CN113338371B - Excavator flat ground control method and system - Google Patents
Excavator flat ground control method and system Download PDFInfo
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- CN113338371B CN113338371B CN202110680844.5A CN202110680844A CN113338371B CN 113338371 B CN113338371 B CN 113338371B CN 202110680844 A CN202110680844 A CN 202110680844A CN 113338371 B CN113338371 B CN 113338371B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
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Abstract
The invention provides a flat land control method and a flat land control system for an excavator. In the whole control process, the manual participation is not needed, the full automation of the excavator for the flat ground operation can be realized, and the automation of the excavator for the flat ground operation is greatly improved.
Description
Technical Field
The invention relates to the technical field of operating machine control, in particular to a method and a system for controlling an excavator to land.
Background
The traditional excavator leveling function is mainly completed by an operator manually operating the excavator, and the leveling effect mainly depends on the technical level of the operator. With the development of electrification and intellectualization of the excavator, a part of the excavator is provided with a function of assisting the flat ground. The excavator with the auxiliary land leveling function can calculate the real-time attitude of the excavator by utilizing the attitude sensor when an operator enters the land leveling function and operates the excavator to perform land leveling operation, and the excavator is subjected to auxiliary control through an intelligent algorithm, so that the land leveling precision is improved, and the land leveling operation difficulty is reduced.
However, the existing excavator mainly has the function of assisting in leveling the ground, so that an operator still needs to operate the excavator bucket rod to reciprocate, and the automation degree is low.
Disclosure of Invention
The invention provides a flat ground control method and a flat ground control system for an excavator, which are used for overcoming the defects in the prior art.
The invention provides a flat ground control method of an excavator, which comprises the following steps:
acquiring real-time attitude information of the excavator under a body coordinate system, wherein the real-time attitude information comprises actual angles and actual angular velocities of all parts, and all the parts comprise a bucket rod;
determining the control state of the bucket rod in the process of leveling the ground based on the actual angle of the bucket rod;
and under the control state of the bucket rod, determining handle control signals corresponding to the components based on the actual angles and the actual angular speeds of the components, and controlling the excavator to carry out land leveling operation based on the handle control signals corresponding to the components.
According to the land leveling control method for the excavator, the arm control state comprises an arm initial state, an arm excavating state and an arm unloading state;
correspondingly, the determining the control state of the arm in the leveling process based on the actual angle of the arm specifically includes:
in the initial state of the arm, if the actual angle of the arm is greater than or equal to a preset angle threshold, converting the arm control state into the arm excavation state;
in the initial state of the bucket rod, if the actual angle of the bucket rod is smaller than the preset angle threshold, converting the control state of the bucket rod into the unloading state of the bucket rod;
in the bucket rod excavating state, if the actual angle of the bucket rod is smaller than or equal to the minimum angle of the bucket rod, converting the bucket rod control state into the bucket rod unloading state;
and under the unloading state of the bucket rod, if the actual angle of the bucket rod is greater than or equal to the maximum angle of the bucket rod, converting the control state of the bucket rod into the excavating state of the bucket rod.
According to the land leveling control method of the excavator, the control state of the arm comprises an initial state of the arm, and each part comprises a movable arm and a bucket; correspondingly, under the dipper control state, based on the actual angle and the actual angular velocity of each part, confirm the handle control signal that each part corresponds specifically includes:
determining a target angular velocity of the bucket based on an actual angular difference between the arm and the bucket in the initial state of the arm, calculating a target angle of the boom based on a preset land height, and determining the target angular velocity of the boom based on a difference between the target angle and the actual angle of the boom;
determining a handle control signal corresponding to the bucket based on the actual angle difference and a difference between a target angular velocity and an actual angular velocity of the bucket, and determining a handle control signal corresponding to the boom based on the target angle of the boom and a difference between the target angular velocity and the actual angular velocity of the boom.
According to the land leveling control method for the excavator, the arm control state comprises an arm excavation state, and each part further comprises a movable arm and a bucket; correspondingly, under the dipper control state, based on the actual angle and the actual angular velocity of each part, confirm the handle control signal that each part corresponds still specifically includes:
determining a target angle of the arm based on an actual angle difference between the arm and the boom and a preset arm excavation angular velocity in the arm excavation state, and determining a target angular velocity of the arm based on the preset arm excavation angular velocity and a difference between the target angle and the actual angle of the arm;
calculating a target angle and a target angular velocity of the boom based on the actual angle of the arm, the target angular velocity, and a preset land leveling height, and determining the target angular velocity of the bucket based on an actual angle difference between the arm and the bucket;
the method includes the steps of determining a handle control signal corresponding to the arm based on a target angle of the arm and a difference between a target angular velocity and an actual angular velocity, determining a handle control signal corresponding to the boom based on a target angle of the boom and a difference between a target angular velocity and an actual angular velocity, and determining a handle control signal corresponding to the bucket based on an actual angle difference and a difference between a target angular velocity and an actual angular velocity of the bucket.
According to the land leveling control method for the excavator, the control state of the arm comprises an arm unloading state, and each part comprises a movable arm and a bucket; correspondingly, under the dipper control state, based on the actual angle and the actual angular velocity of each part, confirm the handle control signal that each part corresponds still specifically includes:
in the bucket unloading state, determining a target angle of the bucket based on an actual angle difference between the bucket and the movable arm and a preset bucket unloading angular velocity, and determining a target angular velocity of the bucket based on the preset bucket unloading angular velocity and a difference between the target angle and the actual angle of the bucket;
calculating a target angle and a target angular velocity of the boom based on the actual angle of the arm, the target angular velocity, and a preset land leveling height, and determining the target angular velocity of the bucket based on an actual angle difference between the arm and the bucket;
determining a handle control signal corresponding to the arm based on the target angle of the arm and a difference between the target angular velocity and an actual angular velocity, determining a handle control signal corresponding to the boom based on the target angle of the boom and a difference between the target angular velocity and an actual angular velocity, and determining a handle control signal corresponding to the bucket based on the actual angular difference and a difference between the target angular velocity and an actual angular velocity of the bucket.
According to the land leveling control method of the excavator, provided by the invention, each part further comprises an excavator body, a movable arm and a bucket;
accordingly, the fuselage coordinate system is constructed based on:
and constructing the body coordinate system by taking a target hinge point between the movable arm and the body as a coordinate origin, taking the direction of the intersection line of the plane where the movable arm, the bucket rod and the bucket are located and the plane of the body as a horizontal axis and taking the vertical direction of the plane of the body as a vertical axis.
The invention also provides a land leveling control system of the excavator, which comprises:
the information acquisition module is used for acquiring real-time attitude information of the excavator under a body coordinate system, wherein the real-time attitude information comprises actual angles and actual angular velocities of all parts, and all the parts comprise bucket rods;
the state determining module is used for determining the control state of the bucket rod in the process of leveling the ground based on the actual angle of the bucket rod;
and the operation control module is used for determining handle control signals corresponding to the components based on the actual angles and the actual angular velocities of the components in the bucket rod control state and controlling the excavator to carry out land leveling operation based on the handle control signals corresponding to the components.
The invention also provides an excavator, which comprises the excavator flat ground control system.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the excavator flat ground control method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the excavator level ground control method as any one of the above.
According to the method and the system for controlling the flat ground of the excavator, the control state of the bucket rod in the flat ground process is automatically determined through the actual angle of the bucket rod, the handle control signals corresponding to all the parts are automatically determined through the actual angle and the actual angular speed of all the parts in the control state of all the bucket rods, and the excavator is controlled to carry out flat ground operation through the handle control signals corresponding to all the parts. In the whole control process, the manual participation is not needed, the full automation of the excavator for the flat ground operation can be realized, and the automation of the excavator for the flat ground operation is greatly improved.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a method for implementing an auxiliary sweeping operation function of an excavator provided in the prior art;
FIG. 2 is a flow chart of the method for controlling the land level of the excavator according to the present invention;
FIG. 3 is a schematic structural view of an excavator provided by the present invention;
FIG. 4 is a schematic diagram illustrating the switching of the control states of the bucket rods according to the present invention;
FIG. 5 is a schematic structural diagram of the land leveling control system of the excavator provided by the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
With the further development of the intelligent technology of the excavator, the unmanned control technology is completely open, the flat ground control is used as a large core function of the excavator, and the realization of automatic and unmanned upgrading is of great importance. At present, in the related field, the patent related to unmanned or one-button automatic land leveling of the excavator is basically in a blank state.
Fig. 1 is a schematic flow chart of a method for implementing an auxiliary sweeping operation function of an excavator in the prior art. As shown in fig. 1, when an excavator in the prior art implements a land leveling function, a working plane and a coordinate system are defined first, then a position coordinate of a tooth tip of a bucket is calculated through the defined working plane and coordinate system, an operator manually adjusts a working device (i.e., each component of the excavator) to an expected position for starting a sweeping machine, a theoretical included angle between a boom and a boom during land leveling is calculated according to a set angular velocity of the boom movement, a theoretical included angle between the boom and an excavator body during land leveling is calculated, and after the operator operates a handle of the boom to input a land leveling instruction, a corresponding working device control instruction is generated according to a deviation direction between a target included angle and an actual included angle of each component of the excavator, such as raising/lowering of the boom and retracting/raising of the boom, so as to implement a land leveling assisting function.
Because the current flat ground function of the excavator is mainly an auxiliary flat ground function, an operator still needs to operate the excavator bucket rod to reciprocate, and the degree of automation is low. In addition, when the paths of all parts of the excavator are controlled, only the deviation direction of the actual displacement and the target displacement is usually considered, and the dynamic characteristics such as the deviation size, the moving speed and the like are not considered, so that the control algorithm is not accurate enough, and the control effect is difficult to ensure. Therefore, the embodiment of the invention provides a flat ground control method of an excavator.
Fig. 2 is a schematic flow chart of a method for controlling the land level of an excavator according to an embodiment of the present invention, and as shown in fig. 2, the method includes:
the method comprises the following steps of S1, acquiring real-time attitude information of the excavator under a body coordinate system, wherein the real-time attitude information comprises actual angles and actual angular velocities of all parts, and all the parts comprise a bucket rod;
s2, determining the control state of the bucket rod in the process of leveling the ground based on the actual angle of the bucket rod;
and S3, determining handle control signals corresponding to the components based on the actual angles and the actual angular speeds of the components in the bucket rod control state, and controlling the excavator to carry out land leveling operation based on the handle control signals corresponding to the components.
Specifically, in the excavator leveling control method provided in the embodiment of the present invention, the execution main body is an excavator controller, so as to implement an automatic leveling function of the excavator.
Firstly, step S1 is executed, and real-time attitude information of the excavator under a machine body coordinate system is obtained. The real-time pose information may include actual angles and actual angular velocities of the components in the coordinate system of the fuselage. As shown in fig. 3, the components of the excavator may include a body 31, a boom 32, an arm 33, and a bucket 34, all drawn with dashed lines. The body coordinate system is that a point is selected on an excavator as a coordinate origin O, a direction which passes through the origin and is parallel to a plane of the body is selected as a horizontal axis x, a direction which passes through the coordinate origin O and is perpendicular to the plane of the body is selected as a vertical axis y, and a coordinate system xOy is constructed. Wherein, the horizontal axis x is the parallel direction of the machine body, and the vertical axis y is the vertical direction of the machine body.
In the embodiment of the invention, a target hinge point between the movable arm and the machine body can be used as the origin of coordinates O. At this time, the actual angle of the fuselage in the coordinate system of the fuselage is the angle between the plane of the fuselage and the horizontal plane, and can be represented as θ 0 . The length of the boom may be expressed as l 1 The actual angle of the movable arm under the coordinate system of the machine body is an included angle between a connecting line between the target hinge point and the first hinge point and the horizontal axis x, and can be expressed as theta 1 . The first hinge point is a hinge point between the movable arm and the arm. The length of the bucket rod can be expressed as l 2 The actual angle of the bucket rod in the coordinate system of the machine body is an included angle between a connecting line between the first hinge point and the second hinge point and the longitudinal axis y, and can be expressed as theta 2 . The second hinge point is a hinge point between the arm and the bucket. The length of the bucket may be expressed as l 3 The actual angle of the bucket in the coordinate system of the machine body is the included angle between the connecting line between the second hinge point and the tooth tip of the bucket and the longitudinal axis y, and can be expressed as theta 3 。
When the actual angle and the actual angular velocity of each component under the coordinate system of the machine body are obtained, the angle and the angular velocity of each component under the coordinate system of the ground can be obtained through measurement of an angle sensor arranged on each component. The ground coordinate system takes a projection point of a coordinate origin of the machine body coordinate system on the ground as a coordinate origin O 0 And a coordinate system constructed by taking the projection direction of the horizontal axis X on the horizontal plane as the horizontal axis X and the direction vertical to the horizontal plane as the vertical axis Y.
Then, the actual angle and the actual angular velocity of each component under the coordinate system of the machine body can be obtained through the coordinate transformation relation between the ground coordinate system and the coordinate system of the machine body.
In the embodiment of the invention, the attitude information of the excavator in the body coordinate system further comprises coordinates of a bucket tooth tip in the body coordinate system, and the bucket tooth tip is expressed by (x) 0 ，y 0 )。
Combined body coordinatesActual angle of the lower machine body and the projection point O of the target hinge point O and the ground 0 The height H of the bucket tooth tip from the horizontal plane can be calculated by the following formula, and the height H is the actual land leveling height.
h＝H+l 1 *sinθ 1 -(l 2 +l 3 )cosθ 2
Then, step S2 is executed to determine the arm control state during the leveling process according to the actual angle of the arm. The arm control states include an initial arm state, an arm excavating state and an arm unloading state, and switching conditions of the arm control states are preset during the leveling process and are related to switching among the arm control states. And judging whether switching conditions are met or not according to the actual angle of the bucket rod and the working state of the excavator, and if so, switching the control states of the bucket rod, so that the control states of the bucket rods in the land leveling process can be determined.
And finally, executing a step S3, and determining handle control signals corresponding to all the parts according to the actual angles and the actual angular speeds of all the parts under the control state of all the bucket rods. The target angle of each part under the control state of each bucket rod can be determined according to the actual angle of each part. The target angle refers to the angle corresponding to each part under the control state of each bucket rod for realizing the automatic land leveling function. And then, determining the target angular speed of each part under the control state of each arm according to the actual angle and the actual angular speed of each part. The target angular velocity is an angular velocity corresponding to a change from an actual angle to a target angle of each component in a state of controlling each arm in order to realize an automatic leveling function. The target angle and the target angular velocity may be set as needed, and are not particularly limited herein.
And then determining the handle control signals corresponding to the components according to the difference value between the target angular velocity and the actual angular velocity of the components. The process of determining the handle control signal can be realized through a closed-loop controller, namely, the difference value between the target angular velocity and the actual angular velocity of each part and the target angle of each part can be used as the input of the closed-loop controller, and the closed-loop controller outputs the handle control signal. In the closed-loop controller, the target angle of each part can correct the corresponding relation between the difference value between the target angular velocity and the actual angular velocity and the handle control signal, so that the handle control signal corresponding to each output part is more accurate. In the embodiment of the present invention, the handle control signal corresponding to each component may be a control signal for controlling the opening degree of the handle. The excavator can be controlled to carry out the land leveling operation through the handle control signals corresponding to all the parts.
The positive and negative of the handle opening corresponding to the bucket rod can represent different movement directions of the bucket rod, for example, the handle opening corresponding to the bucket rod is positive, the bucket rod is characterized by excavating, the handle opening corresponding to the bucket rod is negative, and the bucket rod is characterized by unloading; the positive and negative of the handle opening degree corresponding to the movable arm can represent different movement directions of the movable arm, for example, the handle opening degree corresponding to the movable arm is positive, the movable arm is represented to be lifted, the handle opening degree corresponding to the movable arm is negative, and the movable arm is represented to be lowered; the positive and negative of the handle opening degree that the scraper bowl corresponds can represent the different motion direction of scraper bowl, for example the scraper bowl handle opening degree is positive, represents the scraper bowl and excavates, and scraper bowl handle opening degree is negative, represents the scraper bowl and uninstalls.
According to the land leveling control method for the excavator, the control state of the bucket rod in the land leveling process is automatically determined through the actual angle of the bucket rod, the handle control signals corresponding to all the parts are automatically determined through the actual angle and the actual angular speed of each part in the control state of each bucket rod, and the excavator is controlled to perform land leveling operation through the handle control signals corresponding to all the parts. In the whole control process, manual participation is not needed, the full automation of the land leveling operation of the excavator can be realized, and the automation of the land leveling operation of the excavator is greatly improved.
On the basis of the above embodiment, the excavator ground leveling control method provided in the embodiment of the present invention includes an arm initial state, an arm excavation state, and an arm unloading state; correspondingly, the determining the control state of the arm in the leveling process based on the actual angle of the arm specifically includes:
in the initial state of the arm, if the actual angle of the arm is greater than or equal to a preset angle threshold, converting the arm control state into the arm excavation state;
in the initial state of the bucket rod, if the actual angle of the bucket rod is smaller than the preset angle threshold, converting the control state of the bucket rod into the unloading state of the bucket rod;
in the bucket rod excavating state, if the actual angle of the bucket rod is smaller than or equal to the minimum angle of the bucket rod, converting the bucket rod control state into the bucket rod unloading state;
and under the unloading state of the bucket rod, if the actual angle of the bucket rod is greater than or equal to the maximum angle of the bucket rod, converting the control state of the bucket rod into the excavating state of the bucket rod.
Specifically, in the embodiment of the present invention, the process of determining the arm control state during the leveling process may be understood as determining what condition is to switch the arm control states during the leveling process, and what condition is to maintain the arm control states.
In the embodiment of the present invention, the bucket rod control state may include an initial bucket rod state, an excavating bucket rod state, and an unloading bucket rod state, where the initial bucket rod state is a default state and may be a start/stop state, and the initial state is an initialization or end state of an automatic leveling function, that is, an initialization process of leveling or a state entered after leveling is ended; the bucket arm excavating state is a state that the bucket arm moves towards the excavator, and bucket arm excavating track calculation is mainly carried out; the bucket rod unloading state is a state that the bucket rod moves away from the excavator, and bucket rod unloading track calculation is mainly performed.
As shown in fig. 4, in the initial state of the arm, it may be determined whether the switching condition is satisfied, if the switching condition is satisfied, the arm control state is converted from the initial state of the arm to the arm excavating state, if not, it is continuously determined whether the switching condition is satisfied, if the switching condition is satisfied, the arm control state is converted from the initial state of the arm to the arm unloading state, otherwise, if the switching condition is not satisfied, the arm initial state is maintained;
in the bucket arm excavating state, firstly judging whether a switching condition is met, if so, converting the bucket arm control state from the bucket arm excavating state to an initial bucket arm state, if not, judging whether the switching condition is met, if so, converting the bucket arm control state from the bucket arm excavating state to a bucket arm unloading state, and if not, keeping the bucket arm excavating state;
in the bucket rod unloading state, whether a switching condition is met or not is judged firstly, if the switching condition is met, the bucket rod control state is converted into an initial bucket rod state from the bucket rod unloading state, if the switching condition is not met, whether the switching condition is met or not is judged, if the switching condition is met, the bucket rod control state is converted into a bucket rod excavating state from the bucket rod unloading state, and if the switching condition is not met, the bucket rod unloading state is maintained.
Wherein each switching condition comprises:
switching conditions are as follows: the one-key land leveling function of the excavator is started, initialization is completed, no fault exists, and the actual angle of the bucket rod is larger than or equal to a preset angle threshold value;
switching conditions are as follows: the one-key land leveling function of the excavator is started, initialization is completed, no fault exists, and the actual angle of the bucket rod is smaller than a preset angle threshold value;
switching conditions are as follows: the one-key flat function of the excavator is turned off, or faults such as angle sensor faults or communication faults are identified;
switching conditions are as follows: the one-key ground leveling function of the excavator is opened, and the actual angle of the bucket rod is smaller than or equal to the minimum angle of the bucket rod; the minimum angle of the bucket rod can be calculated according to a preset leveling range, the preset leveling range can be given according to actual needs, and the minimum angle is not specifically limited here.
Switching conditions are as follows: the one-key flat function of the excavator is turned off, or faults such as angle sensor faults or communication faults are identified;
switching conditions are as follows: the one-key ground leveling function of the excavator is opened, and the actual angle of the bucket rod is larger than or equal to the maximum angle of the bucket rod; the maximum angle of the bucket rod can be calculated according to a preset leveling range, the preset leveling range can be given according to actual needs, and the maximum angle is not specifically limited here.
In the embodiment of the invention, the automatic determination of the control state of the bucket rod in the leveling process can be realized through the actual angle of the bucket rod, and the guarantee is provided for the realization of the automatic leveling function. When the one-key ground leveling function of the excavator is opened, the real-time attitude information of all parts of the excavator can be automatically judged and the action track can be automatically controlled, such as the reciprocating of the bucket rod and the lifting and descending of the movable arm are controlled.
On the basis of the above embodiment, in the method for controlling the land level of the excavator provided in the embodiment of the present invention, the control state of the arm includes an initial state of the arm, and each component further includes a boom and a bucket;
correspondingly, under the dipper control state, based on the actual angle and the actual angular velocity of each part, confirm the handle control signal that each part corresponds specifically includes:
determining a target angular velocity of the bucket based on an actual angular difference between the arm and the bucket in the initial state of the arm, calculating a target angle of the boom based on a preset land height, and determining the target angular velocity of the boom based on a difference between the target angle and the actual angle of the boom;
determining a handle control signal corresponding to the bucket based on the actual angle difference and a difference between a target angular velocity and an actual angular velocity of the bucket, and determining a handle control signal corresponding to the boom based on the target angle of the boom and a difference between the target angular velocity and the actual angular velocity of the boom.
Specifically, in the embodiment of the invention, when the handle control signals corresponding to the parts are determined, the parts can be distinguished according to different control states of the bucket rod.
In the initial state of the bucket rod, if a fault occurs or the one-key flat ground function is not opened, the target angle and the target angular speed of each part are consistent with the actual values of the target angle and the target angular speed; if the bucket is not in fault and the one-key flat function is opened, the actual angle of the bucket rod and the actual angle of the bucket can be subtracted to obtain the actual angle difference value between the bucket rod and the bucket. And then determining the target angular speed of the bucket according to the actual angle difference between the bucket rod and the bucket. Here, the correspondence between the actual angle difference between the arm and the bucket and the angular velocity of the bucket may be determined in advance, and then the target angular velocity of the bucket may be determined by looking up the correspondence.
And calculating the target angle of the movable arm according to the preset flat ground height information. The preset land leveling height information refers to a distance between a bucket tooth tip of the excavator and a horizontal plane in an initial state for realizing an automatic land leveling function, and the distance can be set according to needs, and is not particularly limited herein. The correspondence between the flat height information and the angle of the boom may be determined in advance, and then the target angle of the boom may be determined by searching for the correspondence. And then calculating a difference value between the target angle and the actual angle of the movable arm, and determining the target angular velocity of the movable arm according to the difference value. The correspondence between the difference between the target angle and the actual angle of the boom and the angular velocity of the boom may be determined in advance, and then the target angular velocity of the boom may be determined by finding the correspondence.
And finally, determining a handle control signal corresponding to the bucket according to an actual angle difference value between the actual angle of the bucket rod and the actual angle of the bucket and a difference value between the target angular speed and the actual angular speed of the bucket. And taking the difference value between the target angular speed and the actual angular speed of the bucket as a first difference value, inputting the actual angular speed difference value and the first difference value into a closed-loop controller, and outputting a handle control signal corresponding to the bucket through the closed-loop controller. In the closed-loop controller, the first difference is used to correct the correspondence between the actual angle difference and the handle control signal. The bucket can be controlled to move through a handle control signal corresponding to the bucket.
In the embodiment of the invention, the tooth point of the bucket can be positioned on the extension line of the bucket rod through the handle control signal corresponding to the bucket determined in the initial state of the bucket rod. The actual land level between the bucket tooth point and the horizontal plane can be made equal to the preset land level by the handle control signal corresponding to the boom determined in the initial state of the arm. Further, the closed-loop control of the paths of the respective members is performed by using the dynamic characteristics such as the magnitude of the deviation between the actual trajectory and the target trajectory of the respective members and the speed deviation, thereby obtaining a good dynamic leveling accuracy.
On the basis of the above embodiment, the excavator ground leveling control method provided in the embodiment of the present invention, wherein the arm control state includes an arm excavation state, and each component further includes a boom and a bucket; correspondingly, under the bucket rod control state, based on the actual angle and the actual angular velocity of each part, confirm the handle control signal that each part corresponds still specifically includes:
determining a target angle of the arm based on an actual angle difference between the arm and the boom and a preset arm excavation angular velocity in the arm excavation state, and determining a target angular velocity of the arm based on the preset arm excavation angular velocity and a difference between the target angle and the actual angle of the arm;
calculating a target angle and a target angular velocity of the boom based on the actual angle of the arm, the target angular velocity, and a preset land leveling height, and determining the target angular velocity of the bucket based on an actual angle difference between the arm and the bucket;
the method includes the steps of determining a handle control signal corresponding to the arm based on a target angle of the arm and a difference between a target angular velocity and an actual angular velocity, determining a handle control signal corresponding to the boom based on a target angle of the boom and a difference between a target angular velocity and an actual angular velocity, and determining a handle control signal corresponding to the bucket based on an actual angle difference and a difference between a target angular velocity and an actual angular velocity of the bucket.
Specifically, in the embodiment of the present invention, in the bucket arm excavating state, an actual included angle between the bucket arm and the movable arm is calculated according to an actual angle difference between the bucket arm and the movable arm, where the actual angle difference is equal to the actual included angle. And then determining the target angle of the bucket rod according to the actual included angle between the two and the preset bucket rod digging angular speed. The target angle of the stick may be a sum of the actual angle and a target included angle, and the target included angle is a sum of a time integral of the actual included angle and a preset stick excavation angular velocity. The preset arm excavation angular velocity is a predetermined arm movement angular velocity in the arm excavation state.
And then calculating a difference value between the target angle and the actual angle of the arm, determining the arm excavation angular velocity compensation amount according to the difference value, and determining the target angular velocity of the arm according to the preset arm excavation angular velocity and the arm excavation angular velocity compensation amount. The correspondence between the difference between the target angle and the actual angle of the arm and the arm excavation angular velocity compensation amount may be determined in advance, and the arm excavation angular velocity compensation amount may be directly determined based on the correspondence.
The target angle and the target angular velocity of the boom can be calculated according to the actual angle of the arm, the target angular velocity, and the preset flat height. Because the actual flat ground height is equal to the preset flat ground height in the bucket rod excavating state. Then the actual angle theta of the bucket rod can be determined 2 And presetting the flat ground height, and determining a target angle theta of the movable arm by combining the calculation formula of the actual flat ground height h 1 . And then, determining the target angular velocity of the movable arm by carrying out derivation on a calculation formula of the actual flat ground height h and combining the actual angle and the target angular velocity of the bucket rod.
And then determining the target angular speed of the bucket according to the actual angle difference between the bucket rod and the bucket. In the embodiment of the invention, the target angular speed of the bucket can be determined according to the corresponding relation between the predetermined actual angle difference value and the target angular speed of the bucket.
Finally, the handle control signals corresponding to all the parts can be determined through the closed-loop controller. For example, a target angle of the arm and a difference between the target angular velocity and the actual angular velocity are input to the closed-loop controller, the correspondence between the difference and the handle control signal is corrected by the target angle of the arm, and the handle control signal corresponding to the arm is output from the closed-loop controller.
Inputting the target angle of the movable arm and the difference between the target angular velocity and the actual angular velocity into a closed-loop controller, correcting the corresponding relation between the difference and a handle control signal according to the target angle of the movable arm, and outputting the handle control signal corresponding to the movable arm by the closed-loop controller.
And taking the difference value between the target angular speed and the actual angular speed of the bucket as a first difference value, inputting the actual angular speed difference value and the first difference value into a closed-loop controller, and outputting a handle control signal corresponding to the bucket through the closed-loop controller. In the closed-loop controller, the first difference is used to correct the correspondence between the actual angle difference and the handle control signal.
Under the bucket rod excavating state, the bucket rod target angle is gradually reduced, the target angular speed is negative, and bucket rod excavating is represented.
In the embodiment of the invention, the excavating effect can be automatically realized through the handle control signals corresponding to all the parts determined in the excavating state of the bucket rod. Further, the closed-loop control of the paths of the respective members is performed by using the dynamic characteristics such as the magnitude of the deviation between the actual trajectory and the target trajectory of the respective members and the speed deviation, thereby obtaining a good dynamic leveling accuracy.
On the basis of the above embodiment, in the method for controlling the land level of the excavator provided in the embodiment of the present invention, the control state of the arm includes an unloading state of the arm, and each component further includes a boom and a bucket; correspondingly, under the bucket rod control state, based on the actual angle and the actual angular velocity of each part, determine the handle control signal that each part corresponds, still specifically include:
in the bucket unloading state, determining a target angle of the bucket based on an actual angle difference between the bucket and the movable arm and a preset bucket unloading angular velocity, and determining a target angular velocity of the bucket based on the preset bucket unloading angular velocity and a difference between the target angle and the actual angle of the bucket;
calculating a target angle and a target angular velocity of the boom based on the actual angle of the arm, the target angular velocity, and a preset land leveling height, and determining the target angular velocity of the bucket based on an actual angle difference between the arm and the bucket;
the control method includes the steps of determining a handle control signal corresponding to the arm based on a target angle, a target angular velocity and an actual angular velocity of the arm, determining a handle control signal corresponding to the boom based on the target angle, the target angular velocity and the actual angular velocity of the boom, and determining a handle control signal corresponding to the bucket based on the actual angle of the arm, the target angular velocity, the actual angle and the actual angular velocity of the bucket.
Specifically, in the embodiment of the present invention, the calculation process in the bucket rod unloading state is the same as the calculation process in the bucket rod excavating state, and the difference is only that the preset bucket rod unloading angular velocity is adopted to replace the preset bucket rod excavating angular velocity, which is not described herein again.
In the embodiment of the invention, the unloading effect can be automatically realized through the handle control signals corresponding to all the parts determined in the unloading state of the bucket rod. Further, the paths of the respective members are closed-loop controlled by dynamic characteristics such as the magnitude of deviation between the actual trajectory and the target trajectory of the respective members and the speed deviation, thereby obtaining a good dynamic leveling accuracy.
On the basis of the above embodiment, in the method for controlling the level land of the excavator provided in the embodiment of the present invention, the components further include an excavator body, a boom and a bucket;
accordingly, the fuselage coordinate system is constructed based on:
and constructing the coordinate system of the machine body by taking a target hinge point between the movable arm and the machine body as a coordinate origin, taking the extension direction of the plane where the movable arm, the arm and the bucket are located as a horizontal axis and taking the vertical direction of the plane of the machine body as a vertical axis.
Specifically, in the embodiment of the present invention, when constructing the coordinate system of the body, the target hinge point between the movable arm and the body may be selected as the origin of coordinates, the direction of the intersection line between the plane where the movable arm, the arm, and the bucket are located and the plane of the body is selected as the horizontal axis, and the direction of the vertical direction of the plane of the body is selected as the vertical axis after the origin of coordinates is selected to obtain the coordinate system of the body.
The coordinate system of the machine body constructed in the embodiment of the invention can simplify the calculation amount of the flat land control process of the excavator.
Fig. 5 is a schematic structural diagram of a land leveling control system of an excavator according to an embodiment of the present invention, and as shown in fig. 5, the system includes:
the information acquisition module 51 is used for acquiring real-time attitude information of the excavator under a body coordinate system, wherein the real-time attitude information comprises actual angles and actual angular velocities of all parts, and all the parts comprise a bucket rod;
the state determination module 52 is configured to determine an arm control state in the leveling process based on the actual angle of the arm;
and the operation control module 53 is used for determining handle control signals corresponding to the components based on the actual angles and the actual angular speeds of the components in the bucket rod control state, and controlling the excavator to carry out land leveling operation based on the handle control signals corresponding to the components.
Specifically, the functions of the modules in the flat ground control system of the excavator provided in the embodiment of the present invention correspond to the operation flows of the steps in the embodiments of the method, and the implementation effects are also consistent.
On the basis of the above embodiments, the embodiment of the invention provides an excavator, which comprises the excavator flat ground control system provided in the above embodiments, so that the excavator can have an automatic flat ground function.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor) 610, a communication Interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call logic instructions in the memory 630 to perform the indoor positioning method provided by the above embodiments, the method includes: acquiring real-time attitude information of the excavator under a body coordinate system, wherein the real-time attitude information comprises actual angles and actual angular velocities of all parts, and all the parts comprise a bucket rod; determining the control state of the bucket rod in the process of leveling the ground based on the actual angle of the bucket rod; and under the control state of the bucket rod, determining handle control signals corresponding to the components based on the actual angles and the actual angular speeds of the components, and controlling the excavator to carry out land leveling operation based on the handle control signals corresponding to the components.
In addition, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer being capable of executing the indoor positioning method provided by the above embodiments, the method including: acquiring real-time attitude information of the excavator under a body coordinate system, wherein the real-time attitude information comprises actual angles and actual angular velocities of all parts, and all the parts comprise a bucket rod; determining the control state of the bucket rod in the process of leveling the ground based on the actual angle of the bucket rod; and under the control state of the bucket rod, determining handle control signals corresponding to the components based on the actual angles and the actual angular speeds of the components, and controlling the excavator to carry out land leveling operation based on the handle control signals corresponding to the components.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the indoor positioning method provided in the above embodiments, the method including: acquiring real-time attitude information of the excavator under a body coordinate system, wherein the real-time attitude information comprises actual angles and actual angular velocities of all parts, and all the parts comprise a bucket rod; determining the control state of the bucket rod in the process of leveling the ground based on the actual angle of the bucket rod; and under the control state of the bucket rod, determining handle control signals corresponding to the components based on the actual angles and the actual angular speeds of the components, and controlling the excavator to carry out land leveling operation based on the handle control signals corresponding to the components.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A land leveling control method for an excavator is characterized by comprising the following steps:
acquiring real-time attitude information of the excavator under a body coordinate system, wherein the real-time attitude information comprises actual angles and actual angular velocities of all parts, and all the parts comprise a bucket rod;
determining an arm control state in the leveling process based on the actual angle of the arm, wherein the arm control state comprises: an initial state of the bucket arm, a digging state of the bucket arm and an unloading state of the bucket arm;
wherein, the determining the control state of the arm in the leveling process based on the actual angle of the arm comprises:
judging whether a preset switching condition is met or not based on the actual angle of the arm and the working state of the excavator, and switching the control state of the arm under the condition that the switching condition is met to obtain the control state of the arm in the process of leveling;
determining target angular velocities of the components based on actual angles and actual angular velocities of the components in each bucket rod control state; and determining handle control signals corresponding to the components based on the difference value between the actual angular velocity and the target angular velocity, and controlling the excavator to carry out land leveling operation based on the handle control signals corresponding to the components.
2. The method for controlling the excavator according to claim 1, wherein correspondingly, the determining the arm control state in the leveling process based on the actual angle of the arm specifically comprises:
in the initial state of the arm, if the actual angle of the arm is greater than or equal to a preset angle threshold, converting the arm control state into the arm excavation state;
in the initial state of the bucket rod, if the actual angle of the bucket rod is smaller than the preset angle threshold, the bucket rod control state is converted into the bucket rod unloading state;
in the bucket rod excavating state, if the actual angle of the bucket rod is smaller than or equal to the minimum angle of the bucket rod, converting the bucket rod control state into the bucket rod unloading state;
and under the unloading state of the bucket rod, if the actual angle of the bucket rod is greater than or equal to the maximum angle of the bucket rod, converting the control state of the bucket rod into the excavating state of the bucket rod.
3. The excavator ground level control method of claim 1, wherein the components further comprise a boom and a bucket; correspondingly, under each bucket rod control state, determining target angular speeds of all the parts based on the actual angles and the actual angular speeds of all the parts; determining the handle control signals corresponding to the components based on the difference between the actual angular velocity and the target angular velocity, specifically comprising:
in the initial state of the arm, determining a target angular velocity of the bucket based on an actual angle difference between the arm and the bucket, calculating a target angle of the boom based on a preset land height, and determining the target angular velocity of the boom based on a difference between the target angle of the boom and the actual angle;
determining a handle control signal corresponding to the bucket based on the actual angle difference and a difference between a target angular velocity and an actual angular velocity of the bucket, and determining a handle control signal corresponding to the boom based on the target angle of the boom and a difference between the target angular velocity and the actual angular velocity of the boom.
4. The excavator ground control method of claim 1, wherein the respective members further comprise a boom and a bucket; correspondingly, under each bucket rod control state, determining target angular speeds of all the parts based on the actual angles and the actual angular speeds of all the parts; determining the handle control signals corresponding to the components based on the difference between the actual angular velocity and the target angular velocity, specifically comprising:
determining a target angle of the arm based on an actual angle difference between the arm and the boom and a preset arm excavation angular velocity in the arm excavation state, and determining a target angular velocity of the arm based on the preset arm excavation angular velocity and a difference between the target angle and the actual angle of the arm;
calculating a target angle and a target angular velocity of the boom based on the actual angle of the arm, a target angular velocity, and a preset land height, and determining a target angular velocity of the bucket based on an actual angle difference between the arm and the bucket;
the method includes the steps of determining a handle control signal corresponding to the arm based on a target angle of the arm and a difference between a target angular velocity and an actual angular velocity, determining a handle control signal corresponding to the boom based on a target angle of the boom and a difference between a target angular velocity and an actual angular velocity, and determining a handle control signal corresponding to the bucket based on an actual angle difference and a difference between a target angular velocity and an actual angular velocity of the bucket.
5. The excavator ground level control method of claim 1, wherein the components further comprise a boom and a bucket; correspondingly, under each bucket rod control state, determining target angular speeds of all the parts based on the actual angles and the actual angular speeds of all the parts; determining the handle control signal corresponding to each component based on the difference between the actual angular velocity and the target angular velocity, specifically comprising:
in the bucket unloading state, determining a target angle of the bucket based on an actual angle difference between the bucket and the movable arm and a preset bucket unloading angular velocity, and determining a target angular velocity of the bucket based on the preset bucket unloading angular velocity and a difference between the target angle and the actual angle of the bucket;
calculating a target angle and a target angular velocity of the boom based on the actual angle of the arm, the target angular velocity, and a preset land leveling height, and determining the target angular velocity of the bucket based on an actual angle difference between the arm and the bucket;
the method includes the steps of determining a handle control signal corresponding to the arm based on a target angle of the arm and a difference between a target angular velocity and an actual angular velocity, determining a handle control signal corresponding to the boom based on a target angle of the boom and a difference between a target angular velocity and an actual angular velocity, and determining a handle control signal corresponding to the bucket based on an actual angle difference and a difference between a target angular velocity and an actual angular velocity of the bucket.
6. The excavator flat land control method of any one of claims 1 to 5, wherein the parts further comprise a body, a boom and a bucket;
accordingly, the fuselage coordinate system is constructed based on:
and constructing the body coordinate system by taking a target hinge point between the movable arm and the body as a coordinate origin, taking the direction of the intersection line of the plane where the movable arm, the bucket rod and the bucket are located and the plane of the body as a horizontal axis and taking the vertical direction of the plane of the body as a vertical axis.
7. An excavator land control system, comprising:
the information acquisition module is used for acquiring real-time attitude information of the excavator under a body coordinate system, wherein the real-time attitude information comprises actual angles and actual angular velocities of all parts, and all the parts comprise bucket rods;
the state determination module is used for determining an arm control state in the leveling process based on the actual angle of the arm, wherein the arm control state comprises the following steps: an initial state of the bucket arm, a digging state of the bucket arm and an unloading state of the bucket arm;
the state determining module is specifically configured to determine whether a preset switching condition is met or not based on the actual angle of the arm and the working state of the excavator, and switch the control state of the arm under the condition that the switching condition is met, so as to obtain the control state of the arm in the process of leveling;
the operation control module is used for determining target angular speeds of all the parts based on the actual angles and the actual angular speeds of all the parts in the control state of all the bucket rods; and determining handle control signals corresponding to the components based on the difference between the actual angular velocity and the target angular velocity, and controlling the excavator to perform land leveling operation based on the handle control signals corresponding to the components.
8. An excavator comprising the excavator grading control system of claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the excavator level ground control method according to any one of claims 1 to 6.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the excavator level ground control method according to any one of claims 1 to 6.
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| CN113944197B (en) * | 2021-09-28 | 2023-04-07 | 上海三一重机股份有限公司 | Land leveling auxiliary system, method and working machine |
| CN115387426B (en) * | 2022-08-29 | 2023-11-28 | 三一重机有限公司 | Control method, device and equipment of working machine and working machine |
| DE102023202678A1 (en) * | 2023-03-24 | 2024-09-26 | Robert Bosch Gesellschaft mit beschränkter Haftung | Device for a working machine with offset joint, method and device for controlling an offset excavator |
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