CN-117263104-B - Safety early warning method and control device for engineering machinery and engineering machinery

CN117263104BCN 117263104 BCN117263104 BCN 117263104BCN-117263104-B

Abstract

The application relates to the field of engineering machinery and discloses a safety pre-warning method, a control device and engineering machinery for the engineering machinery, wherein the safety pre-warning method comprises the steps of obtaining an actual value of first working condition data and an actual value of second working condition data of the engineering machinery; the first working condition data comprise a first amplitude variation angle of a main arm, an elongation of the main arm, a second amplitude variation angle of a fly arm and a load of an operation platform, the second working condition data comprise linear distances of two axial ends of the main arm, a theoretical value of the second working condition data corresponding to an actual value of the first working condition data is determined based on a corresponding relation between the prestored first working condition data and the second working condition data, the actual value of the second working condition data is compared with the theoretical value of the second working condition data to obtain a comparison result, and early warning information is sent out according to the comparison result. The safety early warning method, the control device and the engineering machinery for the engineering machinery are simple, easy to realize and capable of effectively protecting the engineering machinery.

Inventors

LONG YEGUO
ZHENG BO
TIAN CHAO
XU YUNHAI
SUN CHANGLIN

Assignees

湖南中联重科智能高空作业机械有限公司

Dates

Publication Date: 20260508
Application Date: 20230922

Claims (10)

1. The safety early warning method for the engineering machinery comprises a main arm (1), a fly arm (2) and a working platform (3), and is characterized by comprising the following steps: Acquiring an actual value of first working condition data and an actual value of second working condition data of the engineering machinery, wherein the first working condition data comprises a first luffing angle theta 1 of the main arm (1), an elongation of the main arm (1), a second luffing angle theta 2 of the fly arm (2) and a load of the working platform (3), and the second working condition data comprises straight line distances of two axial ends of the main arm (1); determining a theoretical value of the second working condition data corresponding to the actual value of the first working condition data based on a pre-stored corresponding relation between the first working condition data and the second working condition data; Comparing the actual value of the second working condition data with the theoretical value of the second working condition data to obtain a comparison result; And sending out early warning information according to the comparison result.
2. The safety precaution method for a construction machine according to claim 1, characterized in that the correspondence between the prestored first working condition data and the second working condition data is determined according to the following manner: Acquiring a plurality of theoretical combination arrays of first working condition data and second working condition data obtained through a plurality of theoretical experiments; Performing first interpolation processing on the plurality of theoretical combination arrays by an interpolation method to obtain a plurality of first interpolation theoretical combination arrays; performing second interpolation processing on the plurality of theoretical combination arrays and the plurality of first interpolation theoretical combination arrays by an interpolation method to obtain a plurality of second interpolation theoretical combination arrays; And obtaining the corresponding relation according to the plurality of theoretical combination arrays, the plurality of first interpolation theoretical combination arrays and the plurality of second interpolation theoretical combination arrays.
3. The safety precaution method for a construction machine according to claim 2, wherein the theoretical combination array includes the first operating condition data and the second operating condition data obtained by performing an impact operating condition theoretical test on the construction machine.
4. The safety precaution method for a construction machine according to claim 1, wherein comparing the actual value of the second working condition data with the theoretical value of the second working condition data to obtain a comparison result comprises: and under the condition that the actual value of the second working condition data is inconsistent with the theoretical value of the second working condition data, determining that the engineering machinery has collision risk.
5. The safety precaution method for a construction machine according to claim 4, characterized in that the axial both ends straight-line distance comprises a first axial both ends straight-line distance on the bottom wall of the main arm (1) and a second axial both ends straight-line distance on the side wall of the main arm (1); and determining that the engineering machine has collision risk under the condition that the actual value of the second working condition data is inconsistent with the theoretical value of the second working condition data, including: Determining that the bottom wall of the main arm (1) has collision risk under the condition that the actual value of the linear distance between the two ends of the first axial direction is inconsistent with the theoretical value of the linear distance between the two ends of the first axial direction; Or determining that the side wall of the main arm (1) is at collision risk under the condition that the actual value of the linear distance at the two ends of the second shaft is inconsistent with the theoretical value of the linear distance at the two ends of the second shaft.
6. The safety precaution method for a construction machine according to claim 1, characterized in that the axial both-end straight-line distance comprises a first axial both-end straight-line distance on the bottom wall of the main arm (1) and a second axial both-end straight-line distance on the side wall of the main arm (1); and comparing the actual value of the second working condition data with the theoretical value of the second working condition data to obtain a comparison result, including: And determining that the engineering machinery has a lifting risk under the condition that the actual value of the linear distance between the two ends in the first axial direction is inconsistent with the theoretical value of the linear distance between the two ends in the first axial direction and the actual value of the linear distance between the two ends in the second axial direction is inconsistent with the theoretical value of the linear distance between the two ends in the second axial direction.
7. The safety precaution method for a construction machine of claim 1, further comprising: and after the early warning information is sent out according to the comparison result, controlling the engineering machinery to stop moving.
8. The safety precaution method for a construction machine of claim 7, further comprising: After the engineering machinery stops moving, determining that the actual value of the second working condition data changes; acquiring the movement direction of the engineering machinery before stopping movement; And controlling the engineering machinery to move in the direction opposite to the moving direction.
9. A control device for a construction machine, characterized in that the control device comprises: A first angle detector for detecting a first luffing angle θ 1 of the main arm (1); A second angle detector for detecting a second luffing angle θ 2 of the fly jib (2); A weight detector for detecting a load of the work platform (3); An axial length detector for detecting the linear distance between the two axial ends of the main arm (1); the early warning module is used for sending out the early warning information and A processor configured to perform the safety precaution method for a work machine of any one of claims 1-8.
10. A construction machine, characterized in that it comprises a control device for a construction machine according to claim 9.

Description

Safety early warning method and control device for engineering machinery and engineering machinery Technical Field The application belongs to the technical field of engineering machinery, and particularly relates to a safety early warning method for engineering machinery, a control device and the engineering machinery. Background Engineering machinery (such as an overhead working truck) needing overhead working is generally provided with a boom device and a working platform, when in operation, operators stand on the working platform on the counterweight side facing the boom device, dead zones exist on the top, the rear, the left side, the right side and the lower side of the working platform, when the working platform or the operators lift upwards, the risk of being touched by foreign objects exists, and when the working platform or the operators lift downwards, the boom device (including a steel wire rope) has the risk of being knocked by a cross beam of a factory building. In order to solve the problems, the existing engineering machinery is provided with a weighing sensor for detecting the weight of a load at an operation platform or a stay wire sensor for collision or hanging recognition during hanging, and is also provided with an anti-collision device for preventing the operation platform and an operator from being collided, an anti-extrusion system is arranged for avoiding the injury of the operator caused by extrusion after collision, but the damage to the engineering machinery cannot be avoided in the mode, or a radar sensor, a camera and other detection components are used for roughly recognizing obstacle objects and then giving an alarm, but the mode is easy to generate false alarm, and in addition, as the radar sensor, the camera and other detection components cannot be arranged on a telescopic part of the engineering machinery (the telescopic part is nested in the engineering machinery when in a contracted state, the radar sensor, the camera and other detection components cannot be exposed on the telescopic part, and the detection function cannot be executed), the recognition range of the radar sensor, the camera and other detection components cannot be limited, and the unrecognizable blind area exists, so that the engineering machinery is difficult to effectively protect. Disclosure of Invention The application aims to provide a safety early warning method and a control device for engineering machinery and the engineering machinery, wherein the method is simple and easy to realize, and can effectively protect the engineering machinery. In order to achieve the above object, a first aspect of the present application provides a safety precaution method for a construction machine, the construction machine including a main arm, a fly arm and a work platform, the safety precaution method including: Acquiring actual values of first working condition data and second working condition data of the engineering machinery, wherein the first working condition data comprise a first amplitude variation angle of a main arm, an elongation of the main arm, a second amplitude variation angle of a fly arm and a load of an operation platform, and the second working condition data comprise linear distances of two axial ends of the main arm; Determining a theoretical value of second working condition data corresponding to an actual value of the first working condition data based on a corresponding relation between the prestored first working condition data and the second working condition data; comparing the actual value of the second working condition data with the theoretical value of the second working condition data to obtain a comparison result; And sending out early warning information according to the comparison result. In an embodiment of the present application, the correspondence between the pre-stored first working condition data and the second working condition data is determined according to the following manner: Acquiring a plurality of theoretical combination arrays of first working condition data and second working condition data obtained through a plurality of theoretical experiments; performing first interpolation processing on the plurality of theoretical combination arrays by an interpolation method to obtain a plurality of first interpolation theoretical combination arrays; performing second interpolation processing on the plurality of theoretical combination arrays and the plurality of first interpolation theoretical combination arrays by an interpolation method to obtain a plurality of second interpolation theoretical combination arrays; and obtaining a corresponding relation according to the plurality of theoretical combination arrays, the plurality of first interpolation theoretical combination arrays and the plurality of second interpolation theoretical combination arrays. In the embodiment of the application, the theoretical combination array comprises first working condition data and secon