CN103809595A - Engineering machinery operation method, operation terminal, control device and operation system - Google Patents
Engineering machinery operation method, operation terminal, control device and operation system Download PDFInfo
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- CN103809595A CN103809595A CN201410037063.4A CN201410037063A CN103809595A CN 103809595 A CN103809595 A CN 103809595A CN 201410037063 A CN201410037063 A CN 201410037063A CN 103809595 A CN103809595 A CN 103809595A
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Abstract
The invention discloses an engineering machinery operation method, operation terminal, control device and operation system. The engineering machinery operation method includes the steps: building the same coordinate system of the operation terminal and engineering machinery by referring to a geodetic datum; acquiring and analyzing operation actuating signals of the operation terminal to determine operation information of the engineering machinery, and outputting the operation information to the engineering machinery control device. Therefore, the engineering machinery can be accurately controlled, operation is accurate and flexible, and operation errors caused by a handle or calibration are prevented.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of control method of engineering machinery, operation control terminal, control device and control system.
Background technology
At present, in the operation of engineering machinery, especially multi freedom degree mechanical device, operate and generally operate by the telechiric device with handle, operator need to take into full account jib attitude and engineering machine vehicle body position, realize the normal construction under different operating modes, and this operation and operator present position are irrelevant.Therefore, this just needs operator to possess sufficient space multistory sense and consummate operative technique, has virtually increased human cost, once otherwise operator does not possess such specialized capability, in work progress, will cause inconvenience, affect construction effect.
For example, there is a kind of like this telechiric device that operates engineering mechanical arm, determine that by coordinate synchro switch and joystick joystick direction is inceptive direction, and pass through joystick anglec of rotation control mechanical arm in this.In operating process, operator needs constantly will ownly carry out locus conversion with engineering machinery, thereby judges the physical location of engineering machinery, for accurately handling telechiric device.
But this mode of operation exists manually demarcates the operate miss that inceptive direction causes, and for general operation hand, easily produces maloperation.Especially for handling bad engineering machinery, if at Construction of High-rise, easily cause the waste of concrete or other construction material, and easily encounter buildings or fence etc., this has just caused waste to a certain extent.
On the one hand, for the existing telechiric device with handle, need operator to operate several handles simultaneously and realize terminal position and move, complicated operation and not accurate.On the other hand, for operator, need constantly the information such as position, jib attitude of consideration engineering machinery just can realize arm support tail end and build accurate control a little, easily cause maloperation and construction waste.
Summary of the invention
In view of this, the present invention proposes a kind of control method, operation control terminal, control device and control system of engineering machinery, can realize the accurate control to engineering machinery, and operation accurate and flexible, prevents the operate miss causing because of handle or demarcation.
For achieving the above object, technical scheme of the present invention is achieved in that
On the one hand, the invention provides a kind of control method of engineering machinery, the control method of this project machinery comprises: take geodetic datum as reference, operating terminal is set up identical coordinate system with engineering machinery; Obtain the control action signal of operating terminal self, described control action signal is analyzed, to determine the manipulation information to described engineering machinery, and export the control device of described manipulation information to described engineering machinery.
Further, in said method, obtain the action control signal of operating terminal self, described action control signal is analyzed, comprise with the step of determining the manipulation information to described engineering machinery: the action control signal of described operation control terminal induction self, described action control signal comprises self gravitation direction and the degree of tilt of described operation control terminal sense; Described gravity direction and degree of tilt and described geodetic datum are compared, by data-switching, obtain the manipulation information that includes steer direction and manipulation speed.
Further, said method also comprises: the current pose and the work information that obtain described engineering machinery; To described current pose, work information and the processing of manipulation frame, and current pose, work information and manipulation information after subregion dynamic display processing.
Further, said method also comprises: adopt one or more forms in sound, vibration, word, animation, send dynamic reminding signal, carry out early warning.
Further, said method also comprises: based on described manipulation information, the movement locus of described engineering machinery is set, determines rotation planning amount and the jib translation planning amount of described engineering machinery; Judge that determined rotation planning amount and jib translation planning amount are whether in the spacing weight range of correspondence, if described rotation planning amount and jib translation planning amount are in the spacing weight range of correspondence, according to default planning displacement and the corresponding relation of drive current, determine the drive current corresponding with described rotation amount and jib translational movement, described drive current is carried out, after feedback compensation, being exported to the action actuating mechanism of described engineering machinery; If the arbitrary planning amount in described rotation planning amount and jib translation planning amount is not in the spacing weight range of correspondence, for the planning amount in the spacing weight range of correspondence not, adjust set movement locus, until make described rotation planning amount and jib translation planning amount all in the spacing weight range of correspondence.
With respect to prior art, the present invention has following advantage:
Operating terminal of the present invention is take geodetic datum as reference, set up the coordinate system identical with engineering machinery, not only be convenient to carry out determining of engineering machinery pose, contribute to carry out the jib of engineering machinery, the location of turntable pose, also facilitate manipulation information is changed and processed, realize and the seamless link of work machine operation, avoid the operate miss causing because of handle or demarcation.
In manipulation process, operating terminal according to pose, work information and the manipulation information of obtaining described engineering machinery, is determined and exports the manipulation information of described engineering machinery to the control device of described engineering machinery, realizing the control to engineering machinery.Therefore, operating terminal of the present invention is not only convenient to realize the accurate control of engineering machinery, and operation accurate and flexible.
Correspondingly, the present invention also provides a kind of operation control terminal of engineering machinery, and the operation control terminal of this project machinery comprises: initialization module, is configured to, take geodetic datum as reference, set up the three-dimensional system of coordinate of operating terminal and engineering machinery; Acquisition of information module, is configured to obtain the action control signal of self, and determines accordingly the manipulation information of described engineering machinery; Message output module, is configured to export described manipulation information to the control device of described engineering machinery.
Further, in said apparatus, described acquisition of information module comprises: sensing unit, be configured to the action control signal based on described geodetic datum induction operation control terminal self, and described action control signal comprises self gravitation direction and the degree of tilt of described operation control terminal sense; Information process unit, is configured to described gravity direction and degree of tilt and described geodetic datum to compare, and by data-switching, obtains the manipulation information that includes steer direction and manipulation speed.
Further, in said apparatus, described acquisition of information module also comprises: pose acquiring unit and operating mode acquiring unit; Wherein, pose acquiring unit is configured to communicate with the control device of described engineering machinery, obtains the current pose of described engineering machinery; Operating mode acquiring unit is configured to communicate with the control device of described engineering machinery, obtains the current working information of described engineering machinery; Described operation control terminal also comprises: display device, and be configured to image conversion and process the current pose of described engineering machinery, work information and manipulation information, and current pose, work information and manipulation information after subregion dynamic display processing.
Further, in said apparatus, described display device also disposes: touch-control module, disposes screen control, and is configured to by the executivecontrol function of described screen control; And/or, warning module, be configured to adopt sound, vibration, word one or more forms in animation send dynamic reminding signal, carry out early warning.
Further, said apparatus also comprises: machine control unit, disposes with engineering machinery and moves corresponding mechanical key, and be configured to by described mechanical key executivecontrol function.
With respect to prior art, the present invention has following advantage:
Operating terminal of the present invention is take geodetic datum as reference, set up the coordinate system identical with engineering machinery, not only be convenient to carry out determining of engineering machinery pose, contribute to carry out the jib of engineering machinery, the location of turntable pose, also facilitate manipulation information is changed and processed.
In manipulation process, engineering machinery pose, work information and manipulation information that the message processing module of operating terminal obtains according to acquisition of information module, determine the manipulation information of described engineering machinery, and given the control device of described engineering machinery by message output module, realize the control to engineering machinery.Therefore, operating terminal of the present invention is not only convenient to realize the accurate control of engineering machinery, operation accurate and flexible, and can with work machine operation seamless link, avoid the operate miss causing because of handle or demarcation.
Correspondingly, the present invention also provides a kind of control device of engineering machinery, and this control device comprises: information receiving module, trajectory planning module, spacing module, electric current-planning amount ratio module, adjusting module and output module; Wherein:
Described information receiving module is configured to: receive manipulation information; Described trajectory planning block configuration is: based on described manipulation information, the movement locus of described engineering machinery is set, determines rotation planning amount and the jib translation planning amount of described engineering machinery; Described spacing block configuration is: judge that described trajectory planning module determined rotation planning amount and jib translation planning amount are whether in the spacing weight range of correspondence, and in the spacing weight range in correspondence time, notify described electric current-planning amount ratio module in described rotation planning amount and jib translation planning amount; Described electric current-planning amount ratio module is configured to: according to default planning displacement and the corresponding relation of drive current, determine the drive current corresponding with described rotation amount and jib translational movement, described drive current is carried out, after feedback compensation, being exported to the action actuating mechanism of described engineering machinery; Described adjusting module is configured to: determine that in described spacing module arbitrary planning amount in described rotation planning amount and jib translation planning amount is not in the spacing weight range in correspondence, for the planning amount in the spacing weight range of correspondence not, adjust set movement locus, until make described rotation planning amount and jib translation planning amount all in the spacing weight range of correspondence.
With respect to prior art, the present invention has following advantage:
Therefore, control device of the present invention coordinates with above-mentioned operation control terminal and can guarantee that operator where position in office realizes the accurate and flexible operation to engineering machinery.The present invention can realize the seamless link of operation control terminal and work machine operation, avoids the operate miss causing because of handle or demarcation.
Correspondingly, the present invention also provides a kind of control system of engineering machinery, and the control system of this project machinery comprises: the operation control terminal of above-mentioned engineering machinery described in any; Sensor-based system, is arranged on the motion in engineering machinery, and is configured to gather the pose signal of each motion; Car body sensing unit, is arranged on the car body of engineering machinery, and is configured to the car body pose signal of gathering project machinery; Control device, is arranged in engineering machinery, is connected with described sensor-based system, described car body sensing unit and described operation control terminal; Wherein, described control device is configured to: receive and process pose signal and the described car body pose signal of described each motion, determine the current pose of engineering machinery; Described control device receives and processes described manipulation information, and indication corresponding sports mechanism moves according to described manipulation information and executing.
With respect to prior art, the present invention has following advantage:
Therefore, the intelligent-induction control system of the present invention's design, assurance operator is in office, and where the accurate and flexible operation to engineering machinery is realized in position.Control system of the present invention is realized the seamless link of operation control terminal and work machine operation, avoids the operate miss causing because of handle or demarcation.
Accompanying drawing explanation
The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
The schematic flow sheet of the control method that Fig. 1 provides for the embodiment of the present invention;
Fig. 2 is the schematic flow sheet that obtains pose in the embodiment of the present invention;
Fig. 3 is the schematic flow sheet that obtains manipulation information in the embodiment of the present invention;
The overall control schematic flow sheet of the control system that Fig. 4 provides for the embodiment of the present invention;
The trajectory planning schematic flow sheet that Fig. 5 provides for the embodiment of the present invention;
The control flow schematic diagram of the operation control terminal side that Fig. 6 provides for the embodiment of the present invention;
The block scheme of the control system that Fig. 7 provides for the embodiment of the present invention;
The schematic diagram of the direction inductor device that Fig. 8 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, in the situation that not conflicting, the feature in embodiment and embodiment in the present invention can combine mutually.
Basic thought of the present invention is: for the engineering machinery arm of telechiric device control, the operation control terminal of design based on gravity sensing effect, by proving operation direction, realizes engineering mechanical components as the action control of mechanical arm.And, demonstration, touch-control interface are also set on operation control terminal, the dynamic demonstration of convenient operation information and carry out direction of motion setting.
Below in conjunction with accompanying drawing, each preferred embodiment of the present invention is described further:
embodiment of the method
For solving the complicated operation that the control of engineering machinery existed in prior art, controlling not technical matters accurately, the present embodiment proposes a kind of control method of engineering machinery, this control method comprises: take geodetic datum as reference, operating terminal is set up identical coordinate system with engineering machinery; Obtain the control action signal of operating terminal self, described control action signal is analyzed, to determine the manipulation information to described engineering machinery, and export the control device of described manipulation information to described engineering machinery.
With reference to Fig. 1, it shows the engineering machinery control method of the present embodiment.In the present embodiment, this project machinery control method comprises the following steps:
S102: take geodetic datum as reference, operating terminal is set up identical coordinate system with engineering machinery.
In this step, coordinate system can adopt cartesian space three-dimensional system of coordinate.For example, using engineering machinery turntable and hinged place, a jib top as true origin, take the hopper direction of vehicle body as X positive axis, take the direction perpendicular to vehicle body as Y-axis positive axis, according to the cartesian coordinate system right-hand rule, can determine Z axis.
Wherein, set up coordinate system mainly from the viewpoint of two, the one,, be convenient to carry out determining of engineering machinery pose, contribute to carry out the jib of engineering machinery, the location of turntable pose; The 2nd,, operating terminal adopts identical coordinate reference system with engineering machinery, is convenient to conversion and the processing of the information that manipulates.
S104: obtain the action control signal of operating terminal self, described action control signal is analyzed, to determine the manipulation information to described engineering machinery.
It should be noted that, this step further comprises:
S1041: the action control signal of described operation control terminal induction self, described action control signal comprises self gravitation direction and the degree of tilt of described operation control terminal sense;
S1042: described gravity direction and degree of tilt and described geodetic datum are compared, by data-switching, obtain the manipulation information that includes steer direction and manipulation speed.
It should be noted that, the present embodiment can adopt the sensing unit of gravity sensing device as operation control terminal, is steer direction and manipulation speed by sensed gravity direction and terminal degree of tilt corresponding conversion, thereby forms manipulation information.
S106: pose, work information and manipulation information to described engineering machinery are analyzed, and determine the manipulation information of described engineering machinery, and export the control system of described manipulation information to described engineering machinery.
In a preferred embodiment, said method also can comprise the following steps:
Obtain current pose and the work information of described engineering machinery, to described current pose, work information and the processing of manipulation frame, current pose, work information and manipulation information after subregion dynamic display processing.
In above-mentioned steps, obtain and calculate and can in the control system of engineering machinery, realize for car body, the jib pose of engineering machinery, operating terminal, by carrying out information interaction with control system, obtains pose, the work information of engineering machinery.
Wherein, the pose that obtains described engineering machinery further comprises: under geodetic datum, obtain the current direction of engineering machinery car body by the car body sensing unit of described engineering machinery; By turntable rotary encoder and the jib obliquity sensor of described engineering machinery, the anglec of rotation of gathering project machinery and jib inclination angle thereof, to obtain rotation attitude and jib pose.
For example, take pump truck as example, on pump truck car body, sensing unit is installed, for obtaining the existing direction of pump truck car body under geodetic datum.At pump truck revolving table position, rotary encoder is installed, setting angle sensor on mechanical arm, these two kinds of sensors are used for gathering corresponding actions angle, calculate rotation attitude and jib pose.
With reference to Fig. 2, it shows a kind of pose obtain manner of pump truck: the control system of pump truck is received after the rotary encoder through signals that rotary encoder transmits, and this rotary encoder through signals is processed, and calculates the anglec of rotation.The control system of pump truck is received after the arm angle signal that angular transducer transmits, and this arm angle signal is processed, and calculates mechanical arm angle.According to the anglec of rotation and the mechanical arm angle that obtain, in conjunction with the equation of motion of mechanical arm parameter library and foundation, calculate the coordinate of each arm joint, thereby obtain pump truck pose, then pump truck pose signal is exported to operation control terminal.So far, a pose calculates and finishes.It should be noted that, the control system of pump truck collects after these posture information, can be initiatively or answer the request of operation control terminal, provide the posture information of pump truck to it.
It should be noted that, for ease of explanation, the present embodiment is manipulation information by the preliminary manipulation demonstrative definition producing on operation control terminal, is manipulation information by manipulation information definition after treatment, and manipulation information can be treated to image conversion information.
In above-described embodiment, pose to described engineering machinery, work information and the processing of manipulation frame, and engineering machinery pose, work information and manipulation information after subregion dynamic display processing.For example, demonstration, touch-control interface are set on operation control terminal, the dynamic demonstration of convenient operation information and carry out direction of motion setting.And, can also show that touch-control interface arranges knee-action manipulation key, realizes the three dimensions rectilinear motion of engineering machinery.
The present embodiment can pump truck be example, and the process of image conversion being processed to manipulation information is described further, and with reference to Fig. 3, it shows the present embodiment the manipulation information of operation control terminal is transformed the process of manipulation information:
As shown in Figure 3, in the time starting pump truck to control, operation control terminal obtains geodetic datum, sense the control action signal of self, according to this control action signal acquisition direction of operating, then this steer direction is carried out to data processing, determine its coordinate under geodetic datum, be converted to the manipulation information of image conversion.Manipulation information on operation control terminal after Graphics Processing, and output it to the control system of pump truck, the control operation that control system can be follow-up according to this manipulation information realization.
In a preferred embodiment, above-mentioned control method also comprises: adopt the form of sound, vibration, word and/or animation, send dynamic reminding signal, carry out early warning.In the present embodiment, all can adopt the alarm modes such as picture, word, vibration, loudspeaker or animation to operating mode, pose, information that manipulation is relevant, inform that operator operates the multidate information of operating mode at present.
In a preferred embodiment, above-mentioned control method also can comprise the following steps:
Based on described manipulation information, the movement locus of described engineering machinery is set, determine rotation planning amount and the jib translation planning amount of described engineering machinery;
Judge that determined rotation planning amount and jib translation planning amount are whether in the spacing weight range of correspondence, if described rotation planning amount and jib translation planning amount are in the spacing weight range of correspondence, according to default planning displacement and the corresponding relation of drive current, determine the drive current corresponding with described rotation amount and jib translational movement, described drive current is carried out, after feedback compensation, being exported to the action actuating mechanism of described engineering machinery;
If the arbitrary planning amount in described rotation planning amount and jib translation planning amount is not in the spacing weight range of correspondence, for the planning amount in the spacing weight range of correspondence not, adjust set movement locus, until make described rotation planning amount and jib translation planning amount all in the spacing weight range of correspondence.
Above-described embodiment can manipulate information based on terminal direction indication, and engineering machinery is carried out to trajectory planning.Below in conjunction with Fig. 4 and Fig. 5, the three dimensions trajectory planning of engineering machinery is described further:
With reference to Fig. 4, it shows the overall control flow process of the control method of the present embodiment proposition.With reference to Fig. 5, it shows the trajectory planning flow process of the control method of the present embodiment proposition.
As shown in Figure 4 and Figure 5, when after definite manipulation information, the control device of engineering machinery can be according to manipulation information, current location and next target location (determining according to manipulation information) are set up and are optimized movement locus, also can say, be mainly how to solve according to manipulation information herein, make engineering machinery actuating mechanism steadily reach the target location of appointment.
In the present embodiment, the control device of engineering machinery can, based on manipulation information, arrange the movement locus of its relevant action mechanism, determines rotation planning amount and the jib translation planning amount of engineering machinery.Here, rotation planning amount comprises two components: the one, and rotational angle, the 2nd, velocity of rotation.Jib translation planning amount also comprises two components: the one, and displacement, the 2nd, translational speed.
Preferably, the control of rotation is separated and carried out with the control of mechanical arm plane, to rotating mechanism, its spinning movement planning amount is set; For mechanical jib, the extension/contraction amount of its mechanical arm tail end is set, and in mechanical arm plane, adopts two-dimentional planning strategy, ask for each arm joint motion planning amount.Wherein, two-dimentional planning strategy mainly refers to: in mechanical arm plane, make relevant action mechanism can reach the specified position of movement locus, and can steadily reach assigned address.
As shown in Figure 5, control device judges that determined rotation planning amount and jib translation planning amount are whether in the spacing weight range of correspondence.In this step, can by judging whether each arm joint exceeds its scope of spacing angle separately, judge that rotation planning amount, jib translation planning amount are whether in the spacing weight range of correspondence.Wherein, the spacing angle of each arm joint is according to the own characteristic setting of engineering machinery, and general spacing angle is between 0～180 °.
If each arm joint does not exceed its scope of spacing angle separately, the planning displacement arranging according to electric current-planning amount ratio module and the corresponding relation of drive current, determine the drive current corresponding with rotation amount and jib translational movement, drive current is carried out, after feedback compensation, being exported to the action actuating mechanism of engineering machinery.Wherein, the corresponding relation of planning displacement and drive current can be determined according to the funtcional relationship i=I between the displacement of planning in valve characteristic and drive current (Q).
But, if there is arm joint to exceed it from spacing angle, judge whether jib can move, if jib cannot move, stop output, and send the warning that jib cannot move.If jib can move,, for the planning amount in the spacing weight range of correspondence not, adjust set movement locus, until make to rotate planning amount and jib translation planning amount all in the spacing weight range of correspondence.
In the present embodiment, can, by drive current is carried out to feedback compensation, obtain accurate drive current i, and accurate drive current i be exported to the multi-joint jib topworks of engineering machinery.
Below, be described further in conjunction with the above-mentioned control method of Fig. 6:
With reference to Fig. 6, it shows the manipulation process of this example.In this example, the operation control terminal of pump truck is provided with sensing unit, for obtaining the steer direction of current operation control terminal.Sensing unit, by inductive terminations gravity direction, obtains control action signal, and itself and geodetic datum is compared, and by data-switching, obtains manipulation information, also this manipulation information can be presented on the demonstration contactor control device of operation control terminal.
Operation control terminal is provided with demonstration contactor control device, be used for pump truck car body direction at display screen, and current working information (information such as number of times, duty, pressure commutate), pump truck pose (under geodetic datum), manipulation touch key-press are presented on screen, and, can carry out remote control actions by screen and terminal machinery control.Wherein, show that contactor control device can directly be operated, also can set up basic mechanical key for key operation.
On the pump truck car body being manipulated by pump truck operation control terminal, sensing unit is installed, for obtaining the current direction of pump truck car body under geodetic datum.Pump truck revolving table position is provided with rotary encoder, setting angle sensor on mechanical arm.These two kinds of sensors are used for gathering corresponding actions angle, calculate rotation attitude and jib pose.
As shown in Figure 6, pump truck operation control terminal obtains geodetic datum after starting, and sets up coordinate system, and monitors sensing unit and whether sense manipulation information, and in the time sensing manipulation information, manipulation information is processed, and obtains the manipulation information of the engineering machinery of image conversion.And the control device of operation control terminal and pump truck communicates, obtain pump truck real-time pose and important work information.Operation control terminal can carry out subregion to manipulation information, pump truck real-time pose and important work information and dynamically show on it shows the screen of contactor control device, and will manipulation communication to the control device of pump truck.
Compared with prior art, the various embodiments described above tool of the present invention has the following advantages:
Operating terminal of the present invention is take geodetic datum as reference, set up the coordinate system identical with engineering machinery, not only be convenient to carry out determining of engineering machinery pose, contribute to carry out the jib of engineering machinery, the location of turntable pose, also facilitate manipulation information is changed and processed.
In manipulation process, operating terminal according to pose, work information and the manipulation information of obtaining described engineering machinery, is determined and exports the manipulation information of described engineering machinery to the control device of described engineering machinery, realizing the control to engineering machinery.Therefore, operating terminal of the present invention is not only convenient to realize the accurate control of engineering machinery, operation accurate and flexible, and can with the seamless link of work machine operation, avoid the operate miss causing because of handle or demarcation.
terminal embodiment
With reference to Fig. 7, it shows the control system of the engineering machinery of the present embodiment.In the present embodiment, engineering machinery operation control terminal comprises: initialization module, acquisition of information module, message processing module and message output module.Wherein:
Initialization module is configured to: take geodetic datum as reference, set up the three-dimensional system of coordinate of operating terminal and engineering machinery.
Acquisition of information block configuration is: obtain the action control signal of self, and determine accordingly the manipulation information of described engineering machinery.
Message output module is configured to: export described manipulation information to the control device of described engineering machinery.
In the operation control terminal of above-described embodiment, described acquisition of information module can comprise: sensing unit and information process unit.Wherein:
Sensing unit is configured to: based on the action control signal of described geodetic datum induction operation control terminal self, described action control signal comprises self gravitation direction and the degree of tilt of described operation control terminal sense;
Information process unit is configured to: described gravity direction and degree of tilt and described geodetic datum are compared, by data-switching, obtain the manipulation information that includes steer direction and manipulation speed.
In the operation control terminal of a preferred embodiment, described acquisition of information module also can comprise: pose acquiring unit, operating mode acquiring unit and sensing unit.Wherein:
Pose acquiring unit is configured to: communicate with the control device of described engineering machinery, obtain the current pose of described engineering machinery under geodetic datum, direction as current in car body, rotation attitude and jib pose.
Operating mode acquiring unit is configured to: communicate with the control device of described engineering machinery, obtain described work information.
It should be noted that, pose acquiring unit, operating mode acquiring unit and sensing unit all can be communicated by letter with information process unit, respectively the pose of described engineering machinery, work information and steer direction are transferred to message processing module, carry out subsequent treatment, as image conversion processing.In the present embodiment, the sensing unit of operation control terminal setting is for obtaining the steer direction of current operation control terminal.Sensing unit, by inductive terminations gravity direction, obtains control action signal, and itself and geodetic datum is compared, and by data-switching, obtains steer direction, and transfers to information process unit to process.
For being further convenient to, engineering machinery is manipulated, in a preferred embodiment, above-mentioned operation control terminal also can comprise: display device, be configured to image conversion and process the pose of described engineering machinery, work information and manipulation information, and engineering machinery pose, work information and manipulation information after subregion dynamic display processing.In the present embodiment, the display device of operation control terminal can be used for showing the real-time pose of engineering machinery, and dynamically displaying user steer direction, is convenient to real-time dynamic knowledge work information simultaneously.
It should be noted that, the display device of the present embodiment can be divided into two basic modules: display module and image conversion processing module.Wherein: image conversion processing module is configured to image conversion and processes the pose of described engineering machinery, work information and manipulation information.Display module configuration is engineering machinery pose, work information and the manipulation information after subregion dynamic display processing.
In a preferred embodiment, in above-mentioned operation control terminal, described display device also may be configured with touch-control module.Touch-control module disposes screen control, and is configured to by the executivecontrol function of described screen control, manipulation information as described in input, adjustment, transmission.In the present embodiment, the demonstration contactor control device of operation control terminal not only can show the real-time pose of engineering machinery, but also simultaneously dynamically displaying user steer direction, work information etc.
In a preferred embodiment, in above-mentioned operation control terminal, described display device also may be configured with warning module.Warning module is configured to adopt the form of sound, vibration, word and/or animation to send dynamic reminding signal, carries out early warning.
The present embodiment is pointed out by realize animated text in display device, but also can adopt the form prompting users such as sound, vibration, animation, realizes the interaction between engineering machinery multidate information and operator.In the present embodiment, all operations mode all can adopt the alarm modes such as picture, word, vibration, loudspeaker or animation to inform that operator operates the multidate information of operating mode at present.
In a preferred embodiment, in above-mentioned operation control terminal, operation control terminal also can be provided with machine control unit.Machine control unit disposes with engineering machinery and moves corresponding mechanical key, and is configured to by described mechanical key executivecontrol function, as input, revise, send as described in manipulation information.Machine control unit is communicated by letter with message processing module, and message processing module is processed the manipulation information of inputting by mechanical key, is exported to display device and shows.
Preferably, display device, in the time disposing touch-control module, also can dispose machine control unit simultaneously, key function is arranged to two kinds of control modes simultaneously: the touch-control of display interface and mechanical key control.
It should be noted that, the demonstration contactor control device that operation control terminal arranges, for pump truck car body direction is presented to Touch Screen, and current working information (as information such as commutation number of times, duty, pressure), pump truck pose (under geodetic datum), steer direction, manipulation information can be presented on screen; And manipulation touch key-press can be presented on screen, and can carry out remote control actions by screen and terminal machinery control.Wherein, show that contactor control device can directly be operated, also can set up basic mechanical key for key operation, like this, operation control terminal can carry out respectively remote control actions by the mechanical control in screen touch-control and terminal.
It is emphasized that two parts important in operation control terminal are respectively: 1) direction inductor device (being sensing unit), the obtaining of direction inductor signal of realizing operation control terminal; 2) show contactor control device, realize corresponding function operation, work information demonstration and warning function.
It is pointed out that operation control terminal can be portable mobile termianl, can be also the hand-held operation control terminal equipment of distance type.
The various embodiments described above are carried out entirety using gravity sensing device, operator, engineering machinery as a system and are considered, operation control terminal and the method for design, not only be convenient to the control to engineering machinery, and by touch-control interface and key device are set, convenient operation person operates according to self manipulating custom, carry out steer mode demarcation based on three-dimensional geometry coordinate relation, manipulation is got up more accurate simultaneously.
control device embodiment
With reference to Fig. 7, it shows the control system of the engineering machinery of the present embodiment.In the present embodiment, the control device of engineering machinery comprises: information receiving module, trajectory planning module, spacing module, electric current-planning amount ratio module, adjusting module and output module.Wherein:
Information receiving module is configured to receive manipulation information, and is transferred to trajectory planning module and carries out dissection process.
Trajectory planning block configuration is: based on manipulation information, the movement locus of engineering machinery is set, determines rotation planning amount and the jib translation planning amount of engineering machinery.Demarcate information, three-dimensional geometry coordinate relation according to coordinate, manipulation information is optimized, the processing of arm support link geometric relationship, jib dynamics process, solenoid valve electric-hydraulic proportion are processed etc.
Spacing block configuration is: judge that trajectory planning module determined rotation planning amount and jib translation planning amount are whether in the spacing weight range of correspondence, and in the time rotating in planning amount and the spacing weight range of jib translation planning amount in correspondence, notice electric current-planning amount ratio module.
Electric current-planning amount ratio module is configured to: according to default planning displacement and the corresponding relation of drive current, determine the drive current corresponding with rotation amount and jib translational movement, drive current is carried out, after feedback compensation, being exported to the action actuating mechanism of engineering machinery.By by obtaining the each topworks that is transferred to engineering machinery of drive current, as multi-joint arm topworks, corresponding actions is carried out in indication, thereby realizes the intelligent behaviour of mechanical arm tail end point.
Adjusting module is configured to: determine that in spacing module arbitrary planning amount in rotation planning amount and jib translation planning amount is not in the spacing weight range in correspondence, for the planning amount in the spacing weight range of correspondence not, adjust set movement locus, until make to rotate planning amount and jib translation planning amount all in the spacing weight range of correspondence.
It should be noted that, between operation control terminal and control device and separately communicating by letter between internal module can adopt the agreement that predefined is good to carry out communication, and various embodiments of the present invention are not restricted this.
With respect to prior art, the various embodiments described above of the present invention have following advantage:
Therefore, the control device of above-described embodiment coordinates with above-mentioned operation control terminal can guarantee that operator where position in office realizes the accurate and flexible operation to engineering machinery, thereby realize the seamless link of operation control terminal and work machine operation, avoid the operate miss causing because of handle or demarcation.
system embodiment
In addition, embodiments of the invention also provide a kind of Intelligent control system of engineering machinery.With reference to Fig. 4 to Fig. 8, it shows respectively control flow and the chief component thereof of Intelligent control system.
In the present embodiment, as shown in Figure 7, this control system comprises: operation control terminal, sensor-based system, car body direction inductor device and the above-mentioned control device of the engineering machinery of above-mentioned arbitrary embodiment.Wherein, operation control terminal, referring to above-mentioned arbitrary embodiment, repeats no more herein.
Sensor-based system is arranged on the motion in engineering machinery, and is configured to gather the pose signal of each motion.Here, sensor-based system comprises rotary encoder and jib angular transducer etc.
Car body direction inductor device is arranged on the car body of engineering machinery, and is configured to the car body pose signal of gathering project machinery
Control device is arranged in engineering machinery, is connected with sensor-based system, car body direction inductor device and operation control terminal.Wherein, control device is configured to: receive and process pose signal and the car body pose signal of each motion, determine the current pose of engineering machinery; Control device receives and processes manipulation information, and movement locus is set, and indication corresponding sports mechanism moves according to described movement locus.
Below in conjunction with Fig. 8, the control device to engineering machinery and the each sensor that is mated work are described further:
Here, take pump truck as example, by the action of the operation control terminal manipulation pump truck described in the various embodiments described above.In the present embodiment, direction inductor device is installed on pump truck car body, for obtain pump truck car body under geodetic datum direction when front vehicle body direction.Pump truck revolving table position is provided with rotary encoder, setting angle sensor on mechanical arm.These two kinds of sensors are used for gathering corresponding actions angle, calculate rotation attitude and jib pose.
Wherein, the direction inductor device of installing on pump truck car body possesses two kinds of patterns:
1) electronic type direction inductor device
Electronic type direction inductor device adopts powered battery on car, and converts the car body direction sensing to electronic signal transmission to control device.
2) mechanical type direction inductor device
No matter whether possess power supply, mechanical type always can be in running order, and the in the situation that of power supply work, convert mechanical signal to electric signal transmission to control device.
It should be noted that, can be according to the needs of operating mode, the pattern of choice direction induction installation, when collecting after signal, the induced signal treating apparatus of pump truck control device is processed electronic signal or mechanical signal, obtains car body pose, and exports to operation control terminal.But due to the needs of operating mode, the accuracy requirement of the direction inductor device to above-mentioned two kinds of patterns is very high, and these two kinds of direction inductor devices can complementary work, and can share car body direction inductor signal source, avoid the error in data of signal.
In the present embodiment, the control device of pump truck is processed the manipulation information of reception to realize its corresponding manipulation function.Therefore, divide angle from another, this control device can inclusion information receiver module, information analysis module, processing module, output module.Information receiving module carries out dissection process by the manipulation communication of reception to information analysis module, processing module, output module is by each topworks of manipulation communication pump truck after treatment, as multi-joint arm topworks, thereby realize the intelligent behaviour of mechanical arm tail end point.
Wherein, information analysis module mainly uses the protocol transmission defining in advance to processing module correct manipulation information according to coordinate demarcation information, three-dimensional geometry coordinate relation.The processing procedure of processing module mainly comprises: the processing of arm support link geometric relationship, jib dynamics process, the processing of solenoid valve electric-hydraulic proportion etc.The information that output module completes treated resume module exports each corresponding topworks to, and corresponding actions is carried out in indication, thereby realizes the manipulation to engineering machinery.
Therefore, the intelligent-induction control system of the present embodiment design, assurance operator is in office, and where the accurate and flexible operation to engineering machinery is realized in position.The Intelligent control system of the present embodiment realizes the seamless link of operation control terminal and work machine operation, avoids the operate miss causing because of handle or demarcation.
In addition, the embodiment of the present invention also provides a kind of engineering machinery, for example pump truck, this project machinery is provided with above-mentioned any operation control terminal, because above-mentioned any operation control terminal has above-mentioned technique effect, therefore, the engineering machinery that is provided with this operation control terminal also should possess corresponding technique effect, its specific implementation process is similar to the above embodiments, does not hereby repeat.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on the network that multiple calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in memory storage and be carried out by calculation element, or they are made into respectively to each integrated circuit modules, or the multiple modules in them or step are made into single integrated circuit module to be realized.Like this, the present invention is not restricted to any specific hardware and software combination.Described memory storage is nonvolatile memory, as: ROM/RAM, flash memory, magnetic disc, CD etc.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (12)
1. a control method for engineering machinery, is characterized in that, comprising:
Take geodetic datum as reference, operating terminal is set up identical coordinate system with engineering machinery;
Obtain the control action signal of operating terminal self, described control action signal is analyzed, to determine the manipulation information to described engineering machinery, and export the control device of described manipulation information to described engineering machinery.
2. control method according to claim 1, is characterized in that, described in obtain the action control signal of operating terminal self, described action control signal is analyzed, comprise with the step of determining the manipulation information to described engineering machinery:
The action control signal of described operation control terminal induction self, described action control signal comprises self gravitation direction and the degree of tilt of described operation control terminal sense;
Described gravity direction and degree of tilt and described geodetic datum are compared, by data-switching, obtain the manipulation information that includes steer direction and manipulation speed.
3. control method according to claim 1, is characterized in that, also comprises:
Obtain current pose and the work information of described engineering machinery;
To described current pose, work information and the processing of manipulation frame, and current pose, work information and manipulation information after subregion dynamic display processing.
4. control method according to claim 1, is characterized in that, also comprises:
Adopt one or more forms in sound, vibration, word, animation, send dynamic reminding signal, carry out early warning.
5. according to the control method described in claim 1 to 4 any one, it is characterized in that, also comprise:
Based on described manipulation information, the movement locus of described engineering machinery is set, determine rotation planning amount and the jib translation planning amount of described engineering machinery;
Judge that determined rotation planning amount and jib translation planning amount are whether in the spacing weight range of correspondence, if described rotation planning amount and jib translation planning amount are in the spacing weight range of correspondence, according to default planning displacement and the corresponding relation of drive current, determine the drive current corresponding with described rotation amount and jib translational movement, described drive current is carried out, after feedback compensation, being exported to the action actuating mechanism of described engineering machinery;
If the arbitrary planning amount in described rotation planning amount and jib translation planning amount is not in the spacing weight range of correspondence, for the planning amount in the spacing weight range of correspondence not, adjust set movement locus, until make described rotation planning amount and jib translation planning amount all in the spacing weight range of correspondence.
6. an operation control terminal for engineering machinery, is characterized in that, comprising:
Initialization module, is configured to, take geodetic datum as reference, set up the three-dimensional system of coordinate of operating terminal and engineering machinery;
Acquisition of information module, is configured to obtain the action control signal of self, and determines accordingly the manipulation information of described engineering machinery;
Message output module, is configured to export described manipulation information to the control device of described engineering machinery.
7. operation control terminal according to claim 6, it is characterized in that, described acquisition of information module comprises: sensing unit, be configured to the action control signal based on described geodetic datum induction operation control terminal self, described action control signal comprises self gravitation direction and the degree of tilt of described operation control terminal sense;
Information process unit, is configured to described gravity direction and degree of tilt and described geodetic datum to compare, and by data-switching, obtains the manipulation information that includes steer direction and manipulation speed.
8. operation control terminal according to claim 7, is characterized in that,
Described acquisition of information module also comprises: pose acquiring unit and operating mode acquiring unit; Wherein, pose acquiring unit is configured to communicate with the control device of described engineering machinery, obtains the current pose of described engineering machinery; Operating mode acquiring unit is configured to communicate with the control device of described engineering machinery, obtains the current working information of described engineering machinery;
Described operation control terminal also comprises: display device, and be configured to image conversion and process the current pose of described engineering machinery, work information and manipulation information, and current pose, work information and manipulation information after subregion dynamic display processing.
9. operation control terminal according to claim 8, is characterized in that, described display device also disposes:
Touch-control module, disposes screen control, and is configured to by the executivecontrol function of described screen control; And/or,
Warning module, is configured to adopt one or more forms in sound, vibration, word, animation to send dynamic reminding signal, carries out early warning.
10. according to the operation control terminal described in claim 5 to 8 any one, it is characterized in that, also comprise:
Machine control unit, is provided with engineering machinery and moves corresponding mechanical key, and be configured to generate or revise described manipulation information by described mechanical key.
The control device of 11. 1 kinds of engineering machinery, is characterized in that, comprising: information receiving module, trajectory planning module, spacing module, electric current-planning amount ratio module, adjusting module and output module; Wherein,
Described information receiving module is configured to: receive manipulation information;
Described trajectory planning block configuration is: based on described manipulation information, the movement locus of described engineering machinery is set, determines rotation planning amount and the jib translation planning amount of described engineering machinery;
Described spacing block configuration is: judge that described trajectory planning module determined rotation planning amount and jib translation planning amount are whether in the spacing weight range of correspondence, and in the spacing weight range in correspondence time, notify described electric current-planning amount ratio module in described rotation planning amount and jib translation planning amount;
Described electric current-planning amount ratio module is configured to: according to default planning displacement and the corresponding relation of drive current, determine the drive current corresponding with described rotation amount and jib translational movement, described drive current is carried out, after feedback compensation, being exported to the action actuating mechanism of described engineering machinery;
Described adjusting module is configured to: determine that in described spacing module arbitrary planning amount in described rotation planning amount and jib translation planning amount is not in the spacing weight range in correspondence, for the planning amount in the spacing weight range of correspondence not, adjust set movement locus, until make described rotation planning amount and jib translation planning amount all in the spacing weight range of correspondence.
The control system of 12. 1 kinds of engineering machinery, is characterized in that, comprising: control device, sensor-based system and the car body direction inductor device of the engineering machinery described in operation control terminal, the claim 11 of the engineering machinery described in claim 6 to 10 any one; Wherein,
Described sensor-based system is arranged on the motion in engineering machinery, and is configured to gather the pose signal of each motion;
Described car body direction inductor device is arranged on the car body of engineering machinery, and is configured to the car body pose signal of gathering project machinery;
Described control device is arranged in engineering machinery, is connected with described sensor-based system, described car body direction inductor device and described operation control terminal; Wherein, described control device is configured to: receive and process pose signal and the described car body pose signal of described each motion, determine the current pose of engineering machinery; Described control device receives and processes described manipulation information, and movement locus is set, and indication corresponding sports mechanism moves according to described movement locus.
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Application publication date: 20140521 |