprising: placing the monitoring point at a test point in the boundary line, and bringing the coordinate value X of the X axis and the coordinate value Y of the Y axis of the test point into a functional formula Y-f_n(x) If the result is negative, the predetermined result is negative, and if the result is positive, the predetermined result is positive.

In some embodiments, obtaining the coordinates of the boundary point in the three-dimensional coordinate system comprises: measuring or calculating the distance between a boundary point and an excavator and an azimuth angle relative to the excavator; and calculating the coordinates of the boundary points in the three-dimensional coordinate system according to the distance and the azimuth angle.

In some embodiments, obtaining the coordinates of the boundary point in the three-dimensional coordinate system comprises:

the monitoring point on the working arm and/or bucket is moved to a boundary point of the working area and the coordinates of the monitoring point are read and taken as the coordinates of the boundary point.

In some embodiments, the monitoring points on the work arm and/or bucket that are confined within the boundary line include: the first monitoring point is positioned at the shovel point of one end of the bucket far away from the second working arm; and/or a second monitoring point located at an end of the bottom of the bucket remote from the second working arm; and/or, a third monitoring point located at an end of the bottom of the bucket proximate the second work arm; and/or, a fourth monitoring point located at an end of the top of the bucket proximate the second work arm; and/or a fifth monitoring point is positioned at one end of the first working arm close to the second working arm.

In some embodiments, boundary lines of a plurality of heights of a working area of a working arm and a bucket of the excavator in a three-dimensional coordinate system are obtained, and the plurality of boundary lines are used as an electronic fence.

By applying the technical scheme of the invention, the boundary line serving as the electronic enclosing wall is fitted through the plurality of boundary points, so that the problem that the electronic enclosing wall of the excavator does not conform to the actual working scene in the related technology is solved.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 shows a schematic structural view of an excavator according to an embodiment of the present invention.

Fig. 2 shows an electrical fence schematic of an excavator of an embodiment of the present invention.

Fig. 3 shows a schematic view of the working principle of the excavator of the embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 and 2, a method for building an electronic fence of an excavator, wherein the excavator comprises a frame 1, a rotary platform 2 rotatably mounted on the frame, a working arm 3 tiltably mounted on the rotary platform 2, and a bucket 4 rotatably mounted on the working arm 3, the working arm 3 comprises a first working arm 31 hinged to the rotary platform 2 and a second working arm 32 hinged to the first working arm 31, and one end of the second working arm 32 far away from the first working arm 31 is hinged to the bucket 4.

The establishing method comprises the following steps: establishing a three-dimensional coordinate system, wherein the three-dimensional coordinate system comprises an X axis, a Y axis, a Z axis and an origin O; and a boundary line 5 in the three-dimensional coordinate system for obtaining the same height of the working area of the working arm 3 and the bucket 4 of the excavator, comprising: obtaining coordinates of a plurality of boundary points of the working area in the circumferential direction of the excavator at the same height in a three-dimensional coordinate system; two adjacent boundary points are connected to form a plurality of lines which are connected in sequence, and a boundary line 5 formed by the plurality of lines is used as an electron enclosing wall.

In the embodiment, the boundary line 5 serving as the electronic enclosure is fitted by the plurality of boundary points, so that the problem that the electronic enclosure of the excavator does not conform to the actual working scene in the related art is solved.

The establishing method also comprises the following steps: calculating a function y = f of a straight line connecting two adjacent boundary points according to the coordinates of the two adjacent boundary points_n(x) Wherein n is a natural number and represents the number of a straight line; the coordinates (x, y) of the monitoring points on the work arm 3 and/or the bucket 4 are monitored and it is determined whether the coordinates (x, y) of the monitoring points lie within the boundary line 5.

Judging whether the coordinates x and y of the monitoring point are positioned on the boundaryIncluded within the wire 5 are: the coordinate value X of the X axis and the coordinate value Y of the Y axis of the coordinate (X, Y) of the monitoring point are substituted into a functional formula Y-f_n(x) And judging whether the obtained result is positive or negative, and if the result is a preset result, judging that the monitoring point is positioned in the boundary line 5.

The method of establishing further comprises setting a predetermined result, the setting the predetermined result comprising: the monitoring point is placed at a test point (X, Y) within the boundary line 5, and the coordinate value X of the X axis and the coordinate value Y of the Y axis of the test point are brought into the functional formula Y-f_n(x) If the result is negative, the predetermined result is negative, and if the result is positive, the predetermined result is positive.

As shown in fig. 2, the boundary line 5 of the present embodiment includes 5 straight lines, and the functional expressions of the 5 straight lines are y = f₁(x)、y=f₂(x)、y=f₃(x)、y=f₄(x) And y = f_n(x) In that respect The controller monitors the coordinates of the monitoring points on the work arm 3 and/or the bucket 4 in real time and brings the x and y values of the coordinates into the functional formula y-f, respectively_n(x) Judging whether the obtained result is positive or negative, if the result is a preset result, judging that the monitoring point is positioned in a boundary line 5, wherein n is 1 to 5, namely respectively bringing the x value and the y value of the coordinate into a functional expression y-f₁(x)、y-f₂(x)、y-f₃(x)、y-f₄(x) And y-f₅(x) And (5) judging a result.

In some embodiments, obtaining the coordinates of the boundary point in the three-dimensional coordinate system comprises: measuring or calculating the distance between a boundary point and an excavator and an azimuth angle relative to the excavator; and calculating the coordinates of the boundary points in the three-dimensional coordinate system according to the distance and the azimuth angle.

In other embodiments, obtaining the coordinates of the boundary point in the three-dimensional coordinate system comprises: the monitoring point on the work arm 3 and/or the bucket 4 is moved to a boundary point of the work area and the coordinates of the monitoring point are read as the coordinates of the boundary point.

The monitoring points on the working arm 3 and/or the bucket 4 that are limited within the boundary line 5 comprise a first monitoring point a1, a second monitoring point a2, a third monitoring point A3, a fourth monitoring point B2 and a fifth monitoring point C1.

A first monitor point a1 located at the cutting edge of the end of the bucket 4 remote from the second work arm 32; a second monitor point a2 located at an end of the bottom of the bucket 4 remote from the second work arm 32; a third monitor point a3 located at an end of the bottom of the bucket 4 near the second work arm 32; a fourth monitor point B2 located at an end of the top of the bucket 4 near the second work arm 32; and a fifth monitoring point C1 is located at an end of the first operating arm 31 adjacent to the second operating arm 32.

The X-axis and the Y-axis of the three-dimensional coordinate system are located in the same horizontal plane, and the Z-axis of the three-dimensional coordinate system extends in the vertical direction.

In some embodiments, the origin O of the three-dimensional coordinate system is the hinge point of the working arm 3 and the rotating platform 2.

In some embodiments, one of the X-axis and the Y-axis extends along a width direction of the excavator and the other extends along a length direction of the excavator. In the present embodiment, the X-axis extends along the length direction of the excavator, i.e. the travelling direction of the excavator; one of the Y-axes extends in the width direction of the excavator.

In some embodiments, boundary lines 5 of a plurality of heights of the working area of the working arm 3 and the bucket 4 of the excavator in the three-dimensional coordinate system are obtained, and the plurality of boundary lines 5 are used as an electronic fence. As shown in fig. 3, the example of digging a pond with steps is used to illustrate how to divide different activity areas according to different heights; when the Z axis value is between Z1 and Z2, the movable region is a cylindrical region with the plane of Z1 as the base and the height of Z2 minus Z1; when the Z-axis value is between Z2 and Z3, the movable region is a column region of a column region with the bottom of the plane of Z1 plus the plane of Z2 and the height of Z3 minus Z2; when the Z-axis value is greater than Z3, the movable region is a cylindrical region based on the plane designated by Z1 plus the plane designated by Z2 plus the plane designated by Z3. In this case, the boundary of the pond can be obtained according to the preset size of the pond, so that the distance and the azimuth angle between the pond boundary point and the excavator can be calculated, and the boundary line 5 can be obtained.

The present invention is not limited to the above exemplary embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.