CN112896145B - Crawler type working machine control method and device and crawler type working machine - Google Patents
Crawler type working machine control method and device and crawler type working machine Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention provides a method and a device for controlling a crawler-type working machine and the crawler-type working machine, wherein the method for controlling the crawler-type working machine comprises the following steps: acquiring an image of a track walking trace; determining running track information based on the track running trace image; determining deviation characteristics of a first sub-track and a second sub-track based on the running track information, wherein the first sub-track and the second sub-track are respectively a side edge line in the running track information; and under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics, outputting a control command. The control method and device for the crawler-type operating machine and the crawler-type operating machine can quickly know the track deviation condition, reduce the labor cost, improve the working efficiency, avoid the track deviation abrasion and reduce the use cost.
Description
Technical Field
The invention relates to the technical field of working machines, in particular to a control method and device of a crawler-type working machine and the crawler-type working machine.
Background
For the crawler-type working machine, during production debugging or actual operation, the situation that the maximum speeds corresponding to the two side tracks of the crawler-type working machine are inconsistent often occurs, which is also called a walking deviation phenomenon, and the walking deviation phenomenon is usually caused by slight differences in performance or wear fatigue of electro-hydraulic elements controlling the two side tracks to walk, such as a pump, a main valve, a pedal, a handle, a walking motor or an electromagnetic valve coil, and the problem of walking deviation needs to be solved.
At present, aiming at the problem of walking deviation, whether the walking deviation occurs in the crawler type operation machine is mainly investigated by workers, when the walking deviation occurs, hydraulic pressure and electrical parameters related to walking are adjusted by the workers, however, manual operation is complex, the requirement on the level of operators is high, manpower cost is wasted, and working efficiency is low.
Disclosure of Invention
The invention provides a control method and device of a crawler-type operation machine and the crawler-type operation machine, which are used for solving the defects that manual operation is complex, the requirement on the level of an operator is high, labor cost is wasted, and working efficiency is low in the prior art, realizing the purpose of quickly knowing the deviation condition of a crawler, reducing the labor cost, improving the working efficiency, avoiding the deviation abrasion of the crawler and reducing the use cost.
The present invention provides a method for controlling a crawler-type work machine, including: acquiring an image of a track walking trace; determining running track information based on the crawler track walking trace image; determining deviation characteristics of a first sub-track and a second sub-track based on the running track information, wherein the first sub-track and the second sub-track are respectively a side edge line in the running track information; and outputting a control command when the deviation of the crawler belt is confirmed based on the deviation characteristics.
According to a control method of a crawler type work machine according to the present invention, outputting a control command when it is confirmed that a crawler is deviated based on the deviation characteristics includes: under the condition that the track is confirmed to be deviated based on the deviation characteristics and the vehicle body posture characteristics, outputting a control instruction; wherein the body attitude feature is used to characterize a real-time attitude of a body of the tracked work machine.
According to a control method of a crawler type working machine according to the present invention, when it is determined that a crawler is deviated based on the deviation characteristics, a control command is output, and the control method further includes: and under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics, outputting the control command based on a system feedback signal, wherein the system feedback signal is used for representing the state of an executing mechanism of the crawler-type working machine after the executing mechanism executes a previous control command.
According to a control method of a crawler type work machine according to the present invention, the acquiring of the image of the track following trace includes: acquiring a plurality of images of the track walking traces based on a target time interval; and under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics, outputting a control command, comprising the following steps of: and if the proportion of the quantity of the deviation features corresponding to the plurality of track walking trace images, which are larger than the deviation threshold value, to the quantity of all the track walking trace images is larger than the proportion threshold value, determining that the track deviates, and outputting the control instruction.
According to a control method of a crawler type work machine according to the present invention, determining travel track information based on the image of the track travel trace includes: performing superposition operation on the crawler track trace images to obtain reference track images; and simplifying the reference track image to obtain the running track information.
According to a control method of a track-type work machine provided by the present invention, the control instruction includes: the control drive arrangement adjusts the walking speed's of both sides track instruction, perhaps, control actuating device sends the instruction of signal of warning and includes: and controlling an executing device arranged on the crawler-type working machine body to send out an alarm signal instruction, or controlling an executing device at a remote end which is communicated with the crawler-type working machine to send out an alarm signal instruction.
According to a control method of a crawler type working machine according to the present invention, determining a deviation characteristic of a first sub-track from a second sub-track based on the travel track information includes: acquiring a first reference line and a second reference line which are perpendicular to the first sub-track, wherein one end of the first reference line and one end of the second reference line intersect with the first sub-track, the other end of the first reference line and the other end of the second reference line intersect with the second sub-track, and the spacing distance between the first reference line and the second reference line is a target distance; determining a difference between a length of the first reference line and a length of the second reference line; determining the deviation characteristic based on the difference and a difference threshold.
According to a control method of a crawler type working machine according to the present invention, determining a deviation characteristic of a first sub-track from a second sub-track based on the travel track information includes: acquiring a third reference line perpendicular to the first sub-track, wherein the third reference line intersects with the second sub-track; determining an included angle between the third reference line and the second sub-track; and determining the deviation characteristics based on the included angle and the included angle threshold value.
According to a control method of a crawler-type work machine according to the present invention, determining a deviation characteristic between a first sub-trajectory and a second sub-trajectory based on travel trajectory information includes: establishing a reference coordinate system taking the first sub-track as an X axis; determining a slope of the second sub-trajectory in the reference coordinate system; determining the deviation feature based on the slope and the slope threshold.
The present invention also provides a control device for a crawler type working machine, including: the acquisition module is used for acquiring an image of the track walking trace; the first determining module is used for determining running track information based on the crawler track trace image; the second determining module is used for determining deviation characteristics of the first sub-track and the second sub-track based on the running track information; and the output module is used for outputting a control command under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics.
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, wherein the processor implements the steps of the method for controlling a track-type work machine as described in any one of the above when executing the computer program.
The present disclosure also provides a non-transitory computer-readable storage medium having stored thereon a computer program that, when executed by a processor, performs the steps of a method of controlling a track-type work machine, as set forth in any one of the above.
The present disclosure also provides a track-type work machine, comprising: a drive mechanism; in the control device for the crawler-type working machine, the control device for the crawler-type working machine is electrically connected to the drive mechanism.
According to the control method and device for the crawler-type working machine and the crawler-type working machine, the running track information is determined according to the crawler running track image, the deviation characteristics of the first sub-track and the second sub-track are determined according to the running track information, whether the crawler is deviated or not is determined, if the crawler is deviated, a control instruction is output, the deviation condition of the crawler can be known quickly, the labor cost is reduced, the working efficiency is improved, the deviation abrasion of the crawler is avoided, and the use cost is reduced.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a method of controlling a track type work machine provided by the present disclosure;
FIG. 2 is one of the principles of a method of controlling a track-type work machine according to the present disclosure;
FIG. 3 is a second schematic illustration of a method of controlling a track-type work machine according to the present disclosure;
FIG. 4 is a third schematic illustration of a method of controlling a track type work machine according to the present disclosure;
FIG. 5 is a schematic illustration of a control arrangement for a track type work machine according to the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention 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 obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes a method and apparatus for controlling a track type work machine and a track type work machine according to the present invention with reference to fig. 1 to 6.
As shown in fig. 1, the present invention provides a method of controlling a track type work machine, including: step 110-step 140 as follows.
In step 110, an image of the track walking trace is obtained.
It will be appreciated that a track-type work machine, which relies on the friction of the tracks against the ground, differs from other track-type work machines or vehicles that use wheels as the running gear in that the tracks of the track-type work machine roll against the ground while the track-type work machine is running, leaving behind traces of the ground, and in contrast, the wheels leave substantially no traces of the ground.
The camera can be installed on crawler-type operation machinery, and the camera can be installed in the afterbody of vehicle, and the camera lens of camera is towards ground, and this camera can be for the camera of backing a car of installing on the conventional vehicle, also can shoot the image acquisition equipment of the image of backing a car promptly, and the camera can be shot the track and roll the vestige that the back was left on ground, can be used for acquireing track walking vestige image.
And step 120, determining the running track information based on the crawler track trace image.
It can be understood that continuous picture analysis can be performed on the track walking trace image, the track walking trace image can be divided into a plurality of frame images, the plurality of frame images are overlapped to obtain a reference track image, detection is performed in the reference track image, the driving track feature in the reference track image is extracted and simplified into straight line information, so that a binary image only including straight line edges is determined, and the binary image is used as the driving track information.
In the process of determining the travel track information from the track travel trace image, the track travel trace image can be converted into a track image in the vertical direction according to factors such as a shooting angle, camera parameters, a shooting distance and the like, so that the obtained travel track information is higher in degree of reality and more accurate.
The track-type work machine may have two tracks, and two tracks are left after walking on the ground, which are referred to as a first sub-track and a second sub-track, respectively, and the first sub-track and the second sub-track may be exhibited in the travel track information.
Of course, the crawler-type work machine may also have four tracks, or a plurality of tracks, and then the first sub-track and the second sub-track are two tracks of a plurality of tracks left after the plurality of tracks walk on the ground, and the plurality of tracks may be displayed in the travel track information, where the first sub-track and the second sub-track are any two tracks of the plurality of tracks in the travel track information, for example, two tracks located at two side boundaries of the plurality of tracks, that is, two outermost tracks, and of course, any two adjacent tracks of the plurality of tracks may also be provided, which is not specifically limited herein.
And step 130, determining deviation characteristics of the first sub-track and the second sub-track based on the traveling track information.
It is understood that the deviation characteristics of the first sub-track and the second sub-track can be obtained according to the traveling track information, if the crawler type working machine is not off tracking, the first sub-track and the second sub-track should be substantially parallel, the deviation characteristics of the first sub-track and the second sub-track can be obtained by taking a reference line, and the deviation characteristics of the first sub-track and the second sub-track can be presented in the form of numerical values or angle values and the like.
The deviation characteristic may be a difference between the actual value and the target threshold, the deviation characteristic may also be a ratio between the actual value and the target threshold, and the deviation characteristic may be obtained by dividing the actual value by the target threshold.
And 140, outputting a control command under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics.
It can be understood that whether the track deviates or not can be judged according to the deviation characteristics. If the deviation characteristic is greater than 0, it is determined that the crawler belt is deviated.
Of course, a time period may also be set, and a deviation feature may be recorded every preset time period, that is, the above steps may be repeated, the deviation features corresponding to the plurality of track walking trace images are calculated, and if the ratio of the deviation features corresponding to the plurality of continuous track walking trace images being greater than 0 is greater than the ratio threshold, it is determined that the track is off tracking.
Here, if confirm that the track takes place the off tracking, then to actuating mechanism output control command, can control actuating mechanism and make corresponding feedback, for example can adjust the speed of both sides track to make the actual functioning speed of both sides track keep unanimous, thereby can revise the off tracking phenomenon of track, perhaps remind the user in time to know the condition of track off tracking.
According to the control method of the crawler-type working machine, the running track information is determined according to the image of the running track trace of the crawler, the deviation characteristics of the first sub-track and the second sub-track are determined according to the running track information, whether the crawler is deviated or not is determined, and if the crawler is deviated, a control instruction is output, so that the deviation condition of the crawler can be quickly known, the labor cost is reduced, the working efficiency is improved, the deviation abrasion of the crawler is avoided, and the use cost is reduced.
In some embodiments, the step 140, in the case that the deviation of the track is determined based on the deviation characteristics, outputting a control command includes: and under the condition that the track is confirmed to be deviated based on the deviation characteristic and the vehicle body posture characteristic, outputting a control command.
The vehicle body attitude characteristics are used for representing the real-time attitude of the vehicle body of the crawler-type working machine, and are detected by at least one of a level meter, a tension sensor, an inertial navigation component, a gyroscope and a satellite positioner.
The vehicle body attitude characteristic can be detected in real time by means of instrument equipment including but not limited to a level gauge, a tension sensor, an inertial navigation component, a gyroscope and a satellite positioner, and whether the track deviates or not is judged by combining the vehicle body attitude characteristic and the deviation characteristic, so that an abnormal fluctuation value can be eliminated, and whether the track deviates or not is judged more accurately.
In some embodiments, the step 140, in the case that the deviation of the track is determined based on the deviation feature, outputting a control command, further includes: and under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristic and the vehicle body posture characteristic, outputting a control command based on a system feedback signal, wherein the system feedback signal is used for representing the state of an executing mechanism of the crawler type operation machine after the executing mechanism executes a previous control command.
It can be understood that, in the case that the deviation of the track is confirmed each time, the controller may output a control command to the actuator, and the actuator may perform a relevant action according to the control command to correct the deviation of the track, but there may be a deviation after the actuator performs the relevant action, where a feedback system may combine with a state of the actuator after executing a previous control command to generate a system feedback signal, and the controller further gives a current control command according to the system feedback signal.
The feedback system generates the system feedback signal, so that the whole system can form closed-loop control, the error between the control instruction and the system feedback signal is adjusted, and the control precision can be improved.
In some embodiments, the acquiring the track trace image comprises: and acquiring a plurality of images of the track walking traces based on the target time interval.
And under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics, outputting a control command, comprising the following steps of: and if the proportion of the quantity of the deviation features corresponding to the plurality of track walking trace images, which are larger than the deviation threshold value, to the quantity of all the track walking trace images is larger than the proportion threshold value, determining that the track deviates, and outputting the control instruction.
It can be understood that a time period can also be set, a deviation feature is recorded at preset time intervals, that is, the above steps can be repeated, the deviation features corresponding to a plurality of track walking trace images are calculated, and if the proportion of the deviation features corresponding to a plurality of continuous track walking trace images which are greater than 0 is greater than the proportion threshold value, it is determined that the track is off tracking, and then a control command is output.
As shown in fig. 2, in some embodiments, the determining 130, based on the driving trace information, a deviation characteristic of the first sub-trace from the second sub-trace includes:
and acquiring a first reference line and a second reference line which are perpendicular to the first sub-track, wherein one end of the first reference line and one end of the second reference line are intersected with the first sub-track, the other end of the first reference line and the other end of the second reference line are intersected with the second sub-track, and the spacing distance between the first reference line and the second reference line is the target distance.
It is understood that the first reference line and the second reference line are mathematically auxiliary lines, that is, the first reference line and the second reference line may be drawn based on the first sub-track a in the travel track information, the first reference line and the second reference line are perpendicular to the first sub-track, one end of the first reference line and one end of the second reference line intersect with the first sub-track a, the other end of the first reference line and the second reference line intersect with the second sub-track B, and the first reference line and the second reference line have a certain distance therebetween, which may be a preset target distance X.
The difference between the length of the first reference line S1 and the length of the second reference line S2 is determined.
It is understood that the length of the first reference line S1 and the length of the second reference line S2 may be obtained, and the length of the first reference line S1 and the length of the second reference line S2 may be subtracted.
Based on the difference | S1-S2| and the difference threshold S0, a deviation characteristic is determined.
It is understood that the deviation characteristic can be the difference minus a difference threshold, i.e., | S1-S2| -S0, and it can be considered that walking deviation occurs when the deviation characteristic | S1-S2| -S0 is greater than 0.
As shown in fig. 3, in some embodiments, the determining 130, based on the driving trace information, a deviation characteristic of the first sub-trace from the second sub-trace includes:
a third reference line is obtained perpendicular to the first sub-track a, the third reference line intersecting the second sub-track B.
It is understood that the third reference line is also an auxiliary line in a mathematical sense, and the third reference line may be drawn based on a third trajectory in the travel trajectory information, where the third reference line intersects with the second sub-trajectory.
And determining the included angle a between the third reference line and the second sub-track, namely obtaining an angle value.
Based on the angle a and the angle threshold a0, a deviation characteristic is determined.
It is understood that the deviation characteristic can be the angle value of the included angle minus an included angle threshold value, namely |90 ° -a | -a0, and it can be considered that walking deviation occurs when the deviation characteristic |90 ° -a | -a0 is greater than 0.
As shown in fig. 4, in some embodiments, the determining, by the step 130, the deviation characteristic of the first sub-track and the second sub-track based on the driving track information includes:
and establishing a reference coordinate system taking the first sub-track as an X axis.
It will be appreciated that the X-axis and the first sub-trajectory L of the coordinate system will be referenced to0Alignment, at this time the first sub-track L0And a second sub-track L1Or L2Are all in the reference coordinate system.
Determining a second sub-trajectory L1Or L2Slope in a reference coordinate system λ1Or λ2。
It will be appreciated that the slope represents the amount by which a line is tilted about the axis of abscissa, and is generally expressed as the tangent of the line to the axis of abscissa, or the ratio of the difference between the ordinate and the abscissa of two points.
Based on the slope and the slope threshold, a deviation characteristic is determined.
It will be appreciated that the deviation characteristic may be the value of the slope minus a slope threshold, i.e. λ1-λ2It can be considered that the deviation characteristic λ1-λ2When the distance is larger than 0, the walking deviation is considered to occur.
In some embodiments, the control instructions include: the control drive arrangement adjusts the walking speed's of both sides track instruction, perhaps, control actuating device sends the instruction of signal of warning and includes: and controlling an executing device arranged on the crawler-type working machine body to send out an alarm signal instruction, or controlling an executing device at a remote end which is communicated with the crawler-type working machine to send out an alarm signal instruction.
It can be understood that the control instruction may be an instruction for controlling the driving device to adjust the traveling speeds of the two side crawlers, that is, when the crawlers are running off tracking, the speed of the driving device may be directly adjusted, that is, the condition that the steps of the two side crawlers are inconsistent is changed by adjusting the relative speed of the crawlers, so as to correct the off tracking condition.
If through the relative speed of adjustment track, can not change the inconsistent condition of both sides track cadence, also can't correct the off tracking condition, can control final controlling element and send alarm signal, for example control the speaker and whistle, also can control display screen output prompt signal to in time remind the user, let the user in time take measures.
Of course, here, the actuator mounted on the track-type work machine body may be controlled to give an alarm signal, for example, the actuator may be a speaker mounted on the track-type work machine body, and the speaker may be controlled to sound, which is a local alarm.
The remote end mounted actuator in communicative connection with the track-type work machine may also be controlled to issue a warning signal, for example, the actuator may be a display screen of the remote end, and a highlighted mark may be displayed on the display screen, which is a remote alarm manner.
Of course, the executing device can be directly controlled to send out warning signals, and the walking speed of the crawler belts on the two sides is not adjusted.
And the driving device can be controlled to adjust the walking speed of the crawler belts on the two sides, and the executing device is controlled to send out warning signals.
In some embodiments, the determining the driving trace information based on the image of the track trace in step 120 includes:
and performing superposition operation on the track walking trace image to obtain a reference track image.
It can be understood that the image of the track walking trace can be cut, an irrelevant background image is removed, and then the superposition operation is performed to obtain a reference track image.
And simplifying the reference track image to obtain the running track information.
It is understood that the driving track feature may be detected from the reference track image, simplified to the straight line information, and a binary image including only the straight line edge may be generated as the driving track information.
The following describes a control device for a track-type work machine according to the present invention, and the control device for a track-type work machine described below and the control method for a track-type work machine described above are referred to in correspondence with each other.
As shown in fig. 5, the present disclosure also provides a control device for a track-type work machine, including: an acquisition module 510, a first determination module 520, a second determination module 530, and an output module 540.
The acquiring module 510 is configured to acquire an image of track walking traces.
And a first determining module 520, configured to determine the traveling track information based on the image of the track trace.
A second determining module 530, configured to determine a deviation feature of the first sub-trajectory from the second sub-trajectory based on the driving trajectory information.
And an output module 540, configured to output a control command when the deviation of the track is determined based on the deviation characteristics.
The present invention also provides a track type work machine comprising: a drive mechanism and a control device for a track type work machine according to any one of the embodiments described above.
Wherein, the control device of the crawler-type operation machine is electrically connected with the driving mechanism.
In some embodiments, the track type work machine may further include: the device comprises a walking control mechanism, a walking actuating mechanism and a feedback system, wherein the walking control mechanism and the walking actuating mechanism are required to be configured, and the feedback system can be configured or not configured according to actual configuration requirements.
The walking control mechanism consists of: the device comprises but is not limited to an electric control device, a hydraulic control device, an automatic control device and a manual control device, the devices are not completely independent in hardware and have overlapping parts, and the division is only from the function perspective.
The walking actuating mechanism comprises: the crawler belt (comprising a guide wheel, a loading wheel, an inducer, a tow band wheel, a crawler belt plate and a crawler belt pin), a driving motor, a power mechanism (an engine, a motor and the like), an oil pipeline, a hydraulic pump, a main valve and the like.
The feedback system includes: the device comprises a pressure sensor, a flow sensor, a temperature sensor, a speed measuring encoder, a speed measuring device of a motor, an actual control (current, voltage and duty ratio) measuring device and the like.
The above is a specific embodiment, and the present invention includes specific components not limited to the above-mentioned embodiment.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. Processor 610 may invoke logic instructions in memory 630 to perform a method of controlling a track-type work machine, the method comprising: acquiring an image of a track walking trace; determining running track information based on the crawler track walking trace image; determining deviation characteristics of the first sub-track and the second sub-track based on the driving track information; and under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics, outputting a control command.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present disclosure 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 a method of controlling a track-type work machine provided by the above-described methods, the method comprising: acquiring an image of a track walking trace; determining running track information based on the crawler track walking trace image; determining deviation characteristics of the first sub-track and the second sub-track based on the driving track information; and outputting a control command when the deviation of the crawler belt is confirmed based on the deviation characteristics.
In yet another aspect, the present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform a method of controlling a track-type work machine as each of the above provides, the method comprising: acquiring an image of a track walking trace; determining running track information based on the crawler track walking trace image; determining deviation characteristics of the first sub-track and the second sub-track based on the driving track information; and outputting a control command when the deviation of the crawler belt is confirmed based on the deviation characteristics.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling a track type work machine, comprising:
acquiring an image of a track walking trace;
determining running track information based on the crawler track walking trace image;
determining deviation characteristics of a first sub-track and a second sub-track based on the running track information, wherein the first sub-track and the second sub-track are respectively a side edge line in the running track information; the determining deviation characteristics of the first sub-track and the second sub-track based on the traveling track information comprises: acquiring a third reference line perpendicular to the first sub-track, wherein the third reference line intersects with the second sub-track; determining an included angle between the third reference line and the second sub-track; determining the deviation characteristic based on the included angle and an included angle threshold value;
and under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics, outputting a control command.
2. The method of controlling a track-type work machine according to claim 1, wherein the outputting of the control command in the case where the track is determined to be off tracking based on the deviation characteristics includes:
under the condition that the track is confirmed to be deviated based on the deviation characteristics and the vehicle body posture characteristics, outputting a control instruction; wherein the body attitude feature is used to characterize a real-time attitude of a body of the tracked work machine.
3. The method of controlling a track-type work machine according to claim 1, wherein the outputting of the control command when the track is determined to be deviated based on the deviation characteristics further includes:
and under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics, outputting the control instruction based on a system feedback signal, wherein the system feedback signal is used for representing the state of an executing mechanism of the crawler-type working machine after the executing mechanism executes the previous control instruction.
4. The method of controlling a track type work machine according to claim 1, wherein the acquiring an image of track traces includes: acquiring a plurality of images of the track walking traces based on a target time interval;
and under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics, outputting a control command, comprising the following steps of:
and if the proportion of the quantity of the deviation features corresponding to the plurality of track walking trace images, which are larger than the deviation threshold value, to the quantity of all the track walking trace images is larger than the proportion threshold value, determining that the track deviates, and outputting the control command.
5. The method of controlling a track-type work machine according to claim 1, wherein determining travel track information based on the track trace image includes:
performing superposition operation on the crawler track trace images to obtain reference track images;
and simplifying the reference track image to obtain the running track information.
6. The method of controlling a track-type work machine of claim 1, wherein the control commands include:
the control drive arrangement adjusts the walking speed's of both sides track instruction, perhaps, control actuating device sends the instruction of signal of warning and includes: and controlling an executing device arranged on the crawler-type working machine body to send out an alarm signal instruction, or controlling an executing device at a remote end which is communicated with the crawler-type working machine to send out an alarm signal instruction.
7. The method of controlling a track type work machine according to any one of claims 1-6, wherein determining a deviation characteristic of the first sub-track from the second sub-track based on the travel track information includes:
acquiring a first reference line and a second reference line which are perpendicular to the first sub-track, wherein one end of the first reference line and one end of the second reference line intersect with the first sub-track, the other end of the first reference line and the other end of the second reference line intersect with the second sub-track, and the spacing distance between the first reference line and the second reference line is a target distance;
determining a difference between a length of the first reference line and a length of the second reference line;
determining the deviation characteristic based on the difference and a difference threshold.
8. The method of controlling a track type work machine according to any one of claims 1-6, wherein determining a deviation characteristic of the first sub-track from the second sub-track based on the travel track information includes:
establishing a reference coordinate system taking the first sub-track as an X axis;
determining a slope of the second sub-trajectory in the reference coordinate system;
determining the deviation feature based on the slope and the slope threshold.
9. A control device for a track-type work machine, comprising:
the acquisition module is used for acquiring an image of the track walking trace;
the first determination module is used for determining the running track information based on the crawler track trace image;
the second determining module is used for determining deviation characteristics of a first sub-track and a second sub-track based on the running track information, wherein the first sub-track and the second sub-track are respectively a side edge line in the running track information; the determining deviation characteristics of the first sub-track and the second sub-track based on the traveling track information comprises: acquiring a third reference line perpendicular to the first sub-track, wherein the third reference line intersects with the second sub-track; determining an included angle between the third reference line and the second sub-track; determining the deviation characteristic based on the included angle and an included angle threshold value;
and the output module is used for outputting a control command under the condition that the deviation of the crawler belt is confirmed based on the deviation characteristics.
10. A track-type work machine, comprising:
a drive mechanism;
a control for a track type work machine according to claim 9, electrically connected to the drive mechanism.
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| CN115511916A (en) * | 2022-10-10 | 2022-12-23 | 未岚大陆(北京)科技有限公司 | Intelligent operation equipment control method, device, equipment, medium and program product |
| CN115805991A (en) * | 2022-11-29 | 2023-03-17 | 中国第一汽车股份有限公司 | Vehicle deviation compensation control method, device, terminal and storage medium |
| CN117002640B (en) * | 2023-10-07 | 2023-12-12 | 泉州重达机械有限公司 | Thrust wheel and crawler device of engineering machinery |
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