CN115198818B - Work machine control method, device, equipment, medium and work machine - Google Patents
Work machine control method, device, equipment, medium and work machine Download PDFInfo
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- CN115198818B CN115198818B CN202211059198.1A CN202211059198A CN115198818B CN 115198818 B CN115198818 B CN 115198818B CN 202211059198 A CN202211059198 A CN 202211059198A CN 115198818 B CN115198818 B CN 115198818B
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- 230000007246 mechanism Effects 0.000 claims abstract description 67
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- 238000012937 correction Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 9
- 230000008447 perception Effects 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 7
- 230000008439 repair process Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000001680 brushing effect Effects 0.000 description 2
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Classifications
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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
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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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- 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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
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- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to the field of control of working machines, and provides a working machine control method, a device, equipment, a medium and a working machine, wherein the method comprises the following steps: acquiring the relative distance between a working mechanism of the working machine and a target slope; acquiring a job control instruction; determining a movement trend of the operation mechanism based on the operation control instruction; and correcting the operation control command based on the movement trend and the relative distance, and outputting the corrected operation control command. The invention is used for solving the defect that the slope does not meet the requirement because the operating mechanism invades under the slope when the operating machine in the prior art performs slope repairing operation, and correcting the operating control instruction so as to prevent the operating mechanism from invading under the slope.
Description
Technical Field
The present invention relates to the field of control technology of a working machine, and in particular, to a method, an apparatus, a device, a medium, and a working machine for controlling a working machine.
Background
When working machines are used to repair slopes, they are usually first roughly trimmed and then finely trimmed to obtain a high-precision target slope. When a slope is repaired, an operation mechanism of the working machine frequently invades under the slope (for example, a bucket of an excavator frequently invades under the slope) due to the fact that an operator is difficult to accurately control an operation handle, so that the slope does not meet the requirements, and further the problems of poor effect, low efficiency, long time consumption and the like of the slope repairing operation are caused.
Disclosure of Invention
The invention provides a control method, a device, equipment, a medium and a working machine, which are used for solving the defect that the slope is not satisfactory because a working mechanism invades under the slope when the working machine is used for working on the slope in the prior art, and realizing correction of a working control instruction so as to prevent the working mechanism from invading under the slope.
The invention provides a control method of a working machine, comprising the following steps:
acquiring the relative distance between a working mechanism of the working machine and a target slope;
acquiring a job control instruction;
determining a movement trend of the working mechanism based on the working control instruction;
correcting the job control instruction based on the movement trend and the relative distance, and outputting the corrected job control instruction.
According to the work machine control method provided by the invention, the movement trend comprises the following steps: direction and distance of motion;
the correcting the job control instruction based on the movement trend and the relative distance includes:
determining a first signal gain, correcting the work control instruction using the first signal gain, if it is determined that the direction of movement indicates that the relative distance increases, or that the relative distance is unchanged, or that the relative distance decreases and that the relative distance is greater than a first preset distance;
determining a second signal gain based on the relative distance, correcting the job control instruction with the second signal gain, if it is determined that the direction of motion indicates the relative distance is decreasing, the relative distance is less than or equal to the first preset distance, and the relative distance is greater than a second preset distance;
determining a third signal gain, correcting the work control instruction using the third signal gain, if it is determined that the direction of movement indicates that the relative distance decreases and the relative distance is less than or equal to the second preset distance;
wherein the first signal gain is greater than the second signal gain, which is greater than the third signal gain;
the first signal gain is used for indicating that the movement trend is unchanged, the second signal gain is used for indicating that the movement direction is unchanged, the movement distance is reduced, and the third signal gain is used for indicating that the working mechanism stops moving;
wherein the first preset distance is greater than the second preset distance.
According to the work machine control method provided by the invention, the determining of the second signal gain based on the relative distance comprises the following steps:
determining a target relative distance between the operating mechanism and the target slope;
calculating a distance difference between the target relative distance and the relative distance;
the second signal gain is determined based on the distance difference.
According to the present invention, there is provided a work machine control method, the work control instruction including: boom control instructions, stick control instructions, and bucket control instructions;
the determining the movement trend of the working mechanism based on the working control instruction comprises the following steps:
and determining the movement trend of the bucket of the working mechanism based on the movable arm control command, the bucket rod control command and the bucket control command.
According to the present invention, there is provided a method for controlling a working machine, the method for acquiring a relative distance between a working mechanism of the working machine and a target slope, the method comprising:
acquiring sensing data sent by a sensing mechanism of the working machine, slope parameter information of the target slope and physical parameter information of the working machine;
and obtaining the relative distance based on the perception data, the slope parameter information and the physical parameter information.
The present invention also provides a work machine control device including:
the first acquisition module is used for acquiring the relative distance between a working mechanism of the working machine and a target slope;
the second acquisition module is used for acquiring the operation control instruction;
a determining module for determining a movement trend of the working mechanism based on the working control instruction;
and the correction module is used for correcting the operation control instruction based on the motion trend and the relative distance and outputting the corrected operation control instruction.
According to the present invention, there is provided a work machine control device, the movement tendency including: direction and distance of motion;
the correction module is specifically configured to determine a first signal gain, and correct the operation control instruction using the first signal gain, when it is determined that the movement direction indicates that the relative distance increases, or indicates that the relative distance is unchanged, or indicates that the relative distance decreases and the relative distance is greater than a first preset distance;
determining a second signal gain based on the relative distance, correcting the work control instruction with the second signal gain, if it is determined that the direction of motion indicates that the relative distance decreases and that the relative distance is less than or equal to the first preset distance;
determining a third signal gain, correcting the work control instruction using the third signal gain, if it is determined that the direction of movement indicates that the relative distance decreases and the relative distance is less than or equal to the second preset distance;
wherein the first signal gain is greater than the second signal gain, which is greater than the third signal gain;
the first signal gain is used for indicating that the movement trend is unchanged, the second signal gain is used for indicating that the movement direction is unchanged, the movement distance is reduced, and the third signal gain is used for indicating that the working mechanism stops moving;
wherein the first preset distance is greater than the second preset distance.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the work machine control method as described in any one of the above when executing the program.
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 a work machine control method as described in any of the above.
The present invention also provides a work machine comprising a work machine body and a controller for implementing a work machine control method as described in any one of the above.
According to the control method, the device, the equipment, the medium and the working machine provided by the invention, the relative distance between the working mechanism of the working machine and the target slope is obtained by acquiring the relative distance between the working mechanism and the target slope at the current moment; acquiring a job control instruction; determining a movement trend of the operation mechanism based on the operation control instruction so as to obtain a relative distance between the operation mechanism and the target slope at the next moment; based on the motion trend and the relative distance, the operation control instruction is corrected, and the corrected operation control instruction is output.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of controlling a work machine according to the present disclosure;
FIG. 2 is a second flow chart of a method for controlling a work machine according to the present disclosure;
FIG. 3 is a third flow chart of a method for controlling a work machine according to the present disclosure;
FIG. 4 is a schematic illustration of a work machine control device according to the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The work machine control method of the present invention is described below in conjunction with fig. 1-3.
The embodiment of the invention provides a control method of a working machine, which can be applied to intelligent terminals, such as mobile phones, computers, tablets and the like, servers and controllers of the working machine. The following description will be given by taking an example of the method applied to a controller of a work machine, but the description is merely illustrative, and is not intended to limit the scope of the present invention. Some other descriptions of the embodiments of the present invention are also illustrative, and are not intended to limit the scope of the present invention, and will not be described in detail.
Wherein, the work machine of this application includes: a slope brushing machine, an excavator, a land leveler, and the like will be described below by taking a work machine as an excavator.
In order to reduce the operation difficulty of the working machine, improve the working efficiency and the working effect, and not affect the operation flexibility of the working machine, the embodiment of the invention provides a specific implementation of a control method of the working machine, as shown in fig. 1:
step 101, obtaining a relative distance between a working mechanism of the working machine and a target slope.
Specifically, the relative distance between the work implement and the target slope is the vertical distance from the bucket tooth tip (denoted by P) of the work machine to the target slope (denoted by L).
In one embodiment, the relative distance is obtained by obtaining sensed data transmitted by a sensing mechanism of the work machine, slope parameter information of the target slope, and physical parameter information of the work machine.
Wherein, the induction mechanism includes: a plurality of sensors; the slope parameter information comprises: initial relative distance (denoted by H) and grade (denoted by α) of the work mechanism from the target slope; the physical parameter information includes: size information of the work machine, the size information including: the height of the rotation center of the upper vehicle body from the ground, the length of the movable arm, the length of the bucket rod, the length from the rear supporting point of the bucket to the tooth tip, and the like. Specifically, each sensor sends measured angle information (i.e., sensed data) to the controller. The initial relative distance and grade of the target slope is obtained by operator input. The physical parameter information is pre-stored for the controller.
Specifically, the plurality of sensors includes: a rotation angle sensor, an inertial measurement unit, an angle sensor, and the like. As shown in fig. 2, a pivot angle sensor is mounted at a vehicle body position 1, a first inertial measurement unit is mounted at a vehicle body position 2, a second inertial measurement unit is mounted at a boom position 3, a third inertial measurement unit is mounted at an arm position 4, and an angle sensor is mounted at a bucket position 5.
Specifically, the rotation angle of the upper vehicle body is measured by using a rotation angle sensor, the pitch angle, yaw angle and roll angle of the upper vehicle body are measured by using a first inertia measurement unit, the tilt angle of the movable arm is measured by using a second inertia measurement unit, the tilt angle of the bucket rod is measured by using a third inertia measurement unit, and the bucket angle is measured by using an angle sensor.
Specifically, when an operator performs a slope repair operation, the operator inputs an initial relative distance based on his/her actual need, and at this time, the vertical distance from the bucket tooth tip to the target slope is the initial relative distance, and when a subsequent slope repair operation is performed, the vertical distance from the bucket tooth tip to the target slope needs to be calculated in real time as the relative distance, and when a job control instruction triggered by the operator is received, the job control instruction is corrected based on the relative distance, so as to prevent the bucket tooth tip from invading below the slope.
To effectively obtain accurate relative distance, the excavator rotation center O E Projection O on the ground G Establishing a three-dimensional rectangular coordinate system (O) G -x G y G z G ). Wherein, the front of the lower body of the excavator is taken as the X axis (X is used G Indicated by Y), the direction perpendicular to the X axis on the ground is the Y axis (in Y G Represented by Z, is vertically above the ground through the origin G Representation).
In the actual slope repairing process, the relative distance can be changed along with the actual operation of an operator, and the position of the bucket tooth tip in a three-dimensional rectangular coordinate system is calculated based on the received angle information of the sensor and combining the physical parameter information and the slope parameter information.
Specifically, when the initial relative distance is acquired, the initial angle information transmitted by each sensor is also obtained, so that the correspondence between the relative distance and the angle information can be obtained. Therefore, in the subsequent slope repair operation, the angle information is changed due to the movements of the movable arm, the bucket rod and the bucket, and the position of the tooth tip of the bucket in the three-dimensional rectangular coordinate system can be obtained based on the changed angle information, the physical parameter information and the slope parameter information.
Specifically, the initial position P (x 0 ,y 0 ,z 0 ) And slope parameter information, calculating a slope equation. And when the slope repairing operation is carried out later, the vertical distance from the tooth tip of the bucket to the target slope is obtained based on the slope equation.
Wherein the slope equation is represented by a two-dimensional linear equation L, see formula (1):
L：A*xy+B*z+C＝0 (1)
wherein A, B, C is an equation parameter, A is obtained by formula (2), B is obtained by formula (3), and C is obtained by formula (4):
wherein, T_z is the intersection point of the target slope and the Z axis, and is obtained by the formula (5):
subsequently, the operator calculates the real-time position P (x) of the bucket tooth tip in real time while performing the slope repair p ,y p ,z p ) The vertical distance (denoted by dist (P, L)) from the target slope L, see equation (6):
wherein,
specifically, the real-time position of the bucket tooth tip in a three-dimensional rectangular coordinate system is determined through the perception data, the slope parameter information and the physical parameter information, and the vertical distance between the real-time position and the target slope is obtained based on the formula (6), so that the relative distance is obtained.
Step 102, acquiring a job control instruction.
Specifically, an operator triggers a work control instruction by operating a handle, a control display screen, or an operating mechanism of the excavator such as a foot pedal.
Wherein the work control command indicates a movement trend of the boom, the arm, and the bucket at the next time. The purpose of this step is: based on the movements of the boom, stick and bucket, a target position of the bucket tooth tip is obtained to obtain a target relative distance of the work mechanism from the target slope, i.e., a target vertical distance of the bucket tooth tip from the target slope.
Wherein the relative distance can be understood as: the vertical distance between the working mechanism corresponding to the current moment and the target slope surface, and the target relative distance can be understood as: the vertical distance between the corresponding operation mechanism and the target slope at the next moment.
Specifically, whether the problem that the bucket invades the slope surface or not is determined through the target vertical distance, and as can be seen, after the operation control instruction is obtained, the operation control instruction is not directly controlled, and whether the operation control instruction causes the problem that the bucket invades the slope surface or not is judged, if the problem is caused, the operation control instruction is corrected, so that the bucket invades the slope surface is avoided, and if the problem is not caused, the operation control instruction is directly used for controlling the operation mechanism.
Step 103, determining the movement trend of the working mechanism based on the working control instruction.
Wherein, the motion trend of operation mechanism includes: the movement direction and the movement distance are specifically as follows: the bucket moves upwards in the direction vertical to the target slope and the upward movement distance (namely the distance variation) is further included: the bucket moves downward in a direction perpendicular to the target slope, and the downward movement distance (i.e., the distance variation), and may further include: the bucket does not move.
In one embodiment, the job control instruction includes: boom control instructions, stick control instructions, and bucket control instructions; further, a movement tendency of the bucket of the work mechanism is determined based on the boom control command, the arm control command, and the bucket control command.
And 104, correcting the operation control command based on the movement trend and the relative distance, and outputting the corrected operation control command.
Specifically, based on the motion trend and the relative distance, a signal gain is determined, a work control instruction is corrected by the signal gain, and the corrected work control instruction is output.
Wherein, the signal gain indicates the signal intensity corresponding to the operation control instruction.
Wherein, the signal gain is a signal amplification factor or magnification, i.e. a factor for adjusting the signal strength. In particular how to adjust the signal strength, the signal amplifier may be utilized to adjust the signal strength based on the determined signal gain.
In a specific embodiment, regardless of the positional relationship between the bucket and the target slope at the current time, the first signal gain is determined and the work control command is corrected by using the first signal gain when it is determined that the movement direction indicates that the relative distance increases, or that the relative distance is unchanged, or that the relative distance decreases and that the relative distance is greater than the first preset distance.
Wherein the first signal gain is 1, that is, the corrected job control command and the job control command before correction are identical. Since the above-described situation does not cause the bucket tooth tip to intrude into the ground, the work mechanism may be controlled to work in accordance with a work control command triggered by the user.
The first preset distance is a preset distance value, and is a safe distance between the tooth tip of the bucket and the target slope.
Since the movement trend indicates that the relative distance is increased, or is unchanged, or that the tooth tip of the bucket is within a safe distance, the bucket is only far from the target slope, or is unchanged, or does not intrude below the slope, and therefore, the situation of intrusion into the slope does not occur, the work control command does not need to be corrected, and therefore, the first signal gain is 1.
In one embodiment, in the case that the movement direction is determined to indicate that the relative distance is reduced, the relative distance is less than or equal to the first preset distance, and the relative distance is greater than the second preset distance, the second signal gain is determined based on the relative distance, and the operation control command is corrected using the second signal gain.
The second signal gain is a fraction between 0 and 1, and the working control command after the second signal gain correction can enable the movement distance of the working mechanism to be smaller than the movement distance corresponding to the original working control command so as to prevent the condition that the tooth tip of the bucket invades the ground.
The second preset distance is a preset distance value, and is a limit distance between the tooth tip of the bucket and the target slope, for example, the limit distance is 0.
Since the movement trend indicates that the relative distance is reduced and the bucket tooth tip is not within the safe distance, indicating that the bucket may possibly intrude into the slope, the work control command is corrected with the second signal gain to prevent the bucket from encroaching into the slope, and thus the second signal gain is a fraction between 0 and 1 to reduce the movement distance of the bucket tooth tip.
In one embodiment, in the case that the movement direction is determined to indicate that the relative distance is reduced and the relative distance is less than or equal to the second preset distance, a third signal gain is determined, and the operation control command is corrected by using the third signal gain.
Wherein the third signal gain is 0, and since the bucket tooth tip is supposed to intrude into the ground surface in the above-described case, the correction work control command is newly added using the third signal so that the work mechanism does not perform any operation to avoid the bucket tooth tip from intruding into the ground surface.
Since the relative distance is less than or equal to the limit distance, the probability of the bucket invading the slope is very high or the bucket invading the slope is already happened, the movement trend indicates that the relative distance is reduced, and the operation control signal is not sent to the operation mechanism for operation, so that the bucket invading is prevented.
Although the present invention prevents the bucket from invading the slope by correcting the work control command, the inertia of the work machine is very large, and therefore, the bucket may also invade the slope, but the present invention generally improves the accuracy of preventing the bucket from invading the slope.
Wherein the first signal gain is greater than the second signal gain, which is greater than the third signal gain;
the first signal gain is used for indicating that the movement trend is unchanged, the second signal gain is used for indicating that the movement direction is unchanged, the movement distance is reduced, and the third signal gain is used for indicating that the operation mechanism stops moving;
wherein the first preset distance is greater than the second preset distance.
The invention generates signal gains corresponding to the current working conditions aiming at different working conditions so as to prevent the tooth tips of the bucket from invading below the slope, thereby protecting the target slope from being damaged, effectively improving the effect of slope repair operation, improving the working efficiency and reducing the working duration.
In a specific embodiment, the second signal gain is determined in a specific manner: determining a target relative distance between the operating mechanism and the target slope; calculating the distance difference between the relative distance of the target and the relative distance; a second signal gain is determined based on the distance difference.
The following describes a work machine control method in detail by way of one embodiment:
first, a preprocessing operation is performed, including: an operator inputs an initial relative distance and a gradient through a human-computer interaction interface; the controller calculates and obtains a slope equation according to the slope parameter information and the initial position of the tooth tip of the bucket;
furthermore, an operator starts working through the operating handle, and the controller calculates the vertical distance between the tooth tip of the bucket and the target slope in real time;
finally, the controller calculates the signal gain of the response according to the operation control command, and controls the output of the operation control command, thereby preventing the bucket from invading below the slope and keeping the bucket above the slope, and the method is concretely as follows:
(1) Aiming at a bucket rod handle instruction, a movable arm handle instruction and a bucket handle instruction, judging the variation of the vertical distance between the bucket tooth tip and the target slope caused by each instruction control instruction;
(2) When the vertical distance is greater than the first preset distance, the signal gain k=1;
(3) When the vertical distance is larger than 0 and smaller than a first preset distance, if the operation control instruction causes the vertical distance to be reduced, the signal gain is 0< k <1; if the vertical distance is increased or unchanged due to the operation control command, the signal gain k=1;
(4) When the vertical distance is less than 0, i.e., the bucket tooth tip is already below the slope, if the work control command causes the vertical distance to decrease, the signal gain k=0; if the operation control command causes the vertical distance to increase or not change, the signal gain k=1.
That is, the job control command is Cmd in If the signal gain is k, the final output operation control command Cmd out ＝Cmd in *k；
Wherein 0 corresponding to the vertical distance represents a second preset distance.
Next, correction of the job control instruction will be specifically described by one embodiment:
when disp (P, L) is greater than D:
signal gain k boom ＝1,k arm =1 and k buk =1, whichIn (k) boom Indicating the signal gain, k, corresponding to the boom control command arm Indicating the signal gain, k, corresponding to the arm control command buk Indicating the signal gain corresponding to the bucket control command. The signal gain is a preset coefficient, and D represents a first preset distance;
when 0= < disp (P, L). Ltoreq.d:
when the relative distance is increased or unchanged as a result of the operation control command, the signal gain k boom ＝1,k arm =1 and k buk ＝1；
When the operation control command causes the relative distance to decrease, the signal gain is obtained by the formula (7):
wherein mu is an adjusting factor, and the value range is more than or equal to 0 and less than or equal to 100; delta disp_boom ，Δ dusp_arm And delta disp_buk The variable quantity of the distance between the tooth tip of the bucket and the target slope, namely the difference value between the relative distance and the target relative distance, is respectively caused by a movable arm control instruction, a bucket rod control instruction and a bucket control instruction, and is specifically obtained through a formula (8):
wherein,x respectively caused by arm control command G ,y G And z G Distance variation in direction; /> X respectively caused by arm control instruction G ,y G And z G Distance variation in direction; />X caused by bucket control instructions, respectively G ,y G And z G Distance variation in direction. Each distance variable is calculated by a corresponding angle variable, each angle variable is obtained by calibration, wherein,<the 0 corresponding to disp (P, L) represents a second preset distance.
When disp (P, L) < 0:
when the relative distance is increased or unchanged as a result of the operation control command, the signal gain k boom ＝1,k arm =1 and k buk ＝1；
When the relative distance decreases as a result of the operation control command, the signal gains are k, respectively boom ＝0,k arm =0 and k buk ＝0。
According to the signal gain, the corrected operation control command is obtained by the formula (9):
wherein Cmd boom_in For boom control commands, cmd arm_in Arm control command, cmd buk_in For bucket control commands, cmd boom_out For corrected boom control commands, cmd arm_out Cmd for corrected stick control command buk_out For the corrected bucket control command, disp (P, L) represents the relative distance.
Wherein the signal gain comprises: a first signal gain, a second signal gain, and a third signal gain.
Specifically, when an operator selects a slope protection function to be on in a man-machine interaction interface, the slope protection mode is entered, and the control method of the operation machinery is executed; and when the slope protection function is selected to be off, exiting the slope protection mode.
Next, a work machine control method according to the present invention will be specifically described with reference to fig. 3:
in step 301, the initial relative distance and grade set by the operator is obtained.
Step 302, calculating the position of the bucket tooth tip in a three-dimensional rectangular coordinate system in real time.
In step 303, the relative distance of the bucket tooth tip from the target slope is calculated.
Step 304, a job control instruction is obtained.
Step 305, determining a trend of movement of the bucket tooth tip based on the work control command.
Step 306, calculating signal gain based on the relative distance and motion trend.
Step 307, correcting the operation control command by the signal gain, and outputting the corrected operation control command.
According to the control method of the working machine, the relative distance between the working mechanism of the working machine and the target slope is obtained, so that the relative distance between the working mechanism and the target slope at the current moment is obtained; acquiring a job control instruction; determining a movement trend of the operation mechanism based on the operation control instruction so as to obtain a relative distance between the operation mechanism and the target slope at the next moment; based on the motion trend and the relative distance, the operation control instruction is corrected, and the corrected operation control instruction is output.
The following describes a working machine control device provided by the present invention, where the working machine control device described below and the working machine control method described above may be referred to correspondingly, and the repetition is not repeated, as shown in fig. 4, where the device includes:
a first obtaining module 401, configured to obtain a relative distance between a work mechanism of the work machine and a target slope;
a second obtaining module 402, configured to obtain a job control instruction;
a determining module 403, configured to determine a movement trend of the working mechanism based on the working control instruction;
the correction module 404 is configured to correct the job control instruction based on the movement trend and the relative distance, and output the corrected job control instruction.
In one embodiment, the movement trend includes: direction and distance of motion;
the correction module 404 is specifically configured to determine a first signal gain and correct the operation control command using the first signal gain when it is determined that the movement direction indicates that the relative distance increases, or indicates that the relative distance is unchanged, or indicates that the relative distance decreases and the relative distance is greater than a first preset distance;
determining a second signal gain based on the relative distance when the movement direction indicates that the relative distance is reduced and the relative distance is less than or equal to the first preset distance, and correcting the operation control command by using the second signal gain;
determining a third signal gain when the movement direction indicates that the relative distance is reduced and the relative distance is less than or equal to a second preset distance, and correcting the operation control command by using the third signal gain;
wherein the first signal gain is greater than the second signal gain, which is greater than the third signal gain;
the first signal gain is used for indicating that the movement trend is unchanged, the second signal gain is used for indicating that the movement direction is unchanged, the movement distance is reduced, and the third signal gain is used for indicating that the operation mechanism stops moving;
wherein the first preset distance is greater than the second preset distance.
In one embodiment, the correction module 404 is specifically configured to determine a target relative distance between the work mechanism and the target slope; calculating the distance difference between the relative distance of the target and the relative distance; a second signal gain is determined based on the distance difference.
In one embodiment, the job control instruction includes: boom control instructions, stick control instructions, and bucket control instructions; the determining module 403 is specifically configured to determine a movement trend of the bucket of the work mechanism based on the boom control command, the arm control command, and the bucket control command.
In one embodiment, the first obtaining module is specifically configured to obtain sensing data sent by a sensing mechanism of the working machine, slope parameter information of a target slope, and physical parameter information of the working machine; and obtaining the relative distance based on the perception data, the slope parameter information and the physical parameter information.
Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: a processor (processor) 501, a communication interface (Communications Interface) 502, a memory (memory) 503 and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 communicate with each other via the communication bus 504. Processor 501 may invoke logic instructions in memory 503 to perform a work machine control method comprising: acquiring the relative distance between a working mechanism of the working machine and a target slope; acquiring a job control instruction; determining a movement trend of the work mechanism based on the work control instruction; and correcting the operation control command based on the movement trend and the relative distance, and outputting the corrected operation control command.
Further, the logic instructions in the memory 503 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the work machine control method provided by the above embodiments, the method comprising: acquiring the relative distance between a working mechanism of the working machine and a target slope; acquiring a job control instruction; determining a movement trend of the work mechanism based on the work control instruction; and correcting the operation control command based on the movement trend and the relative distance, and outputting the corrected operation control command.
In yet another aspect, the present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the work machine control method provided by the above embodiments, the method comprising: acquiring the relative distance between a working mechanism of the working machine and a target slope; acquiring a job control instruction; determining a movement trend of the work mechanism based on the work control instruction; and correcting the operation control command based on the movement trend and the relative distance, and outputting the corrected operation control command.
The embodiment of the invention also provides a working machine, which comprises: a work machine body and a controller for implementing a work machine control method as described in any of the embodiments above.
Wherein the work machine includes: a slope brushing machine, an excavator, a land leveler and the like.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A work machine control method, comprising:
acquiring the relative distance between a working mechanism of the working machine and a target slope;
acquiring a job control instruction;
determining a movement trend of the working mechanism based on the working control instruction;
correcting the operation control instruction based on the movement trend and the relative distance, and outputting the corrected operation control instruction;
the movement trend includes: direction and distance of motion;
the correcting the job control instruction based on the movement trend and the relative distance includes:
determining a first signal gain, correcting the work control instruction using the first signal gain, if it is determined that the direction of movement indicates that the relative distance increases, or that the relative distance is unchanged, or that the relative distance decreases and that the relative distance is greater than a first preset distance;
determining a second signal gain based on the relative distance, correcting the job control instruction with the second signal gain, if it is determined that the direction of motion indicates the relative distance is decreasing, the relative distance is less than or equal to the first preset distance, and the relative distance is greater than a second preset distance;
determining a third signal gain, correcting the work control instruction using the third signal gain, if it is determined that the direction of movement indicates that the relative distance decreases and the relative distance is less than or equal to the second preset distance;
wherein the first signal gain is greater than the second signal gain, which is greater than the third signal gain;
the first signal gain is used for indicating that the movement trend is unchanged, the second signal gain is used for indicating that the movement direction is unchanged, the movement distance is reduced, and the third signal gain is used for indicating that the working mechanism stops moving;
wherein the first preset distance is greater than the second preset distance.
2. The work machine control method of claim 1, wherein the determining a second signal gain based on the relative distance comprises:
determining a target relative distance between the operating mechanism and the target slope;
calculating a distance difference between the target relative distance and the relative distance;
the second signal gain is determined based on the distance difference.
3. The work machine control method according to any one of claims 1 to 2, characterized in that the work control instruction includes: boom control instructions, stick control instructions, and bucket control instructions;
the determining the movement trend of the working mechanism based on the working control instruction comprises the following steps:
and determining the movement trend of the bucket of the working mechanism based on the movable arm control command, the bucket rod control command and the bucket control command.
4. The work machine control method according to any one of claims 1 to 2, characterized in that the obtaining of the relative distance of a work mechanism of the work machine from a target slope includes:
acquiring sensing data sent by a sensing mechanism of the working machine, slope parameter information of the target slope and physical parameter information of the working machine;
and obtaining the relative distance based on the perception data, the slope parameter information and the physical parameter information.
5. A work machine control device, comprising:
the first acquisition module is used for acquiring the relative distance between a working mechanism of the working machine and a target slope;
the second acquisition module is used for acquiring the operation control instruction;
a determining module for determining a movement trend of the working mechanism based on the working control instruction;
a correction module configured to correct the job control instruction based on the movement trend and the relative distance, and output the corrected job control instruction;
the movement trend includes: direction and distance of motion;
the correction module is specifically configured to determine a first signal gain, and correct the operation control instruction using the first signal gain, when it is determined that the movement direction indicates that the relative distance increases, or indicates that the relative distance is unchanged, or indicates that the relative distance decreases and the relative distance is greater than a first preset distance;
determining a second signal gain based on the relative distance, correcting the work control instruction with the second signal gain, if it is determined that the direction of motion indicates that the relative distance decreases and that the relative distance is less than or equal to the first preset distance;
determining a third signal gain, correcting the work control instruction using the third signal gain, if it is determined that the direction of movement indicates that the relative distance decreases and the relative distance is less than or equal to the second preset distance;
wherein the first signal gain is greater than the second signal gain, which is greater than the third signal gain;
the first signal gain is used for indicating that the movement trend is unchanged, the second signal gain is used for indicating that the movement direction is unchanged, the movement distance is reduced, and the third signal gain is used for indicating that the working mechanism stops moving;
wherein the first preset distance is greater than the second preset distance.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the work machine control method of any one of claims 1 to 4 when the program is executed.
7. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the work machine control method according to any one of claims 1 to 4.
8. A work machine, the work machine comprising: a work machine body and a controller for implementing a work machine control method according to any one of claims 1-4.
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