CN110747931B - Excavator light control method, excavator and computer readable storage medium - Google Patents

Excavator light control method, excavator and computer readable storage medium Download PDF

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Publication number
CN110747931B
CN110747931B CN201910897233.9A CN201910897233A CN110747931B CN 110747931 B CN110747931 B CN 110747931B CN 201910897233 A CN201910897233 A CN 201910897233A CN 110747931 B CN110747931 B CN 110747931B
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excavator
angle
bucket
lamp
calculating
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CN110747931A (en
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孙立耀
闫海瑞
韩强
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Sany Heavy Machinery Ltd
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Sany Heavy Machinery Ltd
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention discloses an excavator light control method, an excavator and a computer readable storage medium, wherein the method comprises the following steps: acquiring operation angle information of an excavator operating handle and displacement information of a working device; calculating coordinates of the bucket teeth of the excavator according to the displacement information and calculating motion speed vectors of the bucket teeth according to the operation angle information; calculating the vertical deflection angle of the lamp according to the coordinates of the bucket teeth, the coordinates of the lamp and the motion velocity vector; and calculating the horizontal deflection angle of the lamp according to the motion velocity vector so as to adjust the direction of the lamp according to the vertical deflection angle and the horizontal deflection angle. According to the technical scheme, the lamp on the excavator can move an angle in advance in the action direction of the bucket of the excavator, so that the obstacle existing during the action of the excavator can be seen in advance, and the night operation efficiency is improved.

Description

Excavator light control method, excavator and computer readable storage medium
Technical Field
The invention relates to the technical field of excavators, in particular to an excavator light control method, an excavator and a computer readable storage medium.
Background
In many engineering projects using the excavator, a customer usually selects to work at night, the excavator is usually provided with a lighting lamp in order to adapt to the situation that the brightness is lower during the work at night, the existing lighting lamp usually adopts a lamp with a fixed direction, a plurality of lighting blind areas exist during the work at night, the lighting range is small, the night visual field is small, an operator can hardly and quickly judge the next operation, the operation efficiency is low, and the complicated working condition of the engineering project site is hardly met.
Disclosure of Invention
In view of the foregoing problems, an object of the embodiments of the present invention is to provide an excavator light control method, an excavator and a computer-readable storage medium, so as to solve the disadvantages of the prior art.
According to one embodiment of the invention, an excavator light control method is provided, wherein the excavator comprises an angle-adjustable lamp, and the method comprises the following steps:
acquiring operation angle information of an excavator operating handle and displacement information of a working device;
calculating coordinates of the bucket teeth of the excavator according to the displacement information and calculating motion speed vectors of the bucket teeth according to the operation angle information;
calculating the vertical deflection angle of the lamp according to the coordinates of the bucket teeth, the coordinates of the lamp and the motion velocity vector;
calculating a horizontal deflection angle of the lamp according to the motion velocity vector so as to adjust the direction of the lamp according to the vertical deflection angle and the horizontal deflection angle;
in the above excavator light control method, the method further includes:
and calculating the focal length of the lamp according to the coordinates of the lamp and the coordinates of the bucket tooth so as to adjust the focal point of the lamp according to the focal length.
In the light control method for the excavator, the operation angle information comprises a movable arm handle operation angle, an arm handle operation angle and a bucket handle operation angle;
the "calculating the movement velocity vector of the bucket tooth according to the operation angle information" includes:
calculating the speed of a boom cylinder according to the operation angle of the boom handle;
calculating the speed of the bucket rod oil cylinder according to the operation angle of the bucket rod handle;
calculating the speed of a bucket oil cylinder according to the operating angle of the bucket handle;
and calculating the motion speed vector according to the speed of the movable arm oil cylinder, the speed of the arm oil cylinder and the speed of the bucket oil cylinder.
In the excavator light control method, the step of calculating the vertical deflection angle of the lamp according to the coordinates of the bucket teeth, the coordinates of the lamp and the motion velocity vector includes:
calculating a first deflection angle of the lamp when the excavator does not act according to the coordinates of the bucket teeth and the coordinates of the lamp;
calculating a second deflection angle of the lamp when the excavator moves according to the motion velocity vector;
taking the sum of the first deflection angle and the second deflection angle as the vertical deflection angle.
In the excavator light control method, the first deflection angle ξ is calculated by the following formula 1 ：
Figure BDA0002210646030000031
Wherein (X) v ,Y v ) As the coordinates of the bucket tooth V, (x) 1 ,y 1 ) Coordinates of the luminaire.
In the excavator light control method, the second deflection angle ξ is calculated by the following formula 2 ：
Figure BDA0002210646030000032
Wherein (ω) x ,ω y ) Is a motion velocity vector.
In the light control method of the excavator, the motion speed vector comprises a rotary handle operation angle;
the "calculating the horizontal deflection angle of the luminaire according to the motion velocity vector" includes:
and multiplying the operation angle of the rotary handle by a linear deflection parameter of the horizontal deflection angle relative to the operation angle of the rotary handle, which is acquired in advance, to obtain the horizontal deflection angle.
In the above-mentioned excavator light control method, the calculation is performed by the following formulaThe focal length f LV ：
Figure BDA0002210646030000033
Wherein (X) v ,Y v ) As the coordinates of the bucket tooth V, (x) 1 ,y 1 ) Coordinates of the luminaire.
According to another embodiment of the present invention, there is provided an excavator lighting control device, the excavator including an angle-adjustable lamp, the device including:
the acquisition module is used for acquiring the operating angle information of the operating handle of the excavator and the displacement information of the working device;
the first calculation module is used for calculating coordinates of the bucket teeth of the excavator according to the displacement information and calculating motion speed vectors of the bucket teeth according to the operation angle information;
the second calculation module is used for calculating the vertical deflection angle of the lamp according to the coordinates of the bucket teeth, the coordinates of the lamp and the motion velocity vector;
and the third calculation module is used for calculating the horizontal deflection angle of the lamp according to the motion velocity vector so as to adjust the direction of the lamp according to the vertical deflection angle and the horizontal deflection angle.
According to still another embodiment of the present invention, there is provided an excavator including a memory for storing a computer program and a processor for operating the computer program to cause the excavator to perform the excavator light control method described above.
According to still another embodiment of the present invention, there is provided a computer-readable storage medium storing the computer program used in the excavator described above.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
the invention relates to an excavator light control method, an excavator and a computer readable storage medium, wherein a lamp with adjustable direction and used for illumination is preset on the excavator, the coordinates of a bucket tooth of the excavator and a motion speed vector of the bucket tooth can be calculated according to operation angle information of an excavator operating handle and displacement information of a working device, and an angle parameter of the latitude of the lamp is calculated according to all or part of the parameters in the coordinates of the bucket tooth, the coordinates of the lamp and the motion speed vector: the vertical deflection angle in the vertical direction and the horizontal deflection angle in the horizontal direction can further adjust the direction of the lamp according to the vertical deflection angle and the horizontal deflection angle, so that the problem of a lamp illumination blind area in a fixed direction is avoided, meanwhile, the illumination range and the night vision are enlarged, the operation efficiency is improved, and the operation problem of complicated working conditions of a work project site can be met.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows a flow chart of an excavator light control method according to a first embodiment of the present invention.
Fig. 2 is a schematic diagram of a derived model of a vertical deflection angle of a lamp according to a first embodiment of the present invention.
Fig. 3 is a schematic diagram of a derivation model of coordinates of a tooth of a bucket of an excavator according to a first embodiment of the invention.
Fig. 4 shows a schematic diagram of a derived model of a horizontal deflection angle of a luminaire according to a first embodiment of the present invention.
Fig. 5 is a flowchart illustrating an excavator light control method according to a second embodiment of the present invention.
Fig. 6 is a schematic structural diagram illustrating an excavator light control device according to a third embodiment of the present invention.
Description of the main element symbols:
400-excavator light control device; 410-an acquisition module; 420-a first calculation module; 430-a second calculation module; 440-third calculation module.
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. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Fig. 1 shows a flow chart of an excavator light control method according to a first embodiment of the present invention.
The excavator light control method comprises the following steps:
in step S110, the operation angle information of the excavator operation handle and the displacement information of the work implement are acquired.
In this embodiment, at least one angle sensor may be mounted on the excavator operating handle, and the operating angle information may be acquired by the angle sensor, where the operating angle information includes a boom handle operating angle, an arm handle operating angle, a bucket handle operating angle, a swing handle operating angle, and the like.
For example, the excavator operating handle may include a boom handle, an arm handle, a bucket handle, and the like, and an angle sensor may be provided to the boom handle, the arm handle, the bucket handle, and the like.
In some other embodiments, such as in an electronically controlled positive flow system, a pilot pressure sensor may be further disposed on the operating handle, pilot pressure information applied to the operating handle is measured by the pilot pressure sensor, and operating angle information corresponding to the operating handle is determined according to a linear relationship between the pilot pressure information of the operating handle and previously learned pressure information and operating angle information.
Of course, in other embodiments, an electrically controlled operating handle may be further provided in the excavator, the current signal or the voltage signal applied to the electrically controlled operating handle is obtained through the electrically controlled operating handle, and the operating angle information corresponding to the electrically controlled operating handle is determined according to the linear relationship between the pre-learned current signal or voltage signal and the operating angle information.
The excavator mainly comprises a walking device, a working device and a rotary platform, wherein the working device mainly comprises a movable arm, a movable arm oil cylinder, an arm oil cylinder, a bucket oil cylinder, a connecting rod, a rocker and the like, at least one displacement sensor can be arranged in the excavator working device, and the displacement information can be obtained through the displacement sensor. The displacement information comprises the displacement of a movable arm oil cylinder, the displacement of an arm oil cylinder, the displacement of a bucket oil cylinder and the like.
For example, displacement sensors may be provided at a boom cylinder, an arm cylinder, and a bucket cylinder, respectively, in the excavator work device, the boom cylinder displacement may be acquired by the displacement sensor provided at the boom cylinder, the arm cylinder displacement may be acquired by the displacement sensor provided at the arm cylinder, and the bucket cylinder displacement may be acquired by the displacement sensor provided at the bucket cylinder.
In step S120, a bucket tooth coordinate of the excavator is calculated based on the displacement information, and a movement velocity vector of the bucket tooth is calculated based on the operation angle information.
Further, calculating bucket tooth coordinates of the excavator according to the displacement information includes: as shown in FIG. 2, the center point of the contact area between the excavator and the ground is used as the origin, and the horizontal straight line passing through the origin is locatedThe direction is an X axis, and the direction of a vertical straight line passing through the origin is a Y axis. Ar1 is a movable arm, ar2 is a bucket rod, ar3 is a bucket, hy1 is a movable arm cylinder, hy2 is a bucket rod cylinder, hy3 is a bucket cylinder, L is a lamp, V is a bucket tooth, and L 1 For boom cylinder displacement, L 2 For displacement of the bucket rod cylinder, L 3 Is the displacement of the bucket cylinder.
The excavator model is simplified to obtain a simplified model diagram as shown in fig. 3, wherein point C is a lower hinge point of the movable arm, point D is a hinge point of the movable arm and the bucket rod cylinder, point E is a hinge point of the bucket rod cylinder and the bucket rod, point F is a hinge point of the bucket rod and the movable arm, point G is a hinge point of the bucket cylinder and the bucket rod, point Q is a hinge point of the bucket and the bucket rod, point V is a tip point of a bucket tooth of the bucket, point K is a hinge point of the connecting rod and the bucket, point M is a hinge point of the bucket cylinder and the crank, point N is a hinge point of the crank and the bucket rod, point H is a hinge point of the crank and the connecting rod, point U is a point on a straight line passing through point C and parallel to an X axis, point P is a fixed point of the movable arm and the movable arm cylinder, and point P is a point on a straight line passing through point on the straight line parallel to the C axis 1 The point is the lower hinge point of the movable arm oil cylinder.
According to the F point:
α 32 ＝∠CFQ＝π-α 3 -α 4 -α 6 -θ 2 wherein α is 32 Is the angle between the straight line of CF and the straight line of FN, alpha 3 Is the angle between the straight line of DF and the straight line of FC, alpha 4 Is the angle between the straight line of EF and the straight line of FG, alpha 6 Is the angle between the straight line of GF and the straight line of FN, theta 2 Is the included angle between the straight line of DF and the straight line of FE.
In Δ CDF, angle DCF is α 2 Depending on the design of the excavator, after ═ DCF is determined:
l 8 2 ＝l 6 2 +l 1 2 -2×cos∠DCF×l 1 ×l 6 wherein l 8 D, the distance between two points F, l 6 Is the distance between the two points C and D, l 1 C, the distance between the two points F.
l 6 2 ＝l 8 2 +l 1 2 -2×cosα 3 ×l 1 ×l 8
Figure BDA0002210646030000081
In Δ DEF:
L 2 2 ＝l 8 2 +l 9 2 -2×cosθ 2 ×l 8 ×l 9 wherein L is 2 D, the distance between two points E, l 9 E, F, the distance between the two points.
Then:
Figure BDA0002210646030000082
angle GFN is alpha 6 As determined at the time of excavator design.
From Δ CFN:
l 28 ＝sqr(l 16 2 +l 1 2 -2×cosα 32 ×l 16 ×l 1 ) Wherein l is 28 Is the distance between two points C, N, l 16 F, the distance between two points N.
From Δ CFQ:
l 23 ＝sqr(l 2 2 +l 1 2 -2×cosα 32 ×l 2 ×l 1 ) Wherein l 23 Is the distance between two points C and Q, l 2 F, the distance between two points of Q (to avoid the interference with l) 16 Confusion,. L 2 Not shown in the figures).
From the Q point, it can be seen that:
α 35 ＝∠CQV＝2π-α 33 -α 24 -α 10 wherein α is 35 Is the angle between the straight line of CQ and the straight line of QV, alpha 33 Is the angle between the straight line of CN and the straight line of NQ, alpha 24 Is the angle between the straight line of MQ and the straight line of QN, alpha 10 Is the included angle between the line of VQ and the line of QK.
In Δ NHQ:
l 13 2 ＝l 27 2 +l 21 2 -2×cosα 24 ×l 27 ×l 21 wherein l 13 H, the distance between two points N, l 27 Is the distance between two points H and Q, l 21 Is the distance between two points Q, N, alpha 24 Is the angle between the line of QN and the line of QH.
Figure BDA0002210646030000091
In Δ HKQ:
l 29 2 ＝l 27 2 +l 24 2 -2×cosα 26 ×l 27 ×l 24 wherein l is 29 Is the distance between two points H, K, l 24 Is the distance between two points K, Q, alpha 26 Is the angle between the line of KQ and the line of QH.
Figure BDA0002210646030000092
α 10 And = KQV, which can be determined in the design of the excavator.
After calculating the length and angle of all the line segments, in Δ KQV:
l 25 2 ＝l 24 2 +l 3 2 -2×l 24 ×l 3 ×cosα 10 wherein l is 25 Is the distance between two points K, V,/ 3 For the distance between two points Q and V, l can be obtained from the above formula 3 The value of (c).
At delta CP 1 In P:
l 39 2 ＝l 38 2 +l 40 2 -2×l 38 ×l 40 ×cosα 39
α 39 ＝cos -1 (((l 38 ) 2 +(l 40 ) 2 -(l 39 ) 2 )/(2×l 38 ×l 40 ) Wherein l) is 38 Is the distance between two points C, P, l 39 Is P 1 P distance between two points, l 40 Is C, P 1 Distance between two points, α 39 Is CP 1 And the included angle between the straight line and the straight line of the CP.
In Δ CFQ:
l 42 2 ＝l 23 2 +l 1 2 -2×cosα 42 ×l 23 ×l 1
Figure BDA0002210646030000101
wherein l 42 Is F, the distance between two points of Q, l 23 Is the distance between two points C, Q, alpha 42 Is the included angle between the FC straight line and the QC straight line.
In Δ CQV:
l 3 2 ＝l 23 2 +l 37 2 -2×l 23 ×l 37 ×cosα 36
Figure BDA0002210646030000102
wherein l 37 Is the distance between two points C, V, alpha 36 Is the angle between the CQ line and the CV line.
α 45 ＝∠VCP 1 ＝α 39 -α 36 -α 42 -α 41 Wherein α is 41 The included angle between the straight line of the PC and the straight line of the CF can be determined in the design process of the excavator.
According to l 37 Value of alpha 45 The coordinates of the bucket tooth V can be calculated by the value of (D) and the coordinates of the point C.
It should be noted that the coordinates of the bucket tooth described in this embodiment are the coordinates of the tip of the middle tooth of the bucket.
Further, the operation angle information includes a boom handle operation angle, an arm handle operation angle, and a bucket handle operation angle, and the "calculating the movement velocity vector of the bucket tooth according to the operation angle information" includes:
calculating the speed of a boom cylinder according to the operation angle of the boom handle; calculating the speed of the bucket rod oil cylinder according to the operation angle of the bucket rod handle; calculating the speed of a bucket oil cylinder according to the operating angle of the bucket handle; and calculating the motion speed vector according to the speed of the movable arm oil cylinder, the speed of the arm oil cylinder and the speed of the bucket oil cylinder.
Specifically, the boom handle operating angle is linearly related to the boom cylinder speed, the arm handle operating angle is linearly related to the arm cylinder speed, and the bucket handle operating angle is linearly related to the bucket cylinder speed.
For example, boom cylinder velocity Vec 1 ＝k 11 σ 11 +j 11 Wherein k is 11 And j 11 Is a first correlation parameter between the boom handle operation angle and the boom cylinder speed, k 11 And j 11 The parameter can be a constant or a function, and can be obtained by fitting the relation between the speed of the movable arm oil cylinder and the operating angle of the movable arm handle in advance; sigma 11 The operation angle of the movable arm handle is shown.
Bucket rod cylinder speed Vec 2 ＝k 22 σ 22 +j 22 Wherein k is 22 And j 22 Is a second related parameter between the operating angle of the arm handle and the speed of the arm cylinder, k 22 And j 22 The parameter can be a constant or a function, and can be obtained by fitting in advance according to the relation between the speed of the bucket rod oil cylinder and the operation angle of the bucket rod handle; sigma 22 The operating angle of the handle of the bucket rod is changed.
Bucket cylinder speed Vec 3 ＝k 33 σ 33 +j 33 Wherein k is 33 And j 33 Is a third correlation parameter between the operating angle of the bucket handle and the speed of the bucket cylinder, k 33 And j 33 The speed of the bucket cylinder can be constant or can be a function, and the speed can be obtained by fitting the relation between the speed of the bucket cylinder and the operating angle of the bucket handle in advance; sigma 33 The operating angle of the bucket handle.
Bucket tooth velocity is linearly related to boom cylinder velocity, stick cylinder velocity, and bucket cylinder velocity as described above.
For example, the speed X of the bucket teeth in the horizontal direction v Comprises the following steps:
X v ＝h 11 (k 11 σ 11 +j 11 )+h 22 (k 22 σ 22 +j 22 )+h 33 (k 33 σ 33 +j 33 )
wherein h is 11 、h 22 And h 33 Is X v With boom cylinder speed Vec 1 Bucket rod cylinder speed Vec 2 And bucket cylinder speed Vec 3 The horizontal linear coefficient may be a constant or a function, and may be obtained by fitting in advance according to a relationship between a speed of a bucket tooth in a horizontal direction and a speed of a boom cylinder, a speed of an arm cylinder, and a speed of a bucket cylinder.
Speed Y of bucket tooth in vertical direction v Comprises the following steps:
Y v ＝h 44 (k 11 σ 11 +j 11 )+h 55 (k 22 σ 22 +j 22 )+h 66 (k 33 σ 33 +j 33 )
wherein h is 44 、h 55 And h 66 Is Y v With boom cylinder velocity Vec 1 Bucket rod cylinder speed Vec 2 And bucket cylinder speed Vec 3 The vertical linear coefficient may be a constant or a function, and may be obtained by fitting in advance according to a relationship between a speed of the bucket tooth in the vertical direction and a speed of the boom cylinder, a speed of the arm cylinder, and a speed of the bucket cylinder.
In step S130, a vertical deflection angle of the lamp is calculated according to the coordinates of the bucket tooth, the coordinates of the lamp, and the motion velocity vector.
As shown in FIG. 2, the vertical deflection angle of the lamp is composed of two partsThe composition is as follows: first deflection angle xi when the excavator is not in action 1 And a second deflection angle xi for the lamp to deflect in advance when the excavator acts 2 。
Further, step S130 may be calculated by:
calculating a first deflection angle of the lamp when the excavator does not act according to the coordinates of the bucket teeth and the coordinates of the lamp; calculating a second deflection angle of the lamp when the excavator moves according to the motion velocity vector; taking the sum of the first deflection angle and the second deflection angle as the vertical deflection angle.
Specifically, the first deflection angle ξ may be calculated by the following expression 1 ：
Figure BDA0002210646030000121
Wherein (X) v ,Y v ) As the coordinates of the bucket tooth V, (x) 1 ,y 1 ) Are the coordinates of the luminaire.
The second deflection angle ξ may be calculated by the following expression 2 ：
Figure BDA0002210646030000122
Wherein (ω) x ,ω y ) Is a motion velocity vector.
The vertical deflection angle α of the luminaire in the vertical direction can be obtained by:
α＝ξ 1 +ξ 2
in step S140, a horizontal deflection angle of the lamp is calculated according to the motion velocity vector, so as to adjust a direction of the lamp according to the vertical deflection angle and the horizontal deflection angle.
Further, the motion velocity vector comprises a rotary handle operation angle sigma 44 . The "calculating the horizontal deflection angle of the lamp according to the motion velocity vector" includes:
and multiplying the operation angle of the rotary handle by a linear deflection parameter of the horizontal deflection angle relative to the operation angle of the rotary handle, which is acquired in advance, to obtain the horizontal deflection angle.
Specifically, as shown in fig. 4, the horizontal deflection angle β can be obtained by the following formula:
β＝h 77 σ 44
wherein h is 77 Is a horizontal deflection angle beta relative to an operation angle sigma of a rotary handle 44 The linear deflection parameter may be a constant or a function, and may be obtained by fitting in advance according to a relationship between the horizontal deflection angle and the operation angle of the swing handle.
After the horizontal deflection angle and the vertical deflection angle are obtained, the lamp is controlled to rotate to the position corresponding to the horizontal deflection angle in the horizontal direction and to rotate to the position corresponding to the vertical deflection angle in the vertical direction, at the moment, the lamp moves for an angle in advance according to the action direction of the bucket of the excavator, and obstacles existing during the action of the excavator are seen in advance.
It should be noted that, the step of controlling the lamp to rotate in the horizontal direction and the step of controlling the lamp to rotate in the vertical direction are parallel, and the step of controlling the lamp to rotate in the vertical direction to the position corresponding to the vertical deflection angle may also be performed first, and then the step of controlling the lamp to rotate in the horizontal direction to the position corresponding to the horizontal deflection angle is performed, which is not limited herein.
It should be noted that steps S130 and S140 are parallel steps, and the execution sequence is not limited to the sequence shown in fig. 1, and S140 may be executed first, and then S130 is executed, which is not limited herein.
Example 2
Fig. 5 is a flowchart illustrating an excavator light control method according to a second embodiment of the present invention.
The excavator light control method comprises the following steps:
in step S210, the operation angle information of the excavator operation handle and the displacement information of the work implement are acquired.
This step is the same as step S110, and is not described herein again.
In step S220, coordinates of a bucket tooth of the excavator are calculated according to the displacement information, and a motion velocity vector of the bucket tooth is calculated according to the operation angle information.
This step is the same as step S120, and is not described herein again.
In step S230, a vertical deflection angle of the lamp is calculated according to the coordinates of the bucket tooth, the coordinates of the lamp, and the motion velocity vector.
This step is the same as step S130, and is not repeated herein.
In step S240, a horizontal deflection angle of the lamp is calculated according to the motion velocity vector, so as to adjust a direction of the lamp according to the vertical deflection angle and the horizontal deflection angle.
This step is the same as step S140, and is not described herein again.
In step S250, a focal length of the lamp is calculated according to the coordinates of the lamp and the coordinates of the bucket tooth, so as to adjust a focus point of the lamp according to the focal length.
Specifically, the existing excavator lamp adopts an LED lamp with a fixed focal length, the focal point cannot be changed in the working process, and in order to solve the problem of lamp focusing, the lamp can also change the focal length.
Further, the focal length F is calculated by:
Figure BDA0002210646030000141
wherein (X) v ,Y v ) As the coordinates of the bucket tooth V, (x) 1 ,y 1 ) Coordinates of the luminaire L.
After the focal length is obtained, the lamp can be adjusted to the corresponding focal length, so that the lamp is focused on the bucket, an operator can clearly see obstacles in the action range, the operation efficiency is improved, and accidents of the excavator caused by illumination problems are avoided.
It should be noted that the steps S230, S240 and S250 are parallel steps, the execution sequence is not limited to the sequence shown in fig. 5, and when the excavator light control method is executed, the steps S230, S240 and S250 can be executed arbitrarily (for example, S250 is executed first, then S230 and S240 are executed, or S250 is executed first, then S240 and S230 are executed, or S230 is executed first, then S250 and S240 are executed, or S240 is executed first, then S230 and S250 are executed, or S240 is executed first, then S250 and S230 are executed), which is not limited herein.
Example 3
Fig. 6 shows a schematic structural diagram of an excavator light control device according to a third embodiment of the invention.
The excavator light control device 400 comprises an acquisition module 410, a first calculation module 420, a second calculation module 430 and a third calculation module 440.
The obtaining module 410 is configured to obtain operation angle information of an excavator operating handle and displacement information of a working device.
A first calculating module 420, configured to calculate coordinates of a bucket tooth of the excavator according to the displacement information and calculate a motion velocity vector of the bucket tooth according to the operation angle information.
And the second calculating module 430 is configured to calculate a vertical deflection angle of the lamp according to the coordinates of the bucket tooth, the coordinates of the lamp, and the motion velocity vector.
A third calculating module 440, configured to calculate a horizontal deflection angle of the lamp according to the motion velocity vector, so as to adjust a direction of the lamp according to the vertical deflection angle and the horizontal deflection angle.
Another embodiment of the present invention further provides an excavator, which may include a smart phone, a tablet computer, and the like.
The excavator comprises a memory and a processor, wherein the memory mainly comprises a program storage area and a data storage area, wherein the program storage area can store an operating system, an application program required by at least one function and the like; the storage data area may store data created according to the use of the mobile phone, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor is configured to run the computer program stored in the memory to cause the excavator to execute the excavator light control method or the functions of the modules in the excavator light control device in the above-described embodiment.
Alternatively, the processor may include one or more processing units; preferably, the processor may be integrated with an application processor, which primarily handles operating systems, user interfaces, application programs, and the like. The processor may or may not be integrated with the modem processor.
In addition, the excavator can also comprise a machine body, a movable arm oil cylinder, an arm oil cylinder, a bucket oil cylinder, a control handle and other devices. Those skilled in the art will appreciate that the excavator structures described above are not limiting of excavators and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
Still another embodiment of the present invention provides a computer-readable storage medium for storing the computer program used in the excavator.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part. The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) 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.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention.

Claims (8)

1. The excavator light control method is characterized in that the excavator comprises a lamp with an adjustable angle, and the method comprises the following steps:
acquiring operation angle information of an excavator operating handle and displacement information of a working device;
calculating coordinates of the bucket teeth of the excavator according to the displacement information and calculating a motion speed vector of the bucket teeth according to the operation angle information;
calculating a vertical deflection angle of the lamp according to the coordinates of the bucket teeth, the coordinates of the lamp and the motion velocity vector;
calculating a horizontal deflection angle of the lamp according to the motion velocity vector so as to adjust the direction of the lamp according to the vertical deflection angle and the horizontal deflection angle;
further comprising:
calculating the focal length of the lamp according to the coordinates of the lamp and the coordinates of the bucket tooth so as to adjust the focal point of the lamp according to the focal length;
the operation angle information comprises a movable arm handle operation angle, a bucket rod handle operation angle and a bucket handle operation angle;
the "calculating the movement velocity vector of the bucket tooth according to the operation angle information" includes:
calculating the speed of a movable arm oil cylinder according to the operation angle of the movable arm handle;
calculating the speed of the bucket rod oil cylinder according to the operation angle of the bucket rod handle;
calculating the speed of a bucket oil cylinder according to the operating angle of the bucket handle;
and calculating the motion speed vector according to the speed of the movable arm oil cylinder, the speed of the arm oil cylinder and the speed of the bucket oil cylinder.
2. The excavator light control method of claim 1, wherein the step of calculating the vertical deflection angle of the lamp according to the coordinates of the bucket tooth, the coordinates of the lamp and the motion velocity vector comprises the steps of:
calculating a first deflection angle of the lamp when the excavator does not act according to the coordinates of the bucket teeth and the coordinates of the lamp;
calculating a second deflection angle of the lamp when the excavator moves according to the motion velocity vector;
taking the sum of the first deflection angle and the second deflection angle as the vertical deflection angle.
3. The excavator light control method as claimed in claim 2, wherein the first yaw angle e is calculated by the following equation 1 ：
Figure FDA0004044117420000011
Wherein (X) v ,Y v ) Is the coordinate of the bucket tooth, (x) 1 ,y 1 ) Coordinates of the luminaire.
4. The excavator light control method of claim 2 wherein the second yaw angle e is calculated by the following equation 2 ：
Figure FDA0004044117420000021
Wherein (omega) x ,ω y ) Is a motion velocity vector.
5. The excavator light control method of claim 1 wherein the motion velocity vector comprises a swing handle operating angle;
the "calculating the horizontal deflection angle of the lamp according to the motion velocity vector" includes:
and multiplying the operation angle of the rotary handle by a linear deflection parameter of the horizontal deflection angle relative to the operation angle of the rotary handle, which is acquired in advance, to obtain the horizontal deflection angle.
6. The excavator light control method of claim 1, wherein the calculation is performed by the following formulaFocal length f LV ：
Figure FDA0004044117420000022
Wherein (X) v ,Y v ) As the coordinates of the bucket tooth V, (x) 1 ,y 1 ) Are the coordinates of the luminaire.
7. An excavator, wherein the excavator comprises a memory for storing a computer program and a processor for operating the computer program to cause the excavator to perform the excavator light control method of any one of claims 1 to 6.
8. A computer-readable storage medium storing the computer program for use in the excavator of claim 7.
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