Accessory position manipulating and automatic collision prevention monitoring method orientating to dual-arm engineering machinery

Abstract

The invention discloses an accessory position manipulating and automatic collision prevention monitoring method orientating to dual-arm engineering machinery, wherein the accessory position manipulating method is a direct-feeling-type manipulating method orientating to multi-joint engineering machinery; the position movement of an accessory is directly controlled by adopting a man-machine interface device; the motion direction of the man-machine interface device and the position moving direction of the accessory keep consistency intuitively, the thinking burden of the operating personnel can be reduced effectively, and the operation efficiency is improved; the matched automatic collision prevention monitoring method is a safeguard measure for preventing the automatic collision of the dual arms in the running process; the method solves in real time, the shortest distance between the dual arms and the happening position are displayed through a display device in a driving room, and when the shortest distance is greater than the preset safety distance value between the dual arms, the original running state is kept; and when the shortest distance is less than the safety distance value of the dual arms, alarming and working arm braking modes are adopted, and the dual arms are ensured to run safely.

Description

technical field [0001] The invention relates to the field of double-arm construction machinery, specifically, a method for controlling the position of attachments and a self-collision avoidance monitoring method for double-arm construction machinery, which is applicable to all construction machinery with a main and auxiliary two-section working arm. Background technique [0002] At present, the scope of application of construction machinery is becoming more and more diverse, including disaster relief, garbage recycling, hazardous material disposal and other fields. These applications are usually faced with a variety of complex and delicate job requirements. Typical operations include: shearing, crushing and separation of building collapses, grabbing, cleaning and transferring of gravel and soil, etc. The method commonly used at this stage is to complete different types of work tasks by replacing different operating attachments at the end of the single working arm of the con...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the shortcomings of the existing joint control mode on the operation of double-arm multi-joint construction machinery, the present invention provides a position control method for attachments and a self-collision avoidance monitoring method

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