CN105259888A - Teaching control system and method for excavator, and excavator - Google Patents
Teaching control system and method for excavator, and excavator Download PDFInfo
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- CN105259888A CN105259888A CN201510718810.5A CN201510718810A CN105259888A CN 105259888 A CN105259888 A CN 105259888A CN 201510718810 A CN201510718810 A CN 201510718810A CN 105259888 A CN105259888 A CN 105259888A
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- excavator
- attitude
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- teaching
- control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention discloses a teaching control system and a teaching control method for an excavator, and an excavator. A control device 4 is connected with a spatial attitude measuring device 2 and a storage device 3, and is used for receiving an acquisition attitude signal and operating information, calculating to form a teaching command according to the acquisition attitude signal and the operating information by taking an initial state of an excavator 5 as an initial position, and performing teaching control for the excavator 5 under the action of the teaching command. According to the technical scheme of the present invention, a control signal is generated according to the acquisition attitude signal and a standard attitude signal, in this way, the excavator does not need to start operating from a fixed initial position and does not need to go back to the fixed initial position during an action operation process, the excavator can start operating from any position, thereby raising operating efficiency and improving intelligent degree.
Description
Technical field
The invention belongs to mechanical field, relate to a kind of control system, particularly relate to a kind of excavator and teaching control system, method.
Background technology
Along with the progress of science and technology, intellectuality becomes the development trend of all trades and professions, and excavator field is also like this.The development of microelectric technique and electromechanical integration and application, electronic control system lay the foundation thereupon, and intelligentized unmanned excavator, has progressively appearred in writing and field adjustable by director demon.Unmanned excavator by data recordin module, the operating process of repetitive operation is preserved.Tutorial function excavator, as the one of unmanned excavator, is by data recordin module, the operating process of repetitive operation is preserved.In work progress, only need the information of preservation to be repeatedly transferred to excavator, control excavator and carry out Repetitive work in operatorless situation, operating personnel are freed from repetition, uninteresting operation process, saves human cost.
But the performance accuracy of existing unattended excavator is lower.And operate, all need to get back to reference position, just can carry out next step continuation operation, intelligence degree is lower. at every turn
Summary of the invention
In view of this, the invention provides a kind of excavator teaching control system and method.
For achieving the above object, concrete technical scheme is as follows:
On the one hand, the invention provides a kind of excavator teaching control system, comprising:
Spatial attitude measurement mechanism, for obtaining the attitude information of the initial state of described excavator, and forms the output of collection attitude signal;
Memory storage, for preserving the operation information of demonstration movement, and exports described operation information;
Control device, connect described spatial attitude measurement mechanism and memory storage respectively, in order to receive described collection attitude signal and operation information, according to described collection attitude signal and operation information, and using the initial state of described excavator as reference position, calculate and form teaching instruction, and under the effect of described teaching instruction, teaching control is carried out to described excavator.
Preferred: also to comprise instruction inputting device, for receiving the steering order of user's input; Described control device comprises:
First processing unit, connect described instruction inputting device, described memory storage respectively, in order to read the operation information mating described steering order in described memory storage according to described steering order, and process forms the standard attitude signal and handle opening amount signal that transmit according to preset transmission mode;
Second processing unit, connect described first processing unit and described spatial attitude measurement mechanism respectively, in order to accept the described collection attitude signal of described standard attitude signal, described spatial attitude measurement mechanism feedback respectively, and form attitude control signal output according to described standard attitude signal and described collection attitude signal;
Computing unit, connect described second processing unit and described first processing unit respectively, for the described handle opening amount signal that the described attitude control signal and described first processing unit that receive described second processing unit output export, and calculate the described teaching instruction output of formation according to described attitude control signal and described handle opening amount signal.
Preferred: described excavator comprises solenoid valve group, connect described computing unit, in order to receive described teaching instruction, and under the effect of described teaching instruction, exporting the steering logic signal extremely described excavator corresponded, described excavator performs corresponding action under the effect of described logical signal.
Preferably, described spatial attitude measurement mechanism comprises a plurality of obliquity sensor, described a plurality of obliquity sensor is arranged at the predetermined function module place of described excavator respectively, is used to obtain in described excavator operational process the angle of inclination of described predetermined function module and exports.
Preferably, described spatial attitude measurement mechanism comprises rotary encoder, is arranged on the revolving support of described excavator, in order to obtain the angle of revolution of described excavator, and forms angle of revolution signal output.
Preferably, described spatial attitude measurement mechanism comprises the first obliquity sensor, is arranged on the scraper bowl of described excavator, for measuring the angle of inclination of described scraper bowl; And/or second obliquity sensor, be arranged on the dipper of described excavator, for measuring the angle of inclination of described dipper; And/or the 3rd obliquity sensor, be arranged on the swing arm of described excavator, for measuring the angle of inclination of described swing arm.
Preferably, described preset transmission mode is CAN transmission.
Preferably, also comprise communication module, be connected between described instruction inputting device and described control device, described communication module is used for described steering order to transfer to described control device.
Preferably, described operation information comprises standard shank aperture and excavator attitude angle.
On the other hand, providing a kind of excavator teaching control method, for carrying out teaching and control to excavator, comprising the steps:
Step 1, memory storage store the operation information of the demonstration movement of user's input;
Step 2, control spatial attitude measurement mechanism obtain the attitude information of the initial state of described excavator, and formation collection attitude signal feeds back to described control device;
Step 3, control device are according to described operation information and gather attitude signal, and using the initial state of described excavator as reference position, form teaching instruction and export;
Step 4, control the action that execution matches with it under the effect of described teaching instruction of described excavator.
On the other hand, provide a kind of excavator, comprise above-mentioned excavator teaching control system.
Relative to prior art, the advantage of technical scheme of the present invention has:
(1) control signal is formed by the collection attitude signal of spatial attitude measuring system Real-time Feedback, is equivalent to the operating state detecting excavator in real time, adjusts control signal in real time, improve the accuracy of manipulation;
(2) because control signal is formed according to collection attitude signal and standard attitude signal, attitude control signal is made to be the difference of existing collection attitude signal and standard attitude signal, formation control signal on the basis of difference, make excavator in motion action process, do not need operation from fixing reference position, do not need first to be back to fixing reference position yet, can operate from optional position, raise the efficiency, improve intelligence degree;
(3) only need to install on existing excavator to control attitude measurement system, do not change the mounting structure of the original excavator of excavator, easy for installation, and with low cost.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of embodiments of the invention;
Fig. 2 is the schematic diagram of the flow process of embodiments of the invention.
Wherein, 1 be instruction inputting device, 2 be spatial attitude measurement mechanism, 3 be memory storage, 4 be control device, 5 be computing unit, 51 be solenoid valve group for excavator, 41 to be the first processing unit, 42 be the second processing unit, 43.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
Below with reference to accompanying drawing, concrete explaination is done to embodiments of the invention.
As shown in Figure 1, a kind of excavator teaching control system, wherein, comprises,
Instruction inputting device 1, for receiving the steering order of user's input.
Spatial attitude measurement mechanism 2, for obtaining the attitude information of excavator 5, and forms the output of collection attitude signal.
Memory storage 3, is connected with control device 4, for preserving the operation information of demonstration movement, and output function information, operation information comprises standard shank aperture and excavator 5 attitude angle.
Control device 4, link order input media 1, spatial attitude measurement mechanism 2, memory storage 3 respectively, in order to receive steering order, to gather attitude signal, operation information, according to steering order, gather attitude signal, operation information calculating formation teaching instruction, and under the effect of teaching instruction, teaching control is carried out to excavator 5.
Principle of work of the present invention is: the operation information of demonstration movement preserved in advance by memory storage 3, the steering order that user is inputted by instruction inputting device 1.The attitude information of spatial attitude measurement mechanism 2 Real-time Obtaining excavator 5, and form the output of collection attitude signal, control device 4, in order to receive steering order, the operation information matched with steering order is read in read storage device 3 under the effect of steering order, according to collection attitude signal, operation information, according to steering order, gather attitude signal, operation information calculating formation teaching instruction, and under the effect of teaching instruction, teaching control is carried out to excavator 5.
Excavator, as embodiments of the present invention, is not defined as certain specific excavator, can be hydraulic excavator, electric excavator, hybrid excavator, combustion gas excavator etc.
In an embodiment of the present invention, teaching instruction is formed by the collection attitude signal of spatial attitude measuring system Real-time Feedback, is equivalent to the operating state detecting excavator 5 in real time, adjusts control signal in real time, improve the accuracy of manipulation.
Simultaneously, because teaching instruction is formed according to collection attitude signal and standard attitude signal, attitude control signal is made to be the difference of existing collection attitude signal and standard attitude signal, formation control signal on the basis of difference, make excavator 5 in motion action process, do not need operation from fixing reference position, do not need first to be back to fixing reference position yet, can operate from optional position.Because save the reference position of demonstration movement, make excavator in teaching process, do not need demonstration from fixing reference position, also can from optional position auto-returned teaching reference position.Therefore, raise the efficiency, improve intelligence degree.And in use, only need to install on existing excavator 5 to control attitude measurement system, do not change the mounting structure of the original excavator 5 of excavator 5, easy for installation, and with low cost.
As further preferred embodiment, control device 4 comprises the first processing unit 41, link order input media 1, memory storage 3 respectively, in order to the operation information according to match control instruction in steering order read storage device 3, and process forms the standard attitude signal and one handle opening amount signal that transmit according to preset transmission mode.
Second processing unit 42, connect the first processing unit 41 and spatial attitude measurement mechanism 2 respectively, in order to the collection attitude signal accepting standard attitude signal respectively, spatial attitude measurement mechanism 2 feeds back, and form attitude control signal output according to standard attitude signal and collection attitude signal.
Computing unit 43, connect the second processing unit 42 and the first processing unit 41 respectively, for the handle opening amount signal that the attitude control signal and the first processing unit 41 that receive the second processing unit 42 output export, and calculate formation teaching instruction output according to attitude control signal and handle opening amount signal.
Instruction inputting device 1 exports steering order to the first processing unit 41, first processing unit 41 is in order to form standard attitude signal and handle opening amount signal according to steering order, its Plays attitude signal exports the second processing unit 42 to, handle opening amount signal exports computing unit 43 to, spatial attitude measuring system, obtain the attitude information of excavator 5, and formation collection attitude signal exports the second processing unit 42 to, second processing unit 42 also exports computing unit 43 to according to standard attitude signal and collection attitude signal formation attitude control signal, attitude control signal and the superposition of handle opening amount signal are formed teaching instruction and export by computing unit 43.
As further preferred embodiment, excavator 5 comprises solenoid valve group 51, connects computing unit 43, in order to receive teaching instruction, and under the effect of teaching instruction, exporting the steering logic signal that corresponds to excavator 5, excavator 5 performs corresponding action under the effect of logical signal.
As further preferred version, spatial attitude measurement mechanism 2 comprises a plurality of obliquity sensor, a plurality of obliquity sensor is arranged at the predetermined function module place of excavator 5 respectively, is used to obtain the angle of inclination of predetermined function module in excavator 5 operational process and export.
As further preferred version, spatial attitude measurement mechanism 2 comprises the first obliquity sensor, is arranged on the scraper bowl of excavator 5, for measuring the angle of inclination of scraper bowl; And/or second obliquity sensor, be arranged on the dipper of excavator 5, for measuring the angle of inclination of dipper; And/or the 3rd obliquity sensor, be arranged on the swing arm of excavator 5, for measuring the angle of inclination of swing arm.Obliquity sensor also can be optical angle gauge device or proximity switch.
In addition, preferable space attitude measuring 2 is made up of 4 obliquity sensors and a rotary encoder, and 4 obliquity sensors are arranged on scraper bowl, dipper, swing arm and vehicle body respectively, is used for measuring scraper bowl, dipper, the angle of swing arm and body sway angle.Rotary encoder is connected with revolving support, is used for measuring the angle of revolution of excavator.
As further preferred version, preset transmission mode is CAN transmission.
As further preferred version, also comprise communication module, be connected between instruction inputting device 1 and control device 4, communication module is used for steering order to transfer to control device 4.The mode of operation of communication module can be closely operate at pilothouse, also can be that middle distance uses a teleswitch operation, can also be use wireless communication technology to realize operation at a distance, can excavate as long as possess, backfills function.
As shown in Figure 2, a kind of excavator teaching control method, for carrying out teaching and control to excavator, wherein, comprises the steps,
Step 1, steering order input media receive the learn command of user's input, carry out demonstration movement study;
Step 2, steering order input media receive the automatic steering order of user's input;
Step 3, control spatial attitude measurement mechanism obtain the attitude information of excavator, and formation collection attitude signal feeds back to control device;
Step 4, control device, under the effect of steering order, read with steering order to the control command of mating in memory storage, and process forms standard attitude signal and one handle opening amount signal,
Step 5, control device form teaching instruction according to collection attitude signal, standard attitude signal and handle opening amount signal and export;
Step 6, the action that execution matches with it under the effect of teaching instruction of control excavator.
Above-mentioned control method, excavator completes in the process of corresponding actions, and when not receiving next steering order, the action that meeting cycling is current, until next steering order arrives.And then in unpiloted situation, automatically complete action that is single, that repeat.
Also comprise a kind of excavator in embodiments of the invention, be provided with excavator teaching control system described above.Because above-mentioned excavator teaching control system has above-mentioned technique effect, therefore, the excavator being provided with this excavator teaching control system also should possess corresponding technique effect, and its specific implementation process is similar to the above embodiments, does not hereby repeat.
Be described in detail specific embodiments of the invention above, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and substituting also all among category of the present invention.Therefore, equalization conversion done without departing from the spirit and scope of the invention and amendment, all should contain within the scope of the invention.
Claims (10)
1. an excavator teaching control system, is characterized in that, comprising:
Spatial attitude measurement mechanism (2), for obtaining the attitude information of the initial state of described excavator (5), and forms the output of collection attitude signal;
Memory storage (3), for preserving the operation information of demonstration movement, and exports described operation information;
Control device (4), connect described spatial attitude measurement mechanism (2) and memory storage (3) respectively, in order to receive described collection attitude signal and operation information, according to described collection attitude signal and operation information, and using the initial state of described excavator as reference position, calculate and form teaching instruction, and under the effect of described teaching instruction, teaching control is carried out to described excavator (5).
2. excavator teaching control system according to claim 1, is characterized in that: also comprise instruction inputting device (1), for receiving the steering order of user's input; Described control device (4) comprising:
First processing unit (41), connect described instruction inputting device (1), described memory storage (3) respectively, in order to read the operation information of the described steering order of coupling in described memory storage (3) according to described steering order, and process forms the standard attitude signal and handle opening amount signal that transmit according to preset transmission mode;
Second processing unit (42), connect described first processing unit (41) and described spatial attitude measurement mechanism (2) respectively, in order to the described collection attitude signal accepting described standard attitude signal respectively, described spatial attitude measurement mechanism (2) feeds back, and form attitude control signal output according to described standard attitude signal and described collection attitude signal;
Computing unit (43), connect described second processing unit (42) and described first processing unit (41) respectively, for receiving described attitude control signal that described second processing unit (42) exports and the described handle opening amount signal that described first processing unit (41) exports, and calculate according to described attitude control signal and described handle opening amount signal and form described teaching instruction and export.
3. excavator teaching control system according to claim 2, it is characterized in that: described excavator (5) comprises solenoid valve group (51), connect described computing unit (43), in order to receive described teaching instruction, and under the effect of described teaching instruction, exporting the steering logic signal extremely described excavator (5) corresponded, described excavator (5) performs corresponding action under the effect of described logical signal.
4. excavator teaching control system according to claim 1, it is characterized in that, described spatial attitude measurement mechanism (2) comprises a plurality of obliquity sensor, described a plurality of obliquity sensor is arranged at the predetermined function module place of described excavator (5) respectively, is used to obtain in described excavator (5) operational process the angle of inclination of described predetermined function module and exports.
5. excavator teaching control system according to claim 1, it is characterized in that, described spatial attitude measurement mechanism (2) comprises rotary encoder, be arranged on the revolving support of described excavator (5), in order to obtain the angle of revolution of described excavator (5), and form angle of revolution signal output.
6. excavator teaching control system according to claim 1, it is characterized in that, described spatial attitude measurement mechanism (2) comprises the first obliquity sensor, is arranged on the scraper bowl of described excavator (5), for measuring the angle of inclination of described scraper bowl; And/or second obliquity sensor, be arranged on the dipper of described excavator (5), for measuring the angle of inclination of described dipper; And/or the 3rd obliquity sensor, be arranged on the swing arm of described excavator (5), for measuring the angle of inclination of described swing arm.
7. excavator teaching control system according to claim 2, it is characterized in that, also comprise communication module, be connected between described instruction inputting device (1) and described control device (4), described communication module is used for described steering order to transfer to described control device (4).
8. excavator teaching control system according to claim 1, is characterized in that, described operation information comprises standard shank aperture and excavator attitude angle.
9. an excavator, is characterized in that, comprises the excavator teaching control system as described in any one of claim 1 to 8.
10. an excavator teaching control method, for carrying out teaching and control to excavator, is characterized in that, comprising the steps:
Step 1, memory storage store the operation information of the demonstration movement of user's input;
Step 2, control spatial attitude measurement mechanism obtain the attitude information of the initial state of described excavator, and formation collection attitude signal feeds back to described control device;
Step 3, control device are according to described operation information and gather attitude signal, and using the initial state of described excavator as reference position, form teaching instruction and export;
Step 4, control the action that execution matches with it under the effect of described teaching instruction of described excavator.
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| CN107498557A (en) * | 2017-09-19 | 2017-12-22 | 坤同勃志智能科技（上海）有限公司 | The control method and system of a kind of robot |
| CN108487361A (en) * | 2018-03-14 | 2018-09-04 | 柳州柳工挖掘机有限公司 | One key of excavator returns to station control system and control method |
| CN109235530A (en) * | 2018-11-08 | 2019-01-18 | 北京拓疆者智能科技有限公司 | Hydraulic system and excavator for excavator |
| CN109235531A (en) * | 2018-11-08 | 2019-01-18 | 北京拓疆者智能科技有限公司 | Rear dress unmanned systems and excavator for excavator |
| CN109440854A (en) * | 2018-10-18 | 2019-03-08 | 南京天辰礼达电子科技有限公司 | A method of calculating bucket point and large arm shaft core position relationship |
| CN110409541A (en) * | 2019-06-19 | 2019-11-05 | 三一重机有限公司 | A kind of excavator control method and system |
| CN110952613A (en) * | 2019-12-12 | 2020-04-03 | 长安大学 | System and method for virtual visual display of excavator posture |
| CN112211249A (en) * | 2020-11-04 | 2021-01-12 | 广西柳工机械股份有限公司 | Excavating control system and method of excavator and excavator |
| CN113684885A (en) * | 2021-08-19 | 2021-11-23 | 上海三一重机股份有限公司 | Working machine control method and device and working machine |
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| CN112211249A (en) * | 2020-11-04 | 2021-01-12 | 广西柳工机械股份有限公司 | Excavating control system and method of excavator and excavator |
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| CN105259888B (en) | 2018-04-03 |
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