CN113359694B - Excavator linear walking control device based on satellite positioning and control method thereof - Google Patents
Excavator linear walking control device based on satellite positioning and control method thereof Download PDFInfo
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- CN113359694B CN113359694B CN202010133732.3A CN202010133732A CN113359694B CN 113359694 B CN113359694 B CN 113359694B CN 202010133732 A CN202010133732 A CN 202010133732A CN 113359694 B CN113359694 B CN 113359694B
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- 238000012545 processing Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 5
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- 238000005516 engineering process Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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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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- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2087—Control of vehicle steering
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
Abstract
The invention discloses an excavator linear walking control device based on satellite positioning, which comprises an excavator body rotation angle sensor, a program controller, a left side motor driving assembly, a right side motor driving assembly, a satellite positioning system fixing base station, a satellite positioning system moving base station, a satellite positioning system and a display instrument device, wherein the excavator body rotation angle sensor is arranged on the excavator body; the vehicle body rotation angle sensor, the satellite positioning system mobile base station and the display instrument device are all connected with the program controller, the program controller is respectively connected with the left motor driving component and the right motor driving component, the satellite positioning system is respectively in communication connection with the satellite positioning system fixed base station and the satellite positioning system mobile base station, and the satellite positioning system fixed base station is in communication connection with the satellite positioning system mobile base station; the right side motor drive assembly and the left side motor drive assembly are distributed in a bilateral symmetry mode. The invention realizes the purpose of controlling the excavator to walk linearly.
Description
Technical Field
The invention relates to a satellite positioning-based excavator linear walking control device and a control method thereof, and belongs to the technical field of engineering machinery control.
Background
The satellite positioning technology generally refers to a positioning technology for determining a position coordinate of a target object based on a chinese beidou navigation satellite system (BDS) signal, or based on a united states Global Positioning System (GPS) signal, or based on a russian global navigation satellite system (GLONASS) signal, or based on a european GALILEO navigation satellite system (GALILEO) signal.
With the progress of science and technology, the development of the engineering machinery field also enters the acceleration period, and the excavator plays an important role in construction projects. In the construction process of the excavating machinery, no matter what road surface the crawler device is on, the straight-line walking of the crawler of the excavator can not be ensured.
At present, the walking control of the crawler excavator is mainly completed by manually operating a walking handle or treading a walking pedal plate by an excavator driver, but the phenomenon of deviation always occurs in the walking process of the excavator. This typically occurs as follows: 1. the walking deviation is caused by uneven force of manually operating the walking handle or treading the walking pedal; 2. even if the handle or the pedal is operated to the limit position, walking deviation is caused due to uneven road surface or slippage of the crawler belt.
In the design and manufacturing process of the excavator, high-precision crawler driving devices, hydraulic pumps, control valves and other key components are adopted, and the stability of the whole excavator system is improved as much as possible. However, in the machining process, each pair of mechanical parts have machining errors, and after the whole vehicle is assembled, the total errors of the system are amplified, so that the rotating speeds of the crawler belts on the two sides are asynchronous, and the complete linear walking cannot be realized.
In the prior art, CN102888873B adds a flowmeter in the two side walking motor oil pipelines, monitors the deviation of the flow values at the two sides by a controller, and adopts the closed-loop control principle to automatically adjust the hydraulic oil flow of the driving motor, thereby achieving the purpose of synchronizing the rotation speeds of the main motors at the two sides. Although the control method effectively controls the rotation speed synchronization of the motors at the two sides, the walking and the deviation can still occur due to uneven road surface or slippage of the crawler belt.
In the prior art, CN102720239B, a pressure sensor is additionally arranged behind front and rear pump proportional valves, the controller monitors the deviation of the rear output pressure value of the front and rear pump proportional valves, the closed-loop control principle is adopted, the oil outlet pressure of the front and rear pump proportional valves is automatically adjusted, and the purpose of synchronizing the rotating speeds of main motors on two sides is achieved. Although the control method effectively controls the rotation speed synchronization of the motors at the two sides, the walking and the deviation can still occur due to uneven road surface or slippage of the crawler belt.
In the prior art, CN105507361B adds a camera to periodically obtain the walking direction of the excavator, calculates differences in images obtained at different times by using a feature extraction method and a feature matching algorithm, and automatically analyzes and sends a control command by using a controller to achieve the purpose of adjusting the straight walking of the excavator. Although the control method is unique, the control technology based on image analysis is very easily influenced by poor light factors such as night, rain, snow or fog, and the captured image is not beneficial to characteristic matching analysis, so that the excavator cannot be completely controlled to walk linearly in a specific environment.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides a satellite positioning-based excavator linear walking control device and a control method thereof, which are used for automatically positioning the position information of a vehicle before and after movement by a navigation satellite positioning technology; the controller analyzes the positioning information of different time periods before and after the positioning information is analyzed, and the walking track of the excavator under various postures is automatically calculated; when the fact that the traveling distances of the front ends of the left and right tracks of the excavator are unequal in the traveling process is detected, the controller can automatically control the traveling speeds of the tracks on the two sides, and therefore the purpose of controlling the excavator to travel linearly is achieved; meanwhile, the walking deviation phenomenon caused by uneven road surface, slipping of the crawler belt, weak light at night or adverse weather influence is effectively overcome.
The invention adopts the following technical scheme: the excavator linear walking control device based on satellite positioning comprises an excavator body rotation angle sensor 10, a program controller 20, a left motor driving assembly 31, a right motor driving assembly 32, a satellite positioning system fixing base station 41, a satellite positioning system moving base station 42, a satellite positioning system 43 and a display instrument device 50; the vehicle body rotation angle sensor 10, the satellite positioning system mobile base station 42 and the display instrument device 50 are all connected with the program controller 20, the program controller 20 is respectively connected with the left motor driving component 31 and the right motor driving component 32, the satellite positioning system 43 is respectively in communication connection with the satellite positioning system fixed base station 41 and the satellite positioning system mobile base station 42, and the satellite positioning system fixed base station 41 is in communication connection with the satellite positioning system mobile base station 42; the right motor driving component 32 and the left motor driving component 31 are distributed in bilateral symmetry.
As a preferred embodiment, the fixed base station 41 of the satellite positioning system is fixedly installed in the effective signal transmission range of the construction area, and is responsible for receiving the signal of the satellite positioning system 43, calculating the satellite positioning deviation information of the current fixed base station, and transmitting the satellite positioning deviation information of the positioning to the mobile base station 42 of the satellite positioning system through electric waves.
As a preferred embodiment, the satellite positioning system mobile base station 42 is fixedly installed on the excavator body, and also receives the signal of the satellite positioning system 43 and the satellite positioning deviation information sent by the satellite positioning system fixed base station 41 by using the electric wave, and obtains the dynamic positioning information of the excavator after performing accurate calculation, and then sends the dynamic positioning information to the program controller 20.
In a preferred embodiment, the fixed base station 41 of the satellite positioning system broadcasts the satellite positioning error information of the current fixed base station in an electrical waveform form through a transmitting antenna.
As a preferred embodiment, the satellite positioning system mobile base station 42 receives an electric wave signal which is sent by the satellite positioning system fixed base station 41 and contains satellite positioning deviation information of the fixed base station through a receiving antenna, and the satellite positioning system mobile base station 42 performs accurate calculation by combining with a signal of the satellite positioning system 43 received by itself to obtain dynamic positioning information of the excavator; the satellite positioning system mobile base station 42 is connected to the program controller 20 via a data line, and transmits the calculated dynamic positioning information of the excavator to the program controller 20.
As a preferred embodiment, a display meter device 50 for displaying system data and setting system parameters, and in data communication with the program controller 20; the display meter device 50 is connected to the program controller 20 through a data line, and classifies and displays internal data of the program controller 20 as required, and similarly, system parameters are input into the program controller 20 through an input interface of the display meter device 50.
As a preferred embodiment, the body turning angle sensor 10, mounted on a central turning body of the getting-on part, is responsible for detecting angle change data of the getting-on part with respect to the getting-off part during the turning process and transmitting the angle data to the program controller 20; the body angle sensor 10 is connected to the program controller 20 through a data line, and transmits a signal of received angle change data to the program controller 20.
As a preferred embodiment, the program controller 20 is configured to obtain a rotation angle of the upper vehicle portion relative to a centerline of the lower vehicle portion in the track traveling direction according to the angle change data, where the rotation angle data is used to accurately calculate a positioning coordinate value of the front end of the track of the excavator during the traveling process; obtaining positioning coordinate values of the front ends of the tracks of the excavator in the walking process according to angle change data of the upper vehicle part relative to the lower vehicle part, and calculating actual travelling distances of the tracks on the two sides according to respective coordinate change difference values of the front ends of the tracks on the left side and the right side in a specific time period; if the traveling distances of the front ends of the left and right crawler belts are the same in a specific time, the excavator is considered to travel in a straight line.
In a preferred embodiment, the left motor driving assembly 31 includes a left motor electromagnetic proportional valve 311 and a left driving motor 312 connected to each other, the left motor electromagnetic proportional valve 311 is connected to the program controller 20, and the left driving motor 312 is connected to the left track of the excavator; after the left motor electromagnetic proportional valve 311 receives the control current sent by the program controller 20, the inlet flow of the left driving motor 312 is controlled to control the speed of the left driving motor 312, so as to realize the traveling speed of the left crawler.
The invention provides a satellite positioning-based excavator linear walking control method, which comprises the following steps: controlling the left crawler belt to walk; controlling the right crawler belt to walk; synthesizing the left crawler traveling control step and the right crawler traveling control step, when the traveling distances of the left crawler and the right crawler are the same, the program controller 20 simultaneously controls the control output current signals of the left motor electromagnetic proportional valve and the right motor electromagnetic proportional valve to keep the current output values, and the left crawler and the right crawler are maintained to travel at the current speed; the left and right tracks are adjusted simultaneously; when the left crawler belt and the right crawler belt slip, the program controller can calculate the traveling distance of the left crawler belt and the traveling distance of the right crawler belt at the same time, respectively control the motor electromagnetic proportional valves of the left crawler belt and the right crawler belt according to the left crawler belt traveling control step and the right crawler belt traveling control step, respectively regulate and control the traveling speeds of the left crawler belt and the right crawler belt, complete the deviation rectifying function in the traveling process and realize the purpose of straight-line traveling.
As a preferred embodiment, the left crawler traveling control step specifically includes:
step S101, receiving a positioning signal of a satellite positioning system mobile base station 42, determining the positioning coordinate information of the whole excavator and parts, and sending the information into a program controller 20; the method specifically comprises the following steps: the satellite positioning system mobile base station 42 is responsible for receiving signals of the satellite positioning system 43 and confirming positioning information of the excavator, wherein the positioning information of the excavator comprises: positioning information of the whole excavator in a non-working state of the excavator; positioning information of the whole excavator in the working state of the excavator; positioning information of each component device of the excavator in a non-working state of the excavator; positioning information of each component device of the excavator in the working state of the excavator; when positioning accuracy deviation occurs in positioning information of the whole excavator and a whole excavator part device or when the whole excavator position moves, the system corrects the positioning accuracy deviation or relocates coordinate information of the whole excavator position;
step S102, the program controller 20 reads data of the vehicle body rotation angle sensor 10; the method comprises the steps that through a vehicle body rotation angle sensor 10 arranged on a central revolving body device, angle change data generated by an upper vehicle working device relative to a lower vehicle device in the motion process are collected;
step S103, calculating real-time coordinate values of the front end of the left crawler belt by the program controller 20 according to the rotation angle change data; generating real-time coordinate values of the front end of the left crawler belt through operation processing; recording and storing two coordinate values in a specific time period;
step S104, the program controller 20 calculates the walking distance of the left crawler; the program controller 20 calculates the travel distance of the front end of the left crawler belt in a specific time period according to the two stored coordinate values in the time period;
step S105, judging whether the walking distances of the left crawler belt and the right crawler belt are equal; the program controller 20 compares the actual walking distance of the left crawler with the actual walking distance of the right crawler in the same time period; if the walking distances of the left crawler and the right crawler are unequal, further control and adjustment are needed;
step S106, the program controller 20 adjusts the control current of the left motor electromagnetic proportional valve 311; the program controller 20 sends out a left-side motor electromagnetic proportional valve control current to drive the left-side driving motor 312 to accelerate or decelerate, adjust the running speed of the left-side crawler belt and compare the real-time running distances of the left-side crawler belt and the right-side crawler belt; adjusting the electromagnetic proportional valve control current of the left motor to finally realize the same traveling distance of the left and right crawler belts; when the left and right crawler travel distances are the same, the program controller 20 maintains the current control output current signal of the left motor electromagnetic proportional valve 311 and maintains the current speed travel of the left crawler.
As a preferred embodiment, the right crawler belt walking controlling step specifically includes:
step S201, receiving a positioning signal of a satellite positioning system mobile base station 42, determining the positioning coordinate information of the whole excavator and parts, and sending the information into a program controller 20; the method specifically comprises the following steps: the base station 42 is moved through the satellite positioning system and is responsible for receiving signals of the satellite positioning system 43 and confirming positioning information of the excavator; the positioning information of the excavator comprises: positioning information of the whole excavator in a non-working state of the excavator; positioning information of the whole excavator in the working state of the excavator; positioning information of all parts of the excavator in a non-working state of the excavator; positioning information of all parts of the excavator in the working state of the excavator; when positioning accuracy deviation occurs in positioning information of the whole excavator and parts or when the whole excavator position moves, the system corrects the positioning accuracy deviation or repositions coordinate information of the whole excavator position;
step S202, the program controller 20 reads data of the vehicle body rotation angle sensor 10; the method comprises the steps that through a vehicle body rotation angle sensor 10 arranged on a central revolving body device, angle change data generated by an upper vehicle working device relative to a lower vehicle device in the motion process are collected;
step S203, the program controller 20 calculates real-time coordinate values of the front end of the right crawler according to the rotation angle change data; generating real-time coordinate values of the front end of the right crawler belt through operation processing; recording and storing two coordinate values in a specific time period;
step S204, the program controller 20 calculates the walking distance of the left crawler; the program controller 20 calculates the travel distance of the front end of the right crawler belt in a specific time period according to the two stored coordinate values in the time period;
step S205, judging whether the walking distances of the left crawler belt and the right crawler belt are equal; the program controller 20 compares the actual walking distance of the right-side crawler with the actual walking distance of the left-side crawler in the same time period; if the walking distances of the left crawler and the right crawler are unequal, further control and adjustment are needed;
step S206, the program controller 20 adjusts the control current of the right motor electromagnetic proportional valve; the program controller 20 sends out a right motor electromagnetic proportional valve control current, the right driving motor accelerates or decelerates, the running speed of the right crawler belt is adjusted, and the real-time running distances of the left crawler belt and the right crawler belt are compared; the control current of the right motor electromagnetic proportional valve is adjusted to finally realize the same traveling distance of the left and right crawler belts; when the traveling distances of the left and right crawler belts are the same, the program controller 20 keeps the control output current signal of the right motor electromagnetic proportional valve at the current value, and maintains the current speed of the crawler belt.
The invention achieves the following beneficial effects: firstly, the invention provides a satellite positioning-based excavator linear walking control device and method aiming at effectively overcoming walking deviation phenomenon caused by uneven road surface, slipping of a crawler belt, weak light at night or adverse weather influence, wherein the control device comprises: the system comprises a satellite positioning system, a program controller, a driving assembly, a display instrument device and a rotary angle sensor arranged on a working device of the excavator; the program controller is connected with the angle sensor; the program controller is connected with the display instrument device; the program controller is connected with the satellite positioning system; the program controller is connected with the driving assembly, the satellite positioning system is responsible for receiving global navigation satellite positioning system signals and is used for confirming positioning information of the whole excavator and whole machine components, and when the positioning accuracy deviation occurs in the positioning information of the whole excavator or the moving working condition occurs in the position of the whole excavator, the system can correct the positioning accuracy deviation or reposition the coordinate information of the whole excavator position; secondly, after receiving a linear walking instruction, the program controller starts to calculate the actual walking distance of the left and right crawler belts, automatically calculates and outputs control signals, and respectively adjusts the rotating speeds of the left and right driving motors, so that the linear walking process of the excavator is realized, and the walking speeds of the crawler belts on the two sides are automatically controlled, so that the function of controlling the linear walking of the excavator is realized; thirdly, due to the fact that the slope model is guided by a satellite positioning system, the method can effectively overcome the deviation phenomenon caused by crawler skidding, improve the linear walking precision, effectively improve the operation comfort of the excavator and improve the automation level.
Drawings
Fig. 1 is a schematic diagram of a preferred embodiment of the satellite positioning-based excavator linear travel control apparatus of the present invention.
Fig. 2 is an installation diagram of a preferred embodiment of the satellite positioning-based excavator linear walking control device of the present invention.
Fig. 3 is a method flowchart of the left crawler travel control step of the satellite positioning-based excavator linear travel control method of the present invention.
Fig. 4 is a method flowchart of the right-side crawler travel control step of the satellite positioning-based excavator linear travel control method of the present invention.
The meanings of the symbols in the figures: 10-a body rotation angle sensor; 20-a program controller; 30-a hydraulic pump; 31-left side motor drive assembly; 32-right side motor drive assembly; 311-left motor electromagnetic proportional valve; 312-left side drive motor; 41-satellite positioning system fixed base station; 42-satellite positioning system mobile base station; 43-a satellite positioning system; 50-display meter device.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, an excavator linear travel control device based on satellite positioning according to an embodiment of the present invention includes: the device comprises a vehicle body rotation angle sensor 10, a program controller 20, a left motor driving component 31, a right motor driving component 32, a satellite positioning system fixed base station 41, a satellite positioning system moving base station 42, a satellite positioning system 43 and a display instrument device 50; the body rotation angle sensor 10, the satellite positioning system mobile base station 42 and the display instrument device 50 are all connected to the program controller 20, and the program controller 20 is connected to the left motor driving assembly 31 and the right motor driving assembly 32.
The satellite positioning system fixed base station 41 is fixedly arranged in a construction area signal transmission effective range and is responsible for receiving signals of a global navigation satellite positioning system 43, calculating satellite positioning deviation information of the current fixed base station and transmitting the positioning satellite positioning deviation information to the satellite positioning system mobile base station 42 through electric waves; the satellite positioning system mobile base station 42 is fixedly installed on the excavator body, and similarly receives signals of the global navigation satellite positioning system 43, receives satellite positioning deviation information sent by the satellite positioning system fixed base station 41 by adopting electric waves, obtains dynamic positioning information of the excavator after accurate calculation, and sends the dynamic positioning information to the program controller 20.
Specifically, the fixed base station 41 of the satellite positioning system broadcasts the satellite positioning deviation information of the current fixed base station in an electric wave form through a transmitting antenna; the satellite positioning system mobile base station 42 receives the electric wave signal which is sent by the satellite positioning system fixed base station 41 and contains the satellite positioning deviation information of the fixed base station through a receiving antenna, and the satellite positioning system mobile base station 42 combines the signal of the global navigation satellite positioning system 43 received by the satellite positioning system mobile base station to accurately calculate and obtain the dynamic positioning information of the excavator.
Specifically, the satellite positioning system mobile base station 42 is connected to the program controller 20 of the excavator through a data line, and transmits the calculated dynamic positioning information of the excavator to the program controller 20.
And a display meter device 50 for displaying system data and setting system parameters, and maintaining data communication with the program controller 20.
Specifically, the display meter device 50 is connected to the program controller 20 of the excavator through a data line, and can display data in the program controller 20 in a classified manner as required, and similarly, can input system parameters into the program controller 20 through an input interface of the display meter device 50.
The body rotation angle sensor 10 is mounted on a central rotation body of the upper vehicle part, and is responsible for detecting angle change data of the upper vehicle part relative to the lower vehicle part during rotation and transmitting the angle data to the program controller 20.
Specifically, the body pivoting angle sensor 10 is connected to the program controller 20 of the excavator through a data line, and transmits a signal of the received angle change data to the program controller 20.
And the program controller 20 is used for obtaining the rotation angle of the upper vehicle part relative to the central line of the track travelling direction of the lower vehicle part according to the angle change data, and the angle data is used for accurately calculating the positioning coordinate value of the front end of the track in the travelling process of the excavator.
Specifically, positioning coordinate values of the front ends of the tracks of the excavator in the walking process can be obtained according to angle change data of the upper vehicle part relative to the lower vehicle part, and the actual travelling distance of the tracks on the two sides can be calculated according to respective coordinate change difference values of the front ends of the tracks on the left side and the right side in a specific time period; if the traveling distances of the front ends of the left and right crawler belts are the same in a specific time, the excavator is considered to travel in a straight line.
In practical application, as shown in fig. 2, the left motor driving assembly 31 includes a left motor electromagnetic proportional valve 311 and a left driving motor 312 which are connected with each other, the left motor electromagnetic proportional valve 311 is connected with the program controller 20, and the left driving motor 312 is connected with the left crawler track of the excavator; after receiving the control current sent by the program controller 20, the left motor electromagnetic proportional valve 311 controls the inlet flow of the left driving motor 312 to control the speed of the left driving motor 312, so as to realize the traveling speed of the left crawler.
Specifically, the left motor electromagnetic proportional valve 311 includes a spool and a proportional solenoid; the proportional solenoid is used as a pilot component of the valve core, and the quantity of oil in a hydraulic oil loop communicated with the electromagnetic proportional valve is changed so as to adjust the oil return quantity of the left side driving motor 312; thereby functioning to increase or decrease the operating speed of the left side drive motor.
In the same principle, the rotation speed control of the right driving motor is also realized by the control current of the right motor electromagnetic proportional valve sent by the process controller.
As shown in fig. 3, an embodiment of the present invention further provides a left-side crawler travel control step of the excavator linear travel control method based on satellite positioning, including the following steps:
step S101, receiving a positioning signal of a mobile base station 42 of a satellite positioning system, determining the positioning coordinate information of a complete machine and a component, and sending the information into a program controller 20; in this step, the satellite positioning system mobile base station 42 is responsible for receiving a global navigation satellite positioning system 43 signal for confirming the positioning information of the excavator, where the positioning information of the excavator includes: positioning information of the whole excavator in a non-working state of the excavator; positioning information of the whole excavator in the working state of the excavator; positioning information of each component device of the excavator in a non-working state of the excavator; positioning information of each component device of the excavator in the working state of the excavator; when the positioning accuracy deviation occurs in the positioning information of the whole excavator and the whole excavator component device or the whole excavator position moves, the system can correct the positioning accuracy deviation or reposition the whole excavator position coordinate information;
step S102, the program controller 20 reads data of the vehicle body rotation angle sensor 10; in the step, through a vehicle body rotation angle sensor 10 arranged on a central rotation body device, angle change data generated by an upper vehicle working device relative to a lower vehicle working device in the movement process is collected;
step S103, calculating real-time coordinate values of the front end of the left crawler belt by the program controller 20 according to the rotation angle change data; in the step, real-time coordinate values of the front end of the left crawler belt are generated through operation processing; recording and storing two coordinate values in a specific time period;
step S104, the program controller 20 calculates the walking distance of the left crawler; in this step, the program controller 20 calculates the distance traveled by the front end of the left-side crawler belt in a specific time period according to the two stored coordinate values in the time period;
step S105, judging whether the walking distances of the left crawler belt and the right crawler belt are equal; in this step, the program controller 20 compares the actual walking distance of the left crawler with the actual walking distance of the right crawler in the same time period; if the walking distances of the left crawler and the right crawler are unequal, further control and adjustment are needed;
step S106, the program controller 20 adjusts the control current of the left motor electromagnetic proportional valve 311; in this step, the program controller 20 sends out a control current for the left-side motor electromagnetic proportional valve to drive the left-side driving motor 312 to accelerate or decelerate, adjust the running speed of the left-side crawler belt, and compare the real-time running distances of the left-side crawler belt and the right-side crawler belt; adjusting the electromagnetic proportional valve control current of the left motor to finally realize the same traveling distance of the left and right crawler belts; in this step, when the traveling distances of the left and right crawlers are the same, the program controller 20 keeps the control output current signal of the left motor electromagnetic proportional valve at the current value, and keeps the current speed of the crawlers.
As shown in fig. 4, an embodiment of the present invention further provides a right crawler travel control step of the excavator linear travel control method based on satellite positioning, including the following steps:
step S201, receiving a positioning signal of a mobile base station 42 of a satellite positioning system, determining the positioning coordinate information of a complete machine and a component, and sending the information into a program controller; in this step, the satellite positioning system mobile base station 42 is responsible for receiving signals of the global navigation satellite positioning system 43, and is used for confirming the positioning information of the excavator, and the method includes: positioning information of the whole excavator in a non-working state of the excavator; positioning information of the whole excavator in the working state of the excavator; positioning information of each component device of the excavator in a non-working state of the excavator; positioning information of each component device of the excavator in the working state of the excavator; when the positioning accuracy deviation occurs in the positioning information of the whole excavator and the whole excavator component device or the whole excavator position moves, the system can correct the positioning accuracy deviation or reposition the whole excavator position coordinate information;
step S202, the program controller 20 reads data of the vehicle body rotation angle sensor 10; in the step, through a vehicle body rotation angle sensor 10 arranged on a central revolving body device, angle change data generated by an upper vehicle working device relative to a lower vehicle device in the motion process is collected;
step S203, the program controller 20 calculates real-time coordinate values of the front end of the right crawler according to the rotation angle change data; in the step, real-time coordinate values of the front end of the right crawler are generated through operation processing; recording and storing two coordinate values in a specific time period;
step S204, the program controller 20 calculates the walking distance of the left crawler; in this step, the program controller 20 calculates the distance traveled by the front end of the right-side crawler belt in a specific time period according to the two stored coordinate values in the time period;
step S205, judging whether the walking distances of the left crawler belt and the right crawler belt are equal; in this step, the program controller 20 compares the actual walking distance of the right-side crawler with the actual walking distance of the left-side crawler in the same time period; if the walking distances of the left crawler and the right crawler are unequal, further control and adjustment are needed;
step S206, the program controller 20 adjusts the control current of the right motor electromagnetic proportional valve; in this step, the program controller 20 sends out a right motor electromagnetic proportional valve control current to drive a right driving motor to accelerate or decelerate, adjust the running speed of the right crawler belt, and compare the real-time running distances of the left crawler belt and the right crawler belt; adjusting the control current of the electromagnetic proportional valve of the right motor to finally realize the same traveling distance of the left and right crawler belts; in this step, when the traveling distances of the left and right crawlers are the same, the program controller 20 keeps the control output current signal of the right motor electromagnetic proportional valve at the current value, and keeps the current speed of the crawlers.
Integrating the left crawler traveling control step and the right crawler traveling control step, when the traveling distances of the left crawler and the right crawler are the same, the program controller (20) simultaneously controls the control output current signals of the left motor electromagnetic proportional valve and the right motor electromagnetic proportional valve to keep the current output values, and the left crawler and the right crawler are maintained to travel at the current speed; the left and right tracks are adjusted simultaneously; when the left crawler belt and the right crawler belt slip, the program controller can calculate the traveling distance of the left crawler belt and the traveling distance of the right crawler belt at the same time, respectively control the motor electromagnetic proportional valves of the left crawler belt and the right crawler belt according to the left crawler belt traveling control step and the right crawler belt traveling control step, respectively regulate and control the traveling speeds of the left crawler belt and the right crawler belt, complete the deviation rectifying function in the traveling process and realize the purpose of straight traveling.
The method provided by the embodiment of the present invention has the same implementation principle and technical effect as the foregoing device embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing device embodiment for the part of the method embodiment that is not mentioned.
The linear walking control device and method of the excavator based on satellite positioning provided by the embodiment of the invention have the same technical characteristics as the linear walking control device of the excavator provided by the embodiment, so the same technical problems can be solved, and the same technical effects can be achieved.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it is to be noted that the mounting orientation or position of the sensor or other device is not precisely specified, but merely for convenience of describing the present invention and simplifying the description, and it is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the signal connection of the units may be an electrical signal connection, a communication signal connection, or other signal connection ways that can ensure signal transceiving, which are not listed in the embodiments of the present invention.
The display instrument device in the embodiment of the present invention may be a portable computer product having both a touch function and a display function, a touch screen product having both a touch function and a display function, a mobile phone product having both a touch function and a display function, or other terminal devices or instruments having both a touch function and a display function, which are not listed in the embodiment of the present invention.
The linear walking starting instruction in the embodiment of the invention can be given from the starting control on the display instrument device, and can also be given through a walking control device, including but not limited to the walking handle or the walking pedal operating instruction.
The linear walking control method of the crawler excavator provided by the embodiment of the invention is also suitable for the linear walking control method of the wheel excavator.
The method for controlling the linear walking of the crawler excavator provided by the embodiment of the invention is also suitable for methods for controlling the linear walking of other crawler mechanical devices.
In addition, the navigation satellite positioning system signal mentioned in the embodiment of the present invention may be a chinese beidou navigation satellite system (BDS) signal, a united states Global Positioning System (GPS), a russian global navigation satellite system (GLONASS), a european GALILEO navigation satellite system (GALILEO), or any combination of several navigation satellite system signals.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (7)
1. The excavator linear walking control device based on satellite positioning is characterized by comprising an excavator body rotation angle sensor (10), a program controller (20), a left motor driving component (31), a right motor driving component (32), a satellite positioning system fixed base station (41), a satellite positioning system moving base station (42), a satellite positioning system (43) and a display instrument device (50); the vehicle body rotation angle sensor (10), the satellite positioning system mobile base station (42) and the display instrument device (50) are all connected with the program controller (20), the program controller (20) is respectively connected with the left motor driving component (31) and the right motor driving component (32), the satellite positioning system (43) is respectively in communication connection with the satellite positioning system fixed base station (41) and the satellite positioning system mobile base station (42), and the satellite positioning system fixed base station (41) is in communication connection with the satellite positioning system mobile base station (42); the right motor driving component (32) and the left motor driving component (31) are distributed in a bilateral symmetry manner;
the vehicle body rotation angle sensor (10) is arranged on a central rotation body of the upper vehicle part, is responsible for detecting angle change data of the upper vehicle part relative to the lower vehicle part in the rotation process and sending the angle data to the program controller (20); the vehicle body angle sensor (10) is connected with the program controller (20) through a data line and transmits a received signal of angle change data to the program controller (20);
the program controller (20) is used for obtaining the rotation angle of the upper vehicle part relative to the central line of the track advancing direction of the lower vehicle part according to the angle change data, and the rotation angle data is used for accurately calculating the positioning coordinate value of the front end of the track in the walking process of the excavator; obtaining positioning coordinate values of the front ends of the tracks of the excavator in the walking process according to angle change data of the upper vehicle part relative to the lower vehicle part, and calculating actual travelling distances of the tracks on the two sides according to respective coordinate change difference values of the front ends of the tracks on the left side and the right side in a specific time period; if the front ends of the left and right crawler belts have the same travelling distance in a specific time, the excavator is considered to travel linearly;
the left motor driving assembly (31) comprises a left motor electromagnetic proportional valve (311) and a left driving motor (312) which are connected with each other, the left motor electromagnetic proportional valve (311) is connected with the program controller (20), and the left driving motor (312) is connected with a left crawler of the excavator; and after the left motor electromagnetic proportional valve (311) receives the control current sent by the program controller (20), the inlet flow of the left driving motor (312) is controlled to control the speed of the left driving motor (312) so as to realize the walking speed of the left crawler.
2. The excavator linear traveling control device based on satellite positioning according to claim 1, wherein the satellite positioning system fixed base station (41) is fixedly installed in a signal transmission effective range of a construction area, and is responsible for receiving signals of a satellite positioning system (43), calculating satellite positioning deviation information of a current fixed base station, and transmitting the satellite positioning deviation information to be positioned to the satellite positioning system mobile base station (42) through radio waves; the satellite positioning system mobile base station (42) is fixedly arranged on the excavator body, and is used for receiving signals of the satellite positioning system (43) and receiving satellite positioning deviation information sent by the satellite positioning system fixed base station (41) by adopting electric waves, accurately calculating to obtain dynamic positioning information of the excavator, and sending the dynamic positioning information to the program controller (20).
3. The satellite positioning-based excavator linear traveling control device according to claim 2, wherein the satellite positioning system fixed base station (41) broadcasts satellite positioning deviation information of a current fixed base station in a form of electric waves through a transmitting antenna; the satellite positioning system mobile base station (42) receives a radio wave signal which is sent by the satellite positioning system fixed base station (41) and contains satellite positioning deviation information of the fixed base station through a receiving antenna, and the satellite positioning system mobile base station (42) accurately calculates to obtain dynamic positioning information of the excavator by combining a signal of the satellite positioning system (43) received by the satellite positioning system mobile base station; the satellite positioning system mobile base station (42) is connected with the program controller (20) through a data line, and transmits the calculated dynamic positioning information of the excavator to the program controller (20).
4. The satellite positioning-based excavator linear walking control device according to claim 1, wherein the display instrument device (50) is used for displaying system data and setting system parameters, and is in data communication with the program controller (20); the display instrument device (50) is connected with the program controller (20) through a data line, the internal data of the program controller (20) is classified and displayed according to requirements, and system parameters are input into the program controller (20) through an input interface of the display instrument device (50).
5. The excavator linear walking control method based on satellite positioning, which adopts the excavator linear walking control device based on satellite positioning as claimed in claim 1, is characterized by comprising the following steps: controlling the left crawler belt to walk; controlling the right crawler belt to walk; integrating the left crawler traveling control step and the right crawler traveling control step, when the traveling distances of the left crawler and the right crawler are the same, the program controller (20) simultaneously controls the control output current signals of the left motor electromagnetic proportional valve and the right motor electromagnetic proportional valve to keep the current output values, and the left crawler and the right crawler are maintained to travel at the current speed; the left and right tracks are adjusted simultaneously; when the left crawler belt and the right crawler belt slip, the program controller can calculate the traveling distance of the left crawler belt and the traveling distance of the right crawler belt at the same time, respectively control the motor electromagnetic proportional valves of the left crawler belt and the right crawler belt according to the left crawler belt traveling control step and the right crawler belt traveling control step, respectively regulate and control the traveling speeds of the left crawler belt and the right crawler belt, complete the deviation rectifying function in the traveling process and realize the purpose of straight traveling.
6. The satellite positioning-based excavator linear walking control method according to claim 5, wherein the left crawler walking control step specifically comprises:
step S101, receiving a positioning signal of a mobile base station (42) of a satellite positioning system, determining the positioning coordinate information of the whole excavator and parts, and sending the information into a program controller (20); the method specifically comprises the following steps: the method comprises the following steps of receiving signals of a satellite positioning system (43) through a satellite positioning system mobile base station (42) and confirming positioning information of the excavator, wherein the positioning information of the excavator comprises the following steps: positioning information of the whole excavator in a non-working state of the excavator; positioning information of the whole excavator in the working state of the excavator; positioning information of each component device of the excavator in a non-working state of the excavator; positioning information of each component device of the excavator in the working state of the excavator; when positioning accuracy deviation occurs in the positioning information of the whole excavator and the whole excavator component device or the whole excavator position moves, the system corrects the positioning accuracy deviation or relocates the coordinate information of the whole excavator position;
step S102, the program controller (20) reads data of the vehicle body rotation angle sensor (10); the method comprises the steps that through a vehicle body rotation angle sensor (10) arranged on a central revolving body device, angle change data generated by an upper vehicle working device relative to a lower vehicle device in the motion process are collected;
step S103, calculating a real-time coordinate value of the front end of the left crawler belt by the program controller (20) according to the rotation angle change data; generating real-time coordinate values of the front end of the left crawler belt through operation processing; recording and storing two coordinate values in a specific time period;
step S104, calculating the walking distance of the left crawler by the program controller (20); the program controller (20) calculates the travel distance of the front end of the left crawler belt in a specific time period according to the two stored coordinate values in the time period;
step S105, judging whether the walking distances of the left crawler belt and the right crawler belt are equal; the program controller (20) compares the actual walking distance of the left crawler with the actual walking distance of the right crawler in the same time period; if the walking distances of the left crawler and the right crawler are unequal, further control and adjustment are needed;
step S106, the program controller (20) adjusts the control current of the left motor electromagnetic proportional valve (311); the program controller (20) sends out a left-side motor electromagnetic proportional valve control current to drive a left-side driving motor (312) to accelerate or decelerate, adjust the running speed of the left-side crawler belt and compare the real-time running distances of the left-side crawler belt and the right-side crawler belt; adjusting the electromagnetic proportional valve control current of the left motor to finally realize the same traveling distance of the left and right crawler belts; when the traveling distances of the left and right crawler belts are the same, the program controller (20) keeps the current control output current signal of the left motor electromagnetic proportional valve (311) and maintains the current speed traveling of the left crawler belt.
7. The satellite positioning-based excavator linear walking control method according to claim 5, wherein the right crawler walking control step specifically comprises:
step S201, receiving a positioning signal of a satellite positioning system mobile base station (42), determining the positioning coordinate information of the whole excavator and parts, and sending the information into a program controller (20); the method specifically comprises the following steps: the mobile base station (42) is responsible for receiving signals of a satellite positioning system (43) through the satellite positioning system and confirming positioning information of the excavator; the positioning information of the excavator comprises: positioning information of the whole excavator in a non-working state of the excavator; positioning information of the whole excavator in the working state of the excavator; positioning information of each component of the excavator in a non-working state of the excavator; positioning information of each component of the excavator in the working state of the excavator; when positioning accuracy deviation occurs in the positioning information of the whole excavator and parts or the whole excavator position moves, the system corrects the positioning accuracy deviation or repositions the coordinate information of the whole excavator position;
step S202, the program controller (20) reads data of the vehicle body rotation angle sensor (10); the method comprises the steps that through a vehicle body rotation angle sensor (10) arranged on a central revolving body device, angle change data generated by an upper vehicle working device relative to a lower vehicle device in the motion process are collected;
step S203, the program controller (20) calculates real-time coordinate values of the front end of the right crawler according to the rotation angle change data; generating real-time coordinate values of the front end of the right crawler belt through operation processing; recording and storing two coordinate values in a specific time period;
step S204, the program controller (20) calculates the walking distance of the left crawler; the program controller (20) calculates the travel distance of the front end of the right crawler belt in a specific time period according to the two stored coordinate values in the time period;
step S205, judging whether the walking distances of the left crawler belt and the right crawler belt are equal; the program controller (20) compares the actual walking distance of the right-side crawler with the actual walking distance of the left-side crawler in the same time period; if the walking distances of the left crawler and the right crawler are not equal, further control and adjustment are needed;
step S206, the program controller (20) adjusts the electromagnetic proportional valve control current of the right motor; the program controller (20) sends out electromagnetic proportional valve control current of a right motor, the right driving motor accelerates or decelerates, the running speed of the right crawler belt is adjusted, and the real-time running distances of the left crawler belt and the right crawler belt are compared; the control current of the right motor electromagnetic proportional valve is adjusted to finally realize the same traveling distance of the left and right crawler belts; when the traveling distances of the left and right crawler belts are the same, the program controller (20) keeps the control output current signal of the right motor electromagnetic proportional valve at the current value, and the current speed traveling of the crawler belts is maintained.
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| CN114701566B (en) * | 2022-03-02 | 2023-04-07 | 中国煤炭科工集团太原研究院有限公司 | Intelligent straightening system and method for crawler walking equipment of underground coal mine bolting machine |
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| US7925439B2 (en) * | 2006-10-19 | 2011-04-12 | Topcon Positioning Systems, Inc. | Gimbaled satellite positioning system antenna |
| CN102566573B (en) * | 2012-01-11 | 2013-12-18 | 西南交通大学 | Straight line moving control method for crawler-type mechanical equipment |
| CN203410304U (en) * | 2013-06-21 | 2014-01-29 | 龙工（上海）挖掘机制造有限公司 | Automatic acceleration control system of excavator |
| CN105971050A (en) * | 2015-03-13 | 2016-09-28 | 住友重机械工业株式会社 | Excavator |
| CN105507361B (en) * | 2015-12-07 | 2017-12-12 | 浙江大学 | Excavator straight line moving control method and system based on image |
| CN108894272A (en) * | 2018-07-31 | 2018-11-27 | 青岛雷沃工程机械有限公司 | A kind of excavator guides construction system and construction method automatically |
| CN110747932B (en) * | 2019-10-18 | 2022-01-11 | 广西柳工机械股份有限公司 | Excavator control system and method |
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