The invention relates to the field of engineering machinery, and discloses a cooperative control method, a cooperative control system and an engineering machinery group. The cooperative control method comprises the following steps: predicting a relative motion trend between a first joint of first equipment and a second joint of second equipment; determining a control strategy for the first joint and the second joint according to the respective speed of the first joint and the second joint and the joint relative distance between the first joint and the second joint under the condition that the relative movement trend indicates that the two joints have an approaching trend; and according to a construction method avoiding principle, controlling the first joint to execute a first sub-control strategy and controlling the second joint to execute a second sub-control strategy so as to prevent the first equipment from colliding with the second equipment. According to the invention, equipment can be automatically controlled to work cooperatively, and engineering machinery with large motion inertia can be ensured to detect collision risks in time and take safe avoidance measures.

    本发明涉及工程机械领域,公开一种协同控制方法、协同控制系统及工程机械群。所述协同控制方法包括:对第一设备的第一关节与第二设备的第二关节之间的相对运动趋势进行预测;在相对运动趋势表明两个关节存在接近趋势的情况下,根据所述第一关节与所述第二关节各自的速度及所述第一关节与所述第二关节之间的关节相对距离,确定用于所述第一关节与所述第二关节的控制策略;以及根据施工工法避让原则,控制所述第一关节执行第一子控制策略以及所述第二关节执行第二子控制策略,以防止所述第一设备与所述第二设备发生碰撞。本发明可自动控制设备协同作业,能够保证运动惯性较大的工程机械及时检测到碰撞风险,采取安全避让措施。


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    Title :

    Cooperative control method, cooperative control system and engineering machinery group


    Additional title:

    协同控制方法、协同控制系统及工程机械群


    Contributors:
    YU CHUANG (author) / YU XIAOYING (author) / FU LING (author) / LIN NENGFA (author) / CHEN YAOQI (author) / ZENG WEIGUO (author)

    Publication date :

    2024-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES




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