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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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 the field of engineering machinery, and in particular, to a control method, a control terminal, a control device, and a control system for engineering machinery.
Background
At present, in the operation of engineering machinery, especially a multi-degree-of-freedom mechanical device, the operation is generally carried out through a remote control device with a handle, the posture of an arm support and the position of an engineering machinery vehicle body need to be fully considered by an operator, the normal construction under different working conditions is realized, and the operation is irrelevant to the position of the operator. Therefore, the operation hand is required to have sufficient space stereoscopic impression and skillful operation technology, the labor cost is increased invisibly, otherwise once the operation hand does not have such professional quality, a great deal of inconvenience is caused in the construction process, and the construction effect is influenced.
For example, there is a remote control apparatus for operating a construction machine arm, which determines a control handle direction as an initial direction by a coordinate synchronization switch and a control handle, and controls the machine arm by a control handle rotation angle. In the operation process, the operator needs to continuously convert the space position of the operator and the engineering machinery, so that the actual position of the engineering machinery is judged and the operator can accurately operate the remote control device.
However, this operation method has an operation error caused by manually calibrating the initial direction, and is prone to cause an erroneous operation for a general operator. In particular, in the case of construction machinery having poor handling properties, concrete or other construction materials are easily wasted during high-rise construction, and the construction machinery easily collides with buildings, fences, and the like, which causes waste to some extent.
On one hand, for the existing remote control device with a handle, an operator needs to operate several handles simultaneously to realize the movement of the tail end position, and the operation is complex and inaccurate. On the other hand, for an operator, the accurate control of the boom tail end pouring point can be realized only by continuously considering information such as the position of the engineering machinery, the boom posture and the like, and misoperation and construction waste are easily caused.
Disclosure of Invention
In view of this, the invention provides an operation and control method, an operation and control terminal, a control device and an operation and control system for engineering machinery, which can realize accurate control of the engineering machinery, are accurate and flexible in operation, and prevent operation errors caused by a handle or calibration.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in one aspect, the present invention provides a method for operating a construction machine, including: establishing the same coordinate system between the operation terminal and the engineering machinery by taking the geodetic standard as a reference; acquiring a control action signal of an operation terminal, analyzing the control action signal to determine control information of the engineering machinery, and outputting the control information to a control device of the engineering machinery.
Further, in the above method, the step of acquiring a motion control signal of the operation terminal itself, and analyzing the motion control signal to determine the control information of the construction machine includes: the control terminal senses a self action control signal, and the action control signal comprises a self gravity direction and inclination sensed by the control terminal; and comparing the gravity direction and the inclination with the geodetic reference, and acquiring control information containing a control direction and a control speed through data conversion.
Further, the method further comprises: acquiring the current pose and working condition information of the engineering machinery; and performing imaging processing on the current pose, the working condition information and the control information, and dynamically displaying the processed current pose, the working condition information and the control information in a partitioning manner.
Further, the method further comprises: one or more of sound, vibration, characters and animation are adopted to send out dynamic prompt signals to give out early warning.
Further, the method further comprises: setting a motion track of the engineering machinery based on the control information, and determining a rotation planning quantity and an arm support translation planning quantity of the engineering machinery; judging whether the determined rotation planning quantity and the boom translation planning quantity are in the corresponding limit quantity range, if so, determining a driving current corresponding to the rotation quantity and the boom translation quantity according to the corresponding relation between the preset planning displacement quantity and the driving current, and outputting the driving current to an action executing mechanism of the engineering machinery after carrying out feedback correction on the driving current; and if any planning quantity in the rotation planning quantity and the arm support translation planning quantity is not in the corresponding limit quantity range, adjusting the set motion trail aiming at the planning quantity not in the corresponding limit quantity range until the rotation planning quantity and the arm support translation planning quantity are both in the corresponding limit quantity range.
Compared with the prior art, the invention has the following advantages:
the operation terminal of the invention establishes a coordinate system which is the same as the engineering machinery by taking the geodetic reference as the reference, thereby not only facilitating the determination of the pose of the engineering machinery and the positioning of the poses of the arm support and the rotary table of the engineering machinery, but also facilitating the conversion and the processing of the control information, realizing the seamless connection with the operation of the engineering machinery and avoiding the operation error caused by the handle or the calibration.
In the control process, the operation terminal determines and outputs the control information of the engineering machinery to a control device of the engineering machinery according to the pose, the working condition information and the control information of the engineering machinery, so that the control of the engineering machinery is realized. Therefore, the operation terminal of the invention not only facilitates the realization of the precise control of the engineering machinery, but also has accurate and flexible operation.
Correspondingly, the invention also provides a control terminal of the engineering machinery, which comprises: the initialization module is configured to establish a three-dimensional coordinate system of the operation terminal and the engineering machinery by taking a geodetic standard as a reference; the information acquisition module is configured to acquire an action control signal of the information acquisition module and determine the control information of the engineering machinery according to the action control signal; an information output module configured to output the manipulation information to a control device of the construction machine.
Further, in the above apparatus, the information obtaining module includes: the sensing unit is configured to sense a motion control signal of the control terminal based on the geodetic reference, and the motion control signal comprises a self gravity direction and an inclination sensed by the control terminal; and the information processing unit is configured to compare the gravity direction and the inclination with the ground reference, and acquire control information containing a control direction and a control speed through data conversion.
Further, in the above apparatus, the information obtaining module further includes: a pose acquisition unit and a working condition acquisition unit; the pose acquisition unit is configured to communicate with a control device of the engineering machinery to acquire the current pose of the engineering machinery; the working condition acquisition unit is configured to communicate with a control device of the engineering machinery to acquire current working condition information of the engineering machinery; the control terminal further comprises: and the display device is configured to process the current pose, the working condition information and the control information of the engineering machinery in an imaging mode, and dynamically display the processed current pose, the working condition information and the control information in a partitioning mode.
Further, in the above apparatus, the display apparatus is further provided with: the touch control module is configured with a screen control and is configured to execute control operation through the screen control; and/or the early warning module is configured to send out dynamic prompt signals in one or more of sound, vibration and text/animation to perform early warning.
Further, the above apparatus further comprises: and the mechanical control device is provided with a mechanical key corresponding to the action of the engineering machinery and is configured to execute control operation through the mechanical key.
Compared with the prior art, the invention has the following advantages:
the operation terminal provided by the invention establishes a coordinate system which is the same as that of the engineering machinery by taking the geodetic standard as a reference, thereby facilitating the determination of the pose of the engineering machinery, facilitating the positioning of the poses of an arm support and a rotary table of the engineering machinery, and facilitating the conversion and processing of the control information.
In the control process, the information processing module of the operation terminal determines the control information of the engineering machinery according to the pose, the working condition information and the control information of the engineering machinery, which are acquired by the information acquisition module, and the information output module sends the control information to the control device of the engineering machinery, so that the control of the engineering machinery is realized. Therefore, the operation terminal of the invention not only facilitates the realization of the precise control of the engineering machinery and has accurate and flexible operation, but also can be in seamless connection with the operation of the engineering machinery, thereby avoiding the operation error caused by a handle or calibration.
Accordingly, the present invention also provides a control device for a construction machine, the control device including: the device comprises an information receiving module, a track planning module, a limiting module, a current-planning quantity proportion module, an adjusting module and an output module; wherein:
the information receiving module is configured to: receiving control information; the trajectory planning module is configured to: setting a motion track of the engineering machinery based on the control information, and determining a rotation planning quantity and an arm support translation planning quantity of the engineering machinery; the limiting module is configured as follows: judging whether the rotation planning quantity and the arm support translation planning quantity determined by the trajectory planning module are in the corresponding limit quantity range, and informing the current-planning quantity proportion module when the rotation planning quantity and the arm support translation planning quantity are in the corresponding limit quantity range; the current-projected-quantity scaling module is configured to: determining a driving current corresponding to the rotation amount and the arm support translation amount according to a corresponding relation between a preset planning displacement amount and the driving current, and outputting the driving current to an action executing mechanism of the engineering machinery after performing feedback correction on the driving current; the adjustment module is configured to: and if the limiting module determines that any planning quantity of the rotation planning quantity and the arm support translation planning quantity is not in the corresponding limiting quantity range, adjusting the set motion track according to the planning quantity which is not in the corresponding limiting quantity range until the rotation planning quantity and the arm support translation planning quantity are both in the corresponding limiting quantity range.
Compared with the prior art, the invention has the following advantages:
therefore, the control device provided by the invention can be matched with the control terminal to ensure that an operator can accurately and flexibly operate the engineering machinery in any direction. The invention can realize the seamless connection between the operation terminal and the engineering machinery operation, and avoid the operation error caused by the handle or calibration.
Accordingly, the present invention also provides an operation and control system for a construction machine, including: the control terminal for a construction machine according to any one of the above aspects; the sensing system is arranged on a motion mechanism on the engineering machinery and is configured to acquire a pose signal of each motion mechanism; the vehicle body sensing unit is arranged on a vehicle body of the engineering machinery and configured to acquire a vehicle body pose signal of the engineering machinery; the control device is arranged on the engineering machinery and is connected with the sensing system, the vehicle body sensing unit and the control terminal; wherein the control device is configured to: receiving and processing the pose signals of the motion mechanisms and the pose signals of the vehicle body, and determining the current pose of the engineering machinery; and the control device receives and processes the control information and instructs the corresponding motion mechanism to execute actions according to the control information.
Compared with the prior art, the invention has the following advantages:
therefore, the intelligent induction control system designed by the invention ensures that an operator can accurately and flexibly operate the engineering machinery in any direction. The control system provided by the invention realizes seamless connection between the control terminal and the operation of the engineering machinery, and avoids operation errors caused by a handle or calibration.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a control method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a process for obtaining a pose according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating the process of acquiring the manipulation information according to the embodiment of the present invention;
fig. 4 is a schematic overall control flow diagram of the control system according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of a trajectory planning process provided by an embodiment of the present invention;
fig. 6 is a schematic control flow diagram of the control terminal side according to the embodiment of the present invention;
fig. 7 is a block diagram of a control system according to an embodiment of the present invention;
fig. 8 is a schematic view of a direction sensing device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The basic idea of the invention is that: aiming at an engineering mechanical arm controlled by a remote control device, a control terminal with a gravity sensing effect is designed, and the action control of engineering mechanical parts such as the mechanical arm is realized by calibrating the operation direction. And moreover, a display interface and a touch interface are arranged on the control terminal, so that dynamic display of operation information and setting of the movement direction are facilitated.
Preferred embodiments of the present invention will be further described with reference to the accompanying drawings in which:
method embodiment
In order to solve the technical problems of complex operation and inaccurate control in the control of the engineering machinery in the prior art, the embodiment provides a control method of the engineering machinery, which includes: establishing the same coordinate system between the operation terminal and the engineering machinery by taking the geodetic standard as a reference; acquiring a control action signal of an operation terminal, analyzing the control action signal to determine control information of the engineering machinery, and outputting the control information to a control device of the engineering machinery.
Referring to fig. 1, a method for operating a construction machine according to the present embodiment is shown. In this embodiment, the engineering machine control method includes the following steps:
s102: and establishing the same coordinate system with the engineering machinery by taking the ground reference as a reference.
In this step, the coordinate system may adopt a cartesian space three-dimensional coordinate system. For example, the Z axis can be determined according to the Cartesian coordinate system right-hand rule by taking the hinged position of the engineering machinery rotary table and the first arm support as a coordinate origin, the hopper direction of the vehicle body as an X positive half axis, and the direction perpendicular to the vehicle body as a Y positive half axis.
The method has the advantages that the establishment of the coordinate system is mainly considered from two aspects, namely, the determination of the pose of the engineering machinery is facilitated, and the positioning of the pose of an arm support and a rotary table of the engineering machinery is facilitated; and secondly, the operating terminal and the engineering machinery adopt the same coordinate reference system, so that the conversion and the processing of control information are facilitated.
S104: and acquiring a motion control signal of the operation terminal, and analyzing the motion control signal to determine the control information of the engineering machinery.
It should be noted that the present step further includes:
s1041: the control terminal senses a self action control signal, and the action control signal comprises a self gravity direction and inclination sensed by the control terminal;
s1042: and comparing the gravity direction and the inclination with the geodetic reference, and acquiring control information containing a control direction and a control speed through data conversion.
It should be noted that, in the present embodiment, the gravity sensing device can be used as a sensing unit of the control terminal, and the sensed gravity direction and the sensed terminal inclination are correspondingly converted into the control direction and the control speed, so as to form the control information.
S106: and analyzing the pose, the working condition information and the control information of the engineering machinery, determining the control information of the engineering machinery, and outputting the control information to a control system of the engineering machinery.
In a preferred embodiment, the method may further include the steps of:
and acquiring the current pose and working condition information of the engineering machinery, carrying out imaging processing on the current pose, the working condition information and the control information, and dynamically displaying the processed current pose, the working condition information and the control information in a partitioning manner.
In the steps, the acquisition and calculation of the pose of the vehicle body and the arm support of the engineering machine can be realized in a control system of the engineering machine, and the pose and working condition information of the engineering machine is acquired by information interaction between the operation terminal and the control system.
Wherein, obtaining the pose of the engineering machine further comprises: under the ground reference, acquiring the current direction of a vehicle body of the engineering machinery through a vehicle body sensing unit of the engineering machinery; and acquiring the rotation angle and the boom inclination angle of the engineering machinery through a rotary encoder of the rotary table of the engineering machinery and a boom inclination angle sensor so as to acquire the rotation attitude and the boom pose.
For example, taking a pump truck as an example, a sensing unit is mounted on a pump truck body for acquiring the existing direction of the pump truck body under the ground reference. A rotary encoder is arranged at the position of a rotary table of the pump truck, an angle sensor is arranged on the mechanical arm, and the two sensors are used for acquiring corresponding action angles and calculating a rotary posture and an arm support pose.
Referring to fig. 2, a posture acquiring manner of the pump truck is shown: and after the control system of the pump truck receives the rotary encoder signal transmitted by the rotary encoder, processing the rotary encoder signal, and calculating to obtain the rotation angle. And after receiving the mechanical arm angle signal transmitted by the angle sensor, the control system of the pump truck processes the mechanical arm angle signal and calculates to obtain the mechanical arm included angle. And calculating the coordinates of each arm section according to the obtained rotation angle and the included angle of the mechanical arm by combining a mechanical arm parameter library and the established motion equation so as to obtain the position and the posture of the pump truck, and then outputting a position and the posture signal of the pump truck to the control terminal. And finishing the pose calculation at one time. It should be noted that after the control system of the pump truck collects the pose information, the control system can actively or in response to the request of the control terminal, provide the pose information of the pump truck to the control terminal.
For convenience of description, in the present embodiment, the manipulation instruction preliminarily generated on the manipulation terminal is defined as manipulation information, the processed manipulation information is defined as manipulation information, and the manipulation information can be processed as imaging information.
In the above embodiment, the pose, the working condition information, and the control information of the engineering machine are processed in an imaging manner, and the processed pose, working condition information, and control information of the engineering machine are dynamically displayed in a partitioned manner. For example, a display interface and a touch interface are arranged on the control terminal, so that dynamic display of operation information and setting of a motion direction are facilitated. And moreover, up-down motion control keys can be arranged on the display touch interface, so that the three-dimensional space linear motion of the engineering machinery is realized.
In this embodiment, a pump truck is taken as an example, and a process of processing the manipulation information in an imaging manner is further described, referring to fig. 3, which shows a process of converting the manipulation information of the manipulation terminal into the manipulation information in this embodiment:
as shown in fig. 3, when the pump truck starts to be controlled, the control terminal acquires a ground reference, senses a control action signal of the control terminal, acquires an operation direction according to the control action signal, performs data processing on the control direction, determines a coordinate of the control terminal under the ground reference, and converts the coordinate into imaging control information. The control terminal displays the processed control information and outputs the control information to the control system of the pump truck, and the control system can realize subsequent control operation according to the control information.
In a preferred embodiment, the above-mentioned control method further includes: and sending out dynamic prompt signals in the form of sound, vibration, characters and/or animation to perform early warning. In this embodiment, the information related to the operating condition, the pose, and the manipulation may be pre-warning modes such as pictures, characters, vibrations, speakers, or animations, and inform the operator of the dynamic information of the current operating condition.
In a preferred embodiment, the above-mentioned control method may further include the steps of:
setting a motion track of the engineering machinery based on the control information, and determining a rotation planning quantity and an arm support translation planning quantity of the engineering machinery;
judging whether the determined rotation planning quantity and the boom translation planning quantity are in the corresponding limit quantity range, if so, determining a driving current corresponding to the rotation quantity and the boom translation quantity according to the corresponding relation between the preset planning displacement quantity and the driving current, and outputting the driving current to an action executing mechanism of the engineering machinery after carrying out feedback correction on the driving current;
and if any planning quantity in the rotation planning quantity and the arm support translation planning quantity is not in the corresponding limit quantity range, adjusting the set motion trail aiming at the planning quantity not in the corresponding limit quantity range until the rotation planning quantity and the arm support translation planning quantity are both in the corresponding limit quantity range.
The above embodiment can plan the track of the engineering machinery based on the terminal indication direction, i.e. the control information. The three-dimensional space trajectory planning of the construction machine is further explained with reference to fig. 4 and 5 below:
referring to fig. 4, the overall control flow of the control method proposed by the present embodiment is shown. Referring to fig. 5, a trajectory planning process of the manipulation method proposed in this embodiment is shown.
As shown in fig. 4 and 5, after determining the operation information, the control device of the construction machine may establish an optimized motion trajectory according to the operation information, the current position and the next target position (determined according to the operation information), or to be said, mainly solving how to make the working mechanism of the construction machine smoothly reach the specified target position according to the operation information.
In this embodiment, the control device of the engineering machine may set the motion trajectory of the relevant action mechanism based on the control information, and determine the planned rotation amount and the planned boom translation amount of the engineering machine. Here, the rotation plan amount includes two components: firstly, the rotation angle and secondly the rotation speed. The boom translation plan also includes two components: the first is the moving distance and the second is the moving speed.
Preferably, the control of the rotation is performed separately from the control of the plane of the robot arm, and the planned amount of the rotational movement of the rotating mechanism is set; for the mechanical arm frame, the extension/shortening amount of the tail end of the mechanical arm is set, and a two-dimensional planning strategy is adopted in the plane of the mechanical arm to obtain the movement planning amount of each arm section. The two-dimensional planning strategy mainly comprises the following steps: in the plane of the mechanical arm, the related action mechanism can reach the position appointed by the motion trail and can stably reach the appointed position.
As shown in fig. 5, the control device determines whether the determined rotation planning amount and boom translation planning amount are within the corresponding limit amount range. In this step, whether the rotation planning amount and the arm support translation planning amount are within the corresponding limit amount range can be judged by judging whether each arm section exceeds the range of the respective limit angle. The limiting angle of each arm section is set according to the characteristics of the engineering machinery, and the general limiting angle is 0-180 degrees.
And if the arm sections do not exceed the range of the limit angles of the arm sections, determining the driving current corresponding to the rotation amount and the arm frame translation amount according to the corresponding relation between the planning displacement amount and the driving current set by the current-planning amount proportion module, and outputting the driving current to an action executing mechanism of the engineering machinery after carrying out feedback correction on the driving current. The corresponding relation between the planned displacement and the driving current can be determined according to a functional relation i = i (q) between the planned displacement and the driving current in the valve characteristic.
However, if the arm sections exceed the self-limiting angles, whether the arm support can act is judged, if the arm support cannot act, the output is stopped, and a warning that the arm support cannot act is sent out. And if the arm support can act, adjusting the set motion trail according to the planning quantity which is not in the corresponding limit quantity range until the rotation planning quantity and the arm support translation planning quantity are both in the corresponding limit quantity range.
In this embodiment, the accurate driving current i may be obtained by performing feedback correction on the driving current, and the accurate driving current i is output to the multi-joint boom actuator of the engineering machine.
The following further explains the above control method with reference to fig. 6:
referring to fig. 6, the steering process of the present example is shown. In this example, the control terminal of the pump truck is provided with an induction unit for acquiring the control direction of the current control terminal. The sensing unit obtains the control action signal by sensing the gravity direction of the terminal, compares the control action signal with the ground reference, obtains control information by data conversion, and can also display the control information on a display touch device of the control terminal.
The control terminal is provided with a display touch device and is used for displaying the direction of the pump truck body on a display screen, displaying current working condition information (information such as reversing times, working state and pressure), the position and posture of the pump truck (on the ground reference) and a control touch key on the screen, and performing remote control action through the screen and a terminal mechanical control. The display touch device can be directly operated, and basic mechanical keys can be additionally arranged for key operation.
And the pump truck body controlled by the pump truck control terminal is provided with an induction unit for acquiring the current direction of the pump truck body under the ground reference. A rotary encoder is arranged at the position of a rotary table of the pump truck, and an angle sensor is arranged on the mechanical arm. The two sensors are used for acquiring corresponding action angles and calculating the rotary gesture and the arm support pose.
As shown in fig. 6, after the pump truck control terminal is started, a geodetic reference is obtained, a coordinate system is established, whether the sensing unit senses the control information or not is monitored, and when the control information is sensed, the control information is processed, so that the control information of the imaged engineering machinery is obtained. And the control terminal is communicated with the control device of the pump truck to acquire the real-time pose and important working condition information of the pump truck. The control terminal can dynamically display the control information, the real-time pose of the pump truck and the important working condition information in a partition mode on a screen of the touch control device, and transmits the control information to the control device of the pump truck.
Compared with the prior art, the embodiments of the invention have the following advantages:
the operation terminal provided by the invention establishes a coordinate system which is the same as that of the engineering machinery by taking the geodetic standard as a reference, thereby facilitating the determination of the pose of the engineering machinery, facilitating the positioning of the poses of an arm support and a rotary table of the engineering machinery, and facilitating the conversion and processing of the control information.
In the control process, the operation terminal determines and outputs the control information of the engineering machinery to a control device of the engineering machinery according to the pose, the working condition information and the control information of the engineering machinery, so that the control of the engineering machinery is realized. Therefore, the operation terminal of the invention not only facilitates the realization of the precise control of the engineering machinery and the accurate and flexible operation, but also can be in seamless connection with the operation of the engineering machinery, thereby avoiding the operation error caused by the handle or calibration.
Terminal embodiment
Referring to fig. 7, there is shown a steering system of the working machine of the present embodiment. In this embodiment, the engineering machine control terminal includes: the device comprises an initialization module, an information acquisition module, an information processing module and an information output module. Wherein:
the initialization module is configured to: and establishing a three-dimensional coordinate system of the operation terminal and the engineering machinery by taking the ground reference as a reference.
The information acquisition module is configured to: and acquiring the action control signal of the engineering machine, and determining the control information of the engineering machine according to the action control signal.
The information output module is configured to: and outputting the control information to a control device of the engineering machinery.
In the control terminal of the above embodiment, the information obtaining module may include: the device comprises a sensing unit and an information processing unit. Wherein:
the sensing unit is configured to: sensing a motion control signal of the control terminal based on the ground reference, wherein the motion control signal comprises the gravity direction and the inclination sensed by the control terminal;
the information processing unit is configured to: and comparing the gravity direction and the inclination with the geodetic reference, and acquiring control information containing a control direction and a control speed through data conversion.
In the control terminal of a preferred embodiment, the information obtaining module may further include: the device comprises a pose acquisition unit, a working condition acquisition unit and an induction unit. Wherein:
the pose acquisition unit is configured to: and communicating with a control device of the engineering machinery to acquire the current pose of the engineering machinery under the ground reference, such as the current direction of a vehicle body, the rotating pose and the pose of an arm support.
The operating condition acquisition unit is configured to: and communicating with a control device of the engineering machinery to acquire the working condition information.
It should be noted that the pose acquisition unit, the working condition acquisition unit and the sensing unit can all communicate with the information processing unit, and respectively transmit the pose, the working condition information and the control direction of the engineering machine to the information processing module for subsequent processing, such as imaging processing. In this embodiment, the sensing unit of the control terminal is used to obtain the current control direction of the control terminal. The sensing unit obtains the control action signal by sensing the gravity direction of the terminal, compares the control action signal with the ground reference, obtains the control direction by data conversion, and sends the control direction to the information processing unit for processing.
In order to further facilitate the operation of the engineering machine, in a preferred embodiment, the operation terminal may further include: and the display device is configured to process the pose, the working condition information and the control information of the engineering machinery in an imaging mode and dynamically display the processed pose, the working condition information and the control information of the engineering machinery in a partitioning mode. In the embodiment, the display device of the control terminal can be used for displaying the real-time pose of the engineering machinery, and simultaneously dynamically displaying the control direction of the user, so that the working condition information can be conveniently and dynamically known in real time.
It should be noted that the display device of the present embodiment can be divided into two basic modules: the device comprises a display module and an imaging processing module. Wherein: the imaging processing module is configured to image the pose, the working condition information and the control information of the engineering machinery. The display module is configured to dynamically display the processed engineering machinery pose, working condition information and control information in a partitioning manner.
In a preferred embodiment, in the above-mentioned control terminal, the display device may further be configured with a touch module. The touch module is configured with a screen control and is configured to execute control operations, such as inputting, adjusting and sending the control information, through the screen control. In this embodiment, the display touch device of the control terminal can not only display the real-time pose of the engineering machine, but also dynamically display the control direction, the working condition information and the like of the user.
In a preferred embodiment, in the above control terminal, the display device may further be configured with an early warning module. The early warning module is configured to send out dynamic prompt signals in the form of sound, vibration, characters and/or animation to perform early warning.
In the embodiment, the animation character prompt is realized on the display device, and the user can be prompted in the forms of sound, vibration, animation and the like, so that the interaction between the dynamic information of the engineering machinery and the operator is realized. In this embodiment, all the operation modes can adopt the early warning modes such as pictures, characters, vibration, loudspeakers, or animation to inform the operator of the dynamic information of the current operation condition.
In a preferred embodiment, in the above-mentioned control terminal, the control terminal may further be provided with a mechanical control device. The mechanical control device is provided with a mechanical key corresponding to the action of the engineering machinery and is configured to execute control operation such as inputting, modifying and sending the control information through the mechanical key. The mechanical control device is communicated with the information processing module, and the information processing module processes the control information input through the mechanical keys and outputs the control information to the display device for displaying.
Preferably, when the display device is configured with the touch module, the display device can also be configured with a mechanical control device at the same time, and two control modes are set for key functions at the same time: and touch control and mechanical key control of the display interface.
It should be noted that the display touch device provided in the control terminal is used for displaying the direction of the pump truck body on the touch screen, and displaying the current working condition information (such as information of reversing times, working state, pressure, and the like), the position and attitude of the pump truck (on the ground reference), the control direction, and the control information on the screen; and moreover, the control touch key can be displayed on a screen, and remote control action can be performed through the screen and the terminal mechanical control. The display touch device can be directly operated, and basic mechanical keys can be additionally arranged for key operation, so that the control terminal can respectively carry out remote control actions through screen touch and mechanical controls on the terminal.
It should be emphasized that two important parts of the control terminal are: 1) the direction sensing device (namely a sensing unit) is used for acquiring a direction sensing signal of the control terminal; 2) and the display touch device realizes the functions of corresponding function operation, working condition information display and early warning.
It should be noted that the control terminal may be a portable mobile terminal, or may be a remote control type handheld control terminal device.
The gravity sensing device, the operator and the engineering machinery are taken as a system to be considered integrally, the designed control terminal and method are convenient for controlling the engineering machinery, the operator can conveniently operate according to the control habit of the operator by arranging the touch interface and the key device, and meanwhile, the control mode is calibrated based on the three-dimensional geometric coordinate relation, so that the control is more accurate.
Control device embodiment
Referring to fig. 7, there is shown a steering system of the working machine of the present embodiment. In this embodiment, the control device for a construction machine includes: the device comprises an information receiving module, a track planning module, a limiting module, a current-planning quantity proportion module, an adjusting module and an output module. Wherein:
the information receiving module is configured to receive the control information and transmit the control information to the trajectory planning module for analysis processing.
The trajectory planning module is configured to: and setting a motion track of the engineering machinery based on the control information, and determining the rotation planning quantity and the arm support translation planning quantity of the engineering machinery. And optimizing the control information according to the coordinate calibration information and the three-dimensional geometric coordinate relationship, and processing the geometric relationship of the arm frame link mechanism, the arm frame dynamics, the electro-hydraulic proportion of the electromagnetic valve and the like.
The limiting module is configured as follows: and judging whether the rotation planning quantity and the arm support translation planning quantity determined by the trajectory planning module are in the corresponding limit quantity range, and informing the current-planning quantity proportion module when the rotation planning quantity and the arm support translation planning quantity are in the corresponding limit quantity range.
The current-projected-quantity-ratio module is configured to: and determining the driving current corresponding to the rotation amount and the arm frame translation amount according to the corresponding relation between the preset planning displacement amount and the driving current, and outputting the driving current to an action executing mechanism of the engineering machinery after performing feedback correction on the driving current. The obtained driving current is transmitted to each actuating mechanism of the engineering machinery, such as a multi-joint arm actuating mechanism, to instruct and execute corresponding actions, so that intelligent actions of the tail end points of the mechanical arms are realized.
The adjustment module is configured to: and if the limiting module determines that any planning quantity of the rotation planning quantity and the arm support translation planning quantity is not in the corresponding limiting quantity range, adjusting the set motion track according to the planning quantity which is not in the corresponding limiting quantity range until the rotation planning quantity and the arm support translation planning quantity are both in the corresponding limiting quantity range.
It should be noted that, the communication between the control terminal and the control device and between the internal modules of the control terminal and the control device may use a predefined protocol for information transmission, which is not limited in the embodiments of the present invention.
Compared with the prior art, the embodiments of the invention have the following advantages:
therefore, the control device of the embodiment is matched with the control terminal, so that an operator can accurately and flexibly operate the engineering machinery in any direction, seamless connection between the control terminal and the engineering machinery is realized, and operation errors caused by handles or calibration are avoided.
System embodiment
In addition, the embodiment of the invention also provides an intelligent control system of the engineering machinery. Referring to fig. 4 to 8, a control flow of the intelligent control system and its main components are respectively shown.
In this embodiment, as shown in fig. 7, the control system includes: the control terminal, the sensing system, the vehicle body direction sensing device, and the control device of the construction machine according to any of the embodiments described above. The operation terminal refers to any of the above embodiments, and details are not repeated here.
The sensing system is arranged on the motion mechanism on the engineering machinery and configured to acquire the pose signal of each motion mechanism. Here, the sensing system includes a rotary encoder, a boom angle sensor, and the like.
The vehicle body direction sensing device is arranged on a vehicle body of the engineering machinery and is configured to acquire a vehicle body pose signal of the engineering machinery
The control device is arranged on the engineering machinery and is connected with the sensing system, the vehicle body direction sensing device and the control terminal. Wherein the control device is configured to: receiving and processing the pose signals of each motion mechanism and the pose signals of the vehicle body, and determining the current pose of the engineering machine; and the control device receives and processes the control information, sets a motion track and instructs a corresponding motion mechanism to act according to the motion track.
The control device of the construction machine and the sensors cooperating with the control device will be further described with reference to fig. 8:
here, taking a pump truck as an example, the operation of the pump truck is controlled by the control terminal described in each of the above embodiments. In this embodiment, a direction sensing device is installed on the pump truck body and is used for acquiring a current truck body direction of the pump truck body in the ground reference direction. A rotary encoder is arranged at the position of a rotary table of the pump truck, and an angle sensor is arranged on the mechanical arm. The two sensors are used for acquiring corresponding action angles and calculating the rotary gesture and the arm support pose.
Wherein, the direction induction system who installs on the pump truck automobile body possesses two kinds of modes:
1) electronic direction sensing device
The electronic direction sensing device is powered by a battery on the vehicle and converts the sensed direction of the vehicle body into an electronic signal to be transmitted to the control device.
2) Mechanical direction sensing device
The mechanical type can be in an operating state at all times whether the power supply is available or not, and the mechanical signal is converted into an electric signal to be transmitted to the control device under the condition that the power supply is in operation.
It should be noted that the mode of the direction sensing device can be selected according to the requirement of the working condition, and after the signals are collected, the sensing signal processing device of the pump truck control device processes the electronic signals or the mechanical signals to obtain the pose of the truck body and output the pose to the control terminal. However, due to the requirement of working conditions, the precision requirement on the direction sensing devices in the two modes is very high, the two direction sensing devices can work complementarily, a vehicle body direction sensing signal source can be shared, and data errors of signals are avoided.
In this embodiment, the control device of the pump truck processes the received control information to implement the corresponding control function. Therefore, from another division point of view, the control device may comprise an information receiving module, an information analyzing module, a processing module, and an output module. The information receiving module transmits the received control information to the information analyzing module and the processing module for analyzing and processing, and the output module transmits the processed control information to each actuating mechanism of the pump truck, such as a multi-joint arm actuating mechanism, so that intelligent action of a tail end point of the mechanical arm is realized.
The information analysis module mainly transmits correct control information to the processing module by using a protocol defined in advance according to the coordinate calibration information and the three-dimensional geometric coordinate relation. The processing process of the processing module mainly comprises the following steps: arm support link mechanism geometric relation processing, arm support dynamics processing, electromagnetic valve electro-hydraulic proportion processing and the like. The output module outputs the information processed by the processing module to each corresponding execution mechanism to instruct execution of corresponding actions, so that the engineering machinery is controlled.
Therefore, the intelligent induction control system designed by the embodiment can ensure that an operator can accurately and flexibly operate the engineering machinery in any direction. The intelligent control system of the embodiment realizes seamless connection between the control terminal and the operation of the engineering machinery, and avoids operation errors caused by handles or calibration.
In addition, an embodiment of the present invention further provides an engineering machine, such as a pump truck, where the engineering machine is provided with any one of the above operation and control terminals, and because any one of the above operation and control terminals has the above technical effects, the engineering machine provided with the operation and control terminal should also have corresponding technical effects, and a specific implementation process thereof is similar to that in the above embodiment, and is not described again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software. The storage device is a nonvolatile memory, such as: ROM/RAM, flash memory, magnetic disk, optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (12)
1. A method of operating a construction machine, comprising:
establishing the same coordinate system between the operation terminal and the engineering machinery by taking the geodetic standard as a reference;
acquiring a control action signal of an operation terminal, analyzing the control action signal to determine control information of the engineering machinery, and outputting the control information to a control device of the engineering machinery.
2. The control method according to claim 1, wherein the step of acquiring a motion control signal of the operation terminal itself, and analyzing the motion control signal to determine the control information of the construction machine comprises:
the control terminal senses a self action control signal, and the action control signal comprises a self gravity direction and inclination sensed by the control terminal;
and comparing the gravity direction and the inclination with the geodetic reference, and acquiring control information containing a control direction and a control speed through data conversion.
3. The manipulation method according to claim 1, further comprising:
acquiring the current pose and working condition information of the engineering machinery;
and performing imaging processing on the current pose, the working condition information and the control information, and dynamically displaying the processed current pose, the working condition information and the control information in a partitioning manner.
4. The manipulation method according to claim 1, further comprising:
one or more of sound, vibration, characters and animation are adopted to send out dynamic prompt signals to give out early warning.
5. The manipulation method according to any one of claims 1 to 4, further comprising:
setting a motion track of the engineering machinery based on the control information, and determining a rotation planning quantity and an arm support translation planning quantity of the engineering machinery;
judging whether the determined rotation planning quantity and the boom translation planning quantity are in the corresponding limit quantity range, if so, determining a driving current corresponding to the rotation quantity and the boom translation quantity according to the corresponding relation between the preset planning displacement quantity and the driving current, and outputting the driving current to an action executing mechanism of the engineering machinery after carrying out feedback correction on the driving current;
and if any planning quantity in the rotation planning quantity and the arm support translation planning quantity is not in the corresponding limit quantity range, adjusting the set motion trail aiming at the planning quantity not in the corresponding limit quantity range until the rotation planning quantity and the arm support translation planning quantity are both in the corresponding limit quantity range.
6. A control terminal of a construction machine, comprising:
the initialization module is configured to establish a three-dimensional coordinate system of the operation terminal and the engineering machinery by taking a geodetic standard as a reference;
the information acquisition module is configured to acquire an action control signal of the information acquisition module and determine the control information of the engineering machinery according to the action control signal;
an information output module configured to output the manipulation information to a control device of the construction machine.
7. The control terminal according to claim 6, wherein the information obtaining module comprises: the sensing unit is configured to sense a motion control signal of the control terminal based on the geodetic reference, and the motion control signal comprises a self gravity direction and an inclination sensed by the control terminal;
and the information processing unit is configured to compare the gravity direction and the inclination with the ground reference, and acquire control information containing a control direction and a control speed through data conversion.
8. The manipulation terminal of claim 7,
the information acquisition module further includes: a pose acquisition unit and a working condition acquisition unit; the pose acquisition unit is configured to communicate with a control device of the engineering machinery to acquire the current pose of the engineering machinery; the working condition acquisition unit is configured to communicate with a control device of the engineering machinery to acquire current working condition information of the engineering machinery;
the control terminal further comprises: and the display device is configured to process the current pose, the working condition information and the control information of the engineering machinery in an imaging mode, and dynamically display the processed current pose, the working condition information and the control information in a partitioning mode.
9. The manipulation terminal of claim 8, wherein the display device is further configured with:
the touch control module is configured with a screen control and is configured to execute control operation through the screen control; and/or the presence of a gas in the gas,
and the early warning module is configured to send out dynamic prompt signals in one or more of sound, vibration, characters and animation for early warning.
10. The manipulation terminal according to any one of claims 5 to 8, further comprising:
and the mechanical control device is provided with a mechanical key corresponding to the action of the engineering machinery and is configured to generate or modify the control information through the mechanical key.
11. A control device for a construction machine, comprising: the device comprises an information receiving module, a track planning module, a limiting module, a current-planning quantity proportion module, an adjusting module and an output module; wherein,
the information receiving module is configured to: receiving control information;
the trajectory planning module is configured to: setting a motion track of the engineering machinery based on the control information, and determining a rotation planning quantity and an arm support translation planning quantity of the engineering machinery;
the limiting module is configured as follows: judging whether the rotation planning quantity and the arm support translation planning quantity determined by the trajectory planning module are in the corresponding limit quantity range, and informing the current-planning quantity proportion module when the rotation planning quantity and the arm support translation planning quantity are in the corresponding limit quantity range;
the current-projected-quantity scaling module is configured to: determining a driving current corresponding to the rotation amount and the arm support translation amount according to a corresponding relation between a preset planning displacement amount and the driving current, and outputting the driving current to an action executing mechanism of the engineering machinery after performing feedback correction on the driving current;
the adjustment module is configured to: and if the limiting module determines that any planning quantity of the rotation planning quantity and the arm support translation planning quantity is not in the corresponding limiting quantity range, adjusting the set motion track according to the planning quantity which is not in the corresponding limiting quantity range until the rotation planning quantity and the arm support translation planning quantity are both in the corresponding limiting quantity range.
12. A work machine control system, comprising: the control terminal for a construction machine according to any one of claims 6 to 10, the control device for a construction machine according to claim 11, the sensing system, and the vehicle body direction sensing device; wherein,
the sensing system is arranged on a motion mechanism on the engineering machinery and is configured to acquire pose signals of each motion mechanism;
the vehicle body direction sensing device is arranged on a vehicle body of the engineering machinery and is configured to acquire a vehicle body pose signal of the engineering machinery;
the control device is arranged on the engineering machinery and is connected with the sensing system, the vehicle body direction sensing device and the control terminal; wherein the control device is configured to: receiving and processing the pose signals of the motion mechanisms and the pose signals of the vehicle body, and determining the current pose of the engineering machinery; and the control device receives and processes the control information, sets a motion track and instructs a corresponding motion mechanism to act according to the motion track.
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| CN201410037063.4A CN103809595A (en) | 2014-01-26 | 2014-01-26 | Engineering machinery operation method, operation terminal, control device and operation system |
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| CN201410037063.4A CN103809595A (en) | 2014-01-26 | 2014-01-26 | Engineering machinery operation method, operation terminal, control device and operation system |
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Application publication date: 20140521 |