CN108608980A - Engineering truck and its control method - Google Patents
Engineering truck and its control method Download PDFInfo
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- CN108608980A CN108608980A CN201810569733.5A CN201810569733A CN108608980A CN 108608980 A CN108608980 A CN 108608980A CN 201810569733 A CN201810569733 A CN 201810569733A CN 108608980 A CN108608980 A CN 108608980A
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- engineering truck
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 230000004888 barrier function Effects 0.000 claims abstract description 37
- 230000000979 retarding effect Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
- B60K2031/0016—Identification of obstacles; Selection of a target vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The present invention relates to a kind of engineering truck and its control methods.Wherein, engineering truck includes：Car body, position detecting device and safety control, position detecting device is arranged in the side of car body, position for the barrier for detecting car body side, deceleration and brake of the location information control car body for the barrier that safety control is used to be detected according to position detecting device in walking or turning course, so that car body does not contact barrier.Engineering truck of the present invention and its control method realize barrier detection in time and automatic retarding or the brake of engineering truck side in revolution or walking, avoid collision barrier ahead of time.
Description
Technical field
The present invention relates to technical field of engineering machinery more particularly to a kind of engineering truck and its control methods.
Background technology
Excavator is important construction machinery, irreplaceable role is played in national basis Facilities Construction, but work as
Preceding excavation drive end unit safety problem is relatively common.Since excavator cab is located at the car body left side and swing arm blocks sight, although
There is rearview mirror, but there are still large stretch of sight blind area, especially wheel excavators to be applied to town environment for get on the bus right side and rear side, returns
Turn in walking process, people is wounded, the safety accident that object is broken happens occasionally by hull back, causes unnecessary economic damage
Life danger of becoming estranged has very positive meaning so evading risk of collision using drive end unit safety control system is excavated.
In order to solve to excavate drive end unit safety problem, following technical scheme exists in the prior art：
(1) multiple range units, generally ultrasonic sensor, detection detection people and barrier are installed in rear vehicle,
Realize warning or control brake.Since ultrasonic sensor ranging distance is closer, close to sensor side, there are blind areas, and space is examined
It is limited to survey region, even if when excavating the drive end unit multiple range radars of arrangement, zone of protection can not be completely covered walking and return
Turn blind area.Particularly, when retreat walk when, the get off barrier of passability of some influences is not easy to detect, and can cause collision of getting off
Object；When revolution, the range unit of tail portion installation is not easy to detect people and the object of vehicle body side in time, as the people of vehicle body side
Become easily to cause to collide when standing by squatting, in addition, the object of suspention or inclination lifting, such as the grab bucket of another digging machine in side
It is possible that causing to collide just at sensor blind area；
(2) multiple cameras are installed in pilot's line of vision blind zone, driver, which relies on, when retreating traveling or revolution takes the photograph
As head evades collision, further it is aided with above-mentioned range unit.In turning course, machine hand is advised by camera observation
The barrier of blind area is kept away, the sense of responsibility of machine hand is relied on and safety measure is not necessarily timely, even if being aided with above-mentioned range unit
It is also the same that there are risk of collision.
Invention content
To overcome the above technological deficiency, the technical problem to be solved by the present invention is to provide a kind of engineering truck and its controlling parties
Method can realize anticollision of the engineering truck in walking or revolution.
In order to solve the above technical problems, the present invention provides a kind of engineering trucks comprising：Car body, position detecting device
And safety control, position detecting device are arranged in the side of car body, the position of the barrier for detecting car body side,
The location information control car body for the barrier that safety control is used to be detected according to position detecting device is being walked or is being turned round
Deceleration in the process and brake, so that car body does not contact barrier.
Further, position detecting device is laser radar.
Further, position detecting device is each sides that are multiple and being separately positioned on car body.
Further, car body includes getting on the bus car body with car body of getting off, and multiple position detecting devices are separately positioned on vehicle of getting on the bus
The side of the side of body and car body of getting off.
Further, multiple position detecting devices include being separately positioned on get off car body front side, rear side, left and right side
First position detection device, second position detection device, the third place detection device and the 4th position detecting device, and respectively
It is arranged on the left of car body of getting on the bus, the 5th position detecting device, the 6th position detecting device and the inspection of the 7th position on right side and rear side
Survey device.
Further, the position detecting device horizontal sweep detection in side body of getting off is set, is arranged in car body of getting on the bus
The position detecting device of side Scanning Detction obliquely.
Further, further include the indoor sound-light reminding device of driving being arranged in car body, for carrying out acousto-optic to machine hand
It reminds；And/or the acousto-optic warning device being arranged outside driver's cabin, for carrying out acousto-optic warning to the external world.
Further, engineering truck is excavator or crane.
The present invention has also correspondingly provided a kind of control method of above-mentioned engineering truck comprising：
Deceleration steps：In the walking of car body or turning course, preset when position detecting device detects that barrier is located at
When decelerating area, safety control controls car body and slows down；With
Brake step：In the walking of car body or turning course, preset when position detecting device detects that barrier is located at
When brake area, safety control controls car body brake.
Further, it presets decelerating area and is more than default brake area.
Further, deceleration steps further include carrying out acousto-optic prompting to machine hand and carrying out acousto-optic warning, brake step to the external world
Rapid further includes carrying out acousto-optic prompting to machine hand and carrying out acousto-optic warning to the external world.
As a result, based on the above-mentioned technical proposal, engineering truck of the present invention is by the side installation position detection device in car body,
The location information for the barrier that safety control is detected according to position detecting device controls car body in walking or turning course
In deceleration and brake, realize engineering truck side in revolution or walking barrier in time detection and automatic retarding
Or brake, barrier is avoided collision ahead of time.Control method of the present invention correspondingly has above-mentioned beneficial technique effect.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are only used for explaining the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the overlooking structure diagram of car body of getting off in engineering truck embodiment of the present invention；
Fig. 2 is the overlooking structure diagram of car body of getting on the bus in engineering truck embodiment of the present invention；
Fig. 3 is the right side structural representation of engineering truck embodiment；
Fig. 4 (a)~Fig. 4 (c) is the schematic diagram for the barrier that engineering truck of the present invention detects right side in varied situations；
Fig. 5 (a)~Fig. 5 (c) is the schematic diagram for the barrier that engineering truck of the present invention detects rear side in varied situations.
Each reference numeral respectively represents：
1, first position detection device；2, the 4th position detecting device；3, it gets off car body；4 the third place detection devices；
5, second position detection device；6, it gets on the bus car body；7, the 6th position detecting device；8, the 7th position detecting device；9, the 5th
Set detection device.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The present invention specific implementation mode be for the ease of to the present invention design, it is solved the technical issues of, composition skill
The technical characteristic of art scheme and the technique effect brought have further description.It should be noted that for these embodiment party
The explanation of formula does not constitute limitation of the invention.In addition, the technology involved in the embodiment of present invention described below is special
Sign can be combined with each other as long as they do not conflict with each other.
In the schematical embodiment of engineering truck one of the present invention, engineering truck includes：Car body, position detecting device with
And safety control, wherein position detecting device is arranged in the side of car body, the position of the barrier for detecting car body side
It sets；The location information control car body for the barrier that safety control is used to be detected according to position detecting device is being walked or is being returned
Deceleration during turning and brake, so that car body does not contact barrier.
In the schematical embodiment, pass through the side installation position detection device in car body, safety control root
Deceleration and brake of the location information control car body of the barrier detected according to position detecting device in walking or turning course
Action realizes barrier detection in time and automatic retarding or the brake of engineering truck side in revolution or walking, keeps away ahead of time
Exempt from collision obstacle, has positive meaning to lifting construction safety, reduction labor intensity, protection staff property safety.Wherein,
Safety control includes but not limited to PLC, industrial personal computer.Engineering truck in particular excavator or crane have preferable suitable
The property used.For how to reach deceleration and brake, in some embodiments, the valve group that can be walked by control and revolution valve group
To realize.Such as revolution valve group realizes the hydraulic control of left revolution, right-hand rotation, braking；Valve group of walking, which is realized, advances, retreats, making
Dynamic hydraulic control.
In some improved embodiments, position detecting device is further laser radar, and laser radar is in particular
Single line laser radar can be sat the object scanned (i.e. barrier) position with pole with 360 ° in the plane whole circle Scanning Detctions
Target form is sent to safety control, and detection is accurate, has higher exploitativeness.
In order to accurately detect the barrier in each orientation of car body, in some improved embodiments, position detecting device is
Each side that is multiple and being separately positioned on car body.Specifically, as shown in FIG. 1 to 3, car body includes getting on the bus car body 6 and to get off
Car body 3, car body 6 of getting on the bus, which is pivotally arranged, is getting off on car body 3, and multiple position detecting devices are separately positioned on car body 6 of getting on the bus
Side and the side of car body 3 of getting off.Further, as shown in FIG. 1 to 3, multiple position detecting devices include being respectively set
In 3 front side of car body, rear side, the first position detection device 1 of left and right side, second position detection device 5, the third place of getting off
Detection device 4 and the 4th position detecting device 2, and it is separately positioned on the 5th position on get on the bus 6 left side of car body, right side and rear side
Detection device 9, the 6th position detecting device 7 and the 7th position detecting device 8.
In order to realize the detection to hanging or tilting lifting barrier, revolution and the collision of tail portion blind area when driving are avoided,
In some improved embodiments, the position detecting device horizontal sweep detection in 3 side of car body of getting off is set, i.e., such as Fig. 1 and
Shown in Fig. 3, first position detection device 1, second position detection device 5, the third place detection device 4 and the 4th position detection
2 equal horizontal sweep of device detects, and the position detecting device Scanning Detction obliquely in 6 side of car body of getting on the bus is arranged, i.e., such as Fig. 2
Shown in Fig. 3, the 5th position detecting device 9, the 6th position detecting device 7 and the 7th position detecting device 8 scan obliquely
Detection.As shown in figure 3, the angle of the detection faces of Scanning Detction and horizontal plane obliquelyWherein, h is laser radar
Centre-to-centre spacing is got on the bus the distance of vehicle bottom, and a is that the distance of detection it is expected in vehicle bottom outer of getting on the bus, can be according to actual conditions freedom
The size of a is set.
It is further improved as to above-described embodiment, engineering truck further includes the indoor acousto-optic of driving being arranged in car body
Alarm set, for carrying out acousto-optic prompting to machine hand；And/or the acousto-optic warning device being arranged outside driver's cabin, for the external world
Carry out acousto-optic warning.The setting of sound-light reminding device and acousto-optic warning device can remind machine hand or external staff to send out in time in time
Existing barrier, avoids causing danger.Wherein, sound-light reminding device includes but not limited to indicator light, buzzer.Acousto-optic warning device
Including but not limited to loudspeaker, rotation alarm lamp.
In safety control, each position detecting device can be arranged angle and radius to realize different default inspections
Region is surveyed, the object location information being only set as in predetermined detection area is just used in Subsequent secure control, is not set as default
Location information in detection zone is not used in Subsequent secure control.As shown in Figure 1, by the third place detection device 4 and the 4th
The detection faces for setting detection device 2 are set as semicircle, and radius is the R (circles pair that tail portion most outer is streaked when wherein R is excavator revolution
The radius answered), as default revolution deceleration area A, the car body 3 that will get off turns round the circle of 360 ° of formation as rotary braking area B；The
The detection faces of one position detecting device 1 and second position detection device 5 are set as fan-shaped, and fan angle is tested according to specific vehicle
Depending on, detection faces do not generate interference with engineering truck itself, and the detection faces that fan-shaped radius is R are as walking deceleration area C, radius
The detection faces of r are as walking braking area D, the 5th position detecting device 9, the 6th position detecting device 7 and the 7th position detection dress
Set 8 obliquely scanning plane as walking rotary braking area E.
Revolution deceleration area A can detect the object less than car body of getting on the bus, such as the people to squat, then sound-light reminding device harmony
Light alarming device is reminded and is warned, and carries out revolution reduction of speed speed limit, Is=k × I.Wherein k is coefficient, according to experiment feelings
Condition adjusts and k<1；I is that machine hand handle inputs corresponding valve control electric current；Is in order to control device final output valve control electric current.If
Rotary braking area B detects object, then safety control control output braking instruction control revolution valve group braking, acousto-optic are reminded
Device and acousto-optic warning device are reminded and are warned.In this way, when detecting the people to squat, reduction of speed is turned round, even if squat
People stands up suddenly, can also be detected by rotary braking area, implements braking immediately and avoids dangerous generation；On the other hand, due to the 5th
Position detecting device 9, the 6th position detecting device 7 and the 7th position detecting device 8 be arranged in car body of getting on the bus the left and right sides and
Rear side, can be braked in advance to the object that the side in revolution occurs prevents dangerous generation.
If walking deceleration area C detects that object, sound-light reminding device and acousto-optic warning device are reminded and warned, and
Safety control runs It=I- Δ I with controlling cycle, so that the walking valve group of output is controlled electric current It and reduces, until It=0
Brake stop, wherein Δ I for electric current deceleration step-length need to according to specific car body attribute testing come；If walking braking area D or row
It walks rotary braking area and detects object, then safety control control output braking instruction control walking valve group braking, acousto-optic carry
Awake device and acousto-optic warning device are reminded and are warned.
Illustrate engineering of the present invention by taking embodiment shown in Fig. 4 (a)~Fig. 4 (c) and Fig. 5 (a)~Fig. 5 (c) as an example below
It is as follows that vehicle detects barrier process in varied situations：
As shown in Fig. 4 (a), turns round in deceleration area A and can detect the object less than car body 6 of getting on the bus, walking rotary braking area E
And be not detected, such as the people that squats, sound-light reminding device and acousto-optic warning device are reminded and are warned, and carry out revolution drop
Limiting speed of driving speed, Is=k × I, k takes 0.3 in example.Even if the people to squat stands up suddenly, can be detected by walking rotary braking area E,
Implementing braking immediately avoids side danger when revolution from occurring.
As shown in Fig. 4 (b), revolution deceleration area A and walking rotary braking area E are detected simultaneously by object, then security control fills
Output braking instruction control revolution valve group braking is set, sound-light reminding device and acousto-optic warning device are reminded and warned.
As shown in Fig. 4 (c), only walking, rotary braking area E detects suspention or tilts the object of lifting, and example is
The scraper bowl of another excavator, then safety control output braking instruction control are turned round valve group and are braked in advance, and acousto-optic reminds dress
It sets and is reminded and warned with acousto-optic warning device, prevent dangerous generation.
As shown in Fig. 5 (a), walking deceleration area C detects object, and the object is not detected in the rotary braking area E that walks, this
When sound-light reminding device and acousto-optic warning device reminded and warned, and walking should slow down, safety control is to control
Periodic duty It=I- Δ I processed make the walking valve group of output control electric current It and reduce, up to Δ in It=0 Brake stops, example
I is 5mA.
As shown in Fig. 5 (b), walking braking area D detects object, then the control walking of safety control output braking instruction
Valve group is braked, and sound-light reminding device and acousto-optic warning device are reminded and warned.
As shown in Fig. 5 (c), walking rotary braking area E detects suspention or tilts the object of lifting, and example is another digging
The scraper bowl of pick machine, then safety control output braking instruction control walking valve group braking, sound-light reminding device and acousto-optic warning
Device is reminded and is warned.
The present invention has also correspondingly provided a kind of control method of above-mentioned engineering truck comprising：
Deceleration steps：In the walking of car body or turning course, preset when position detecting device detects that barrier is located at
When decelerating area, safety control controls car body and slows down；With
Brake step：In the walking of car body or turning course, preset when position detecting device detects that barrier is located at
When brake area, safety control controls car body brake.
The method of the present invention realizes the timely detection of barrier and the automatic retarding of engineering truck side in revolution or walking
Or brake, barrier is avoided collision ahead of time, has product to lifting construction safety, reduction labor intensity, protection staff property safety
The meaning of pole.Wherein, as shown in Figure 1, default decelerating area is more than default brake area.
Further, deceleration steps further include carrying out acousto-optic prompting to machine hand and carrying out acousto-optic warning, brake step to the external world
Rapid further includes carrying out acousto-optic prompting to machine hand and carrying out acousto-optic warning to the external world, helps to prevent danger in time, with compared with
High exploitativeness.
Above in association with embodiment embodiments of the present invention are described in detail, but the present invention is not limited to be retouched
The embodiment stated.For a person skilled in the art, in the case where not departing from the principle and substance of the present invention spirit
A variety of variations, modification, equivalence replacement and modification are carried out to these embodiments to still fall within protection scope of the present invention.
Claims (11)
1. a kind of engineering truck, which is characterized in that including：
Car body；
Position detecting device is arranged in the side of the car body, the position of the barrier for detecting the car body side；With
The location information of safety control, the barrier for being detected according to the position detecting device controls the car body
Deceleration in walking or turning course and brake, so that the car body does not contact barrier.
2. engineering truck according to claim 1, which is characterized in that the position detecting device is laser radar.
3. engineering truck according to claim 1, which is characterized in that the position detecting device is multiple and is respectively set
In each side of the car body.
4. engineering truck according to claim 3, which is characterized in that the car body includes get on the bus car body (6) and vehicle of getting off
Body (3), multiple position detecting devices are separately positioned on the side of the side and car body (3) of getting off of the car body (6) of getting on the bus.
5. engineering truck according to claim 4, which is characterized in that multiple position detecting devices include being respectively set
In car body of getting off (3) front side, first position detection device (1), the second position detection device of rear side, left and right side
(5), the third place detection device (4) and the 4th position detecting device (2), and it is separately positioned on car body (6) left side of getting on the bus
The 5th position detecting device (9), the 6th position detecting device (7) and the 7th position detecting device (8) of side, right side and rear side.
6. engineering truck according to claim 4, which is characterized in that be arranged in the position of car body of getting off (3) side
Detection device horizontal sweep detects, and the position detecting device Scanning Detction obliquely in car body of getting on the bus (6) side is arranged.
7. engineering truck according to claim 1, which is characterized in that further include that the driving that is arranged in the car body is indoor
Sound-light reminding device, for carrying out acousto-optic prompting to machine hand；And/or the acousto-optic warning device outside the driver's cabin is set, it uses
In to external world's progress acousto-optic warning.
8. engineering truck according to claim 1, which is characterized in that the engineering truck is excavator or crane.
9. a kind of control method of claim 1~8 any one of them engineering truck, which is characterized in that including：
Deceleration steps：In the walking of the car body or turning course, preset when position detecting device detects that barrier is located at
When decelerating area, the safety control controls the car body and slows down；With
Brake step：In the walking of the car body or turning course, preset when position detecting device detects that barrier is located at
When brake area, the safety control controls the car body brake.
10. control method according to claim 9, which is characterized in that the default decelerating area is more than described pre- be equipped with
Dynamic region.
11. control method according to claim 9, which is characterized in that the deceleration steps further include to machine hand carry out sound
Light is reminded and carries out acousto-optic warning to the external world, and the brake step further includes carrying out acousto-optic prompting to machine hand and to extraneous carry out sound
Light warns.
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|---|---|---|---|
| CN201810569733.5A CN108608980A (en) | 2018-06-05 | 2018-06-05 | Engineering truck and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810569733.5A CN108608980A (en) | 2018-06-05 | 2018-06-05 | Engineering truck and its control method |
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| CN108608980A true CN108608980A (en) | 2018-10-02 |
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| CN201810569733.5A Pending CN108608980A (en) | 2018-06-05 | 2018-06-05 | Engineering truck and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412985A (en) * | 2019-08-09 | 2019-11-05 | 珠海格力智能装备有限公司 | Self-adaptive obstacle avoidance method, robot and computer readable storage medium |
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Effective date of registration: 20220729 Address after: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Applicant after: Jiangsu Xugong Construction Machinery Research Institute Co.,Ltd. Address before: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Applicant before: XCMG CONSTRUCTION MACHINERY Co.,Ltd. |
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