CN111335396B - Echo state network-based closed-loop control device and method for telex excavator position - Google Patents
Echo state network-based closed-loop control device and method for telex excavator position Download PDFInfo
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- CN111335396B CN111335396B CN202010181813.0A CN202010181813A CN111335396B CN 111335396 B CN111335396 B CN 111335396B CN 202010181813 A CN202010181813 A CN 202010181813A CN 111335396 B CN111335396 B CN 111335396B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
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- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
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Abstract
The invention belongs to the technical field of closed-loop control of excavator positions, and discloses a closed-loop control device and a closed-loop control method for the position of a telex excavator based on an echo state network, wherein the closed-loop control device for the position of the telex excavator based on the echo state network comprises the following components: the device comprises a command input module, a main control module, an operation module, a driving module, a position determining module, a power measuring module, an energy consumption calculating module, a fault monitoring module and a display module. The invention can realize the parameter setting and the state monitoring of automatic operation through the operation module, improve the operation precision of the operation and reduce the workload; meanwhile, whether the efficiency of the walking hydraulic pump is low or not is judged through the fault monitoring module according to the change of the output oil pressure of the walking hydraulic pump under the specified working condition, and then whether the walking hydraulic pump has the fault of low working efficiency or not is confirmed, so that the working efficiency of the hydraulic pump can be accurately judged, and the walking hydraulic pump is effectively prevented from being permanently damaged; and a flow sensor is not required to be additionally arranged, so that the cost of the excavator is not increased.
Description
Technical Field
The invention belongs to the technical field of closed-loop control of excavator positions, and particularly relates to a closed-loop control device and method for telex excavator positions based on an echo state network.
Background
An excavator, also known as an excavating machine (excavating shovel), is an earth moving machine that excavates material above or below a bearing surface with a bucket and loads the material into a transport vehicle or unloads the material to a stockyard. The materials excavated by the excavator mainly comprise soil, coal, silt, soil subjected to pre-loosening and rocks. In view of the development of construction machines in recent years, the development of excavators is relatively fast, and the excavator has become one of the most important construction machines in construction. The most important three parameters of the excavator: operating weight (mass), engine power and bucket capacity. However, the existing telex excavator position closed-loop control device based on the echo state network has poor operation precision; meanwhile, the fault monitoring of the excavator walking hydraulic pump is inaccurate.
With the explosion of wireless communication networks and mobile internet, providing location information-based services has become one of the most promising businesses. In a positioning system, in most cases, a kalman filter method is used to detect a signal, then the received signal is processed, and finally an accurate position is obtained by calculation. In actual positioning, there are generally two cases: line of Sight (Sight), namely, no barrier exists between the control center and the terminal; Non-Line of Sight (Non-Line of Sight), i.e. there is a block of obstacles between the control center and the terminal. In order to solve the problem under the condition of non-line-of-sight propagation, the positioning method based on the ranging mainly comprises RSSI, TOA, TDOA and the like at present, but some problems exist. In the prior art, under the condition of more shelters, the positioning effect is poor. The engineering of the positioning methods employed in the prior art requires extensive sampling and repeated updating.
In summary, the problems of the prior art are as follows: the existing telex excavator position closed-loop control device based on the echo state network has poor operation precision; meanwhile, the fault monitoring of the excavator walking hydraulic pump is inaccurate.
And inaccurate position determination of the telex excavator leads to long positioning time and directly influences the next working procedure of the excavator.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a telex excavator position closed-loop control device and method based on an echo state network.
The invention is realized in such a way that a closed-loop control method for the position of the telex excavator based on an echo state network comprises the following steps:
the method comprises the following steps that firstly, a plurality of position controllers are arranged, positioning is carried out through the position controllers, and the time from each position controller to a position determination terminal of the electric excavator can be detected through an information detector and an information processor of a position determination module; obtaining the distance from each position controller to a position determination terminal of the telex excavator; selecting a certain coordinate system, projecting the spatial position of each position controller, and positioning the position determination terminal of the telex excavator by using the position information of the three position controllers;
secondly, taking the position of each orientation controller in the coordinate space as a sphere center, taking the distance corresponding to the terminal as a radius to form an orientation controller circle, projecting points to a cuboid where the public area of all the orientation controller circles is located, and under the condition that the projection points are enough, always enabling one point to be closest to the actual position; only the points in the region are left for subsequent judgment through screening;
thirdly, measuring the real radius between the test point and each position controller, utilizing the time from each position controller to the position determination terminal of the electric excavator to solve the distance between the test point and each position controller, then utilizing the scanning information of the positioning two-dimensional code mark which is installed at the position along the working path of the electric excavator and contains the positioning information code, and receiving the two-dimensional code mark by the position controller after the two-dimensional code mark is reflected;
fourthly, after receiving the information, the orientation controller transmits the information to a position determining terminal of the telex excavator, firstly detects whether the coding information of the positioning two-dimensional code mark is wrong through a detection program, and then sends the coding information into a decoding program after confirming that the coding information is correct, and the positioning coding information on the positioning two-dimensional code mark is decoded;
fifthly, after the decoding information is obtained, a projection point closest to the relevant real point is obtained through a series of operation processing;
sixthly, determining the measurement distance of the terminal according to the position from the position controller to the position of the telex, and calculating the distance measurement mean value and the distance measurement variance of the terminal; preprocessing the measured distance to obtain an estimated value of the real distance;
seventhly, correcting all the points left in the public area after screening by using unbiased estimation, wherein n possible points exist in the working area, and measuring the true radius r from the ith possible point to each position controllerij(i 1,2.. n, j 1,2.. m), and a distance R from the test point to each position controllerij(i 1,2.. n, j 1,2.. m), deriving a corresponding correction function;
in the formula (x)i,yi,zi) Coordinates representing the ith possible point M; (X)j,Yj,Zj) Coordinates representing the position controller S;
and searching the minimum value of the square difference of all the projection points as a calculated point which is the actually calculated reference position of the electric excavator according to the distance between the corrected point and each position controller and the projection point.
Further, the closed-loop control method for the position of the teletype excavator based on the echo state network further comprises the following steps:
step one, inputting a control instruction of the excavator by using input equipment through an instruction input module;
secondly, the main control module controls the excavator through the operation module by using the operation mechanism;
driving the excavator to operate by using the engine through the driving module;
fourthly, controlling the excavating position of the excavator by using the position controller through the position determining module; measuring the operating power of the engine of the excavator by using a measuring program through a power measuring module;
fifthly, calculating the energy consumption of the excavator by using a calculation program through an energy consumption calculation module; monitoring a fault signal of the excavator by using monitoring equipment through a fault monitoring module;
step six, the display module is used for displaying the measured power, the energy consumption data and the fault signal through the display
Further, the operation method of the second operation module comprises the following steps:
(1) receiving automatic operation function parameters through a controller, wherein the automatic operation function parameters comprise excavation times, excavation depth, excavation angle and excavation direction;
(2) and executing the excavation action according to the automatic operation function parameters.
Further, after the excavation action is executed according to the automatic operation function parameters, the following steps are also carried out:
acquiring state information of an electric system, a hydraulic system and an engine system related to the excavator operation management;
analyzing the state information to generate an action instruction;
sending the action instruction to a CAN bus communication module;
displaying the action instruction;
further, after the performing the digging action according to the automatic work function parameter, the method further comprises:
acquiring state data of at least three angle sensors;
analyzing the state data to obtain at least three angle information;
and performing spatial coordinate conversion and attitude conversion processing on the at least three pieces of angle information to obtain the current position attitude of the movable mechanical structure of the excavator.
Further, the monitoring method of the fault monitoring module in the fifth step comprises the following steps:
1) controlling the excavator to work under a specified working condition through fault detection equipment, and acquiring the actual output oil pressure of the walking hydraulic pump to be detected under the specified working condition;
2) and comparing the difference value between the theoretical output oil pressure and the actual output oil pressure under the specified working condition with a preset difference value, and if the difference value is more than or equal to the preset difference value, determining that the walking hydraulic pump to be detected has a fault of lower working efficiency.
Further, in the step 2), the step of specifying the working condition refers to setting the excavator to a preset gear, and controlling an accelerator pedal of an oil path where the walking hydraulic pump to be tested is located to work at a preset accelerator opening;
if the difference value is smaller than the preset difference value, the walking hydraulic pump to be detected is normal;
before the step of controlling the excavator to work under the specified working condition, the input currents of all walking hydraulic pumps of the excavator are set to be zero;
after the step of controlling the excavator to work under the specified working condition, the walking hydraulic pump to be tested is controlled to work at the preset current.
Further, in the step 2), the step of comparing the difference between the theoretical output oil pressure and the actual output oil pressure of the hydraulic pump to be measured with a preset difference includes:
measuring the actual output oil pressure of the walking hydraulic pump to be measured under the specified working condition for multiple times, and calculating an average value;
and comparing the difference value between the theoretical output oil pressure of the walking hydraulic pump to be detected under the specified working condition and the average value.
Another object of the present invention is to provide a teletype excavator position closed-loop control device based on an echo state network, comprising:
the device comprises a command input module, a main control module, an operation module, a driving module, a position determining module, a power measuring module, an energy consumption calculating module, a fault monitoring module and a display module;
the command input module is connected with the main control module and used for inputting a control command of the excavator through input equipment;
the main control module is connected with the instruction input module, the operation module, the driving module, the position determining module, the power measuring module, the energy consumption calculating module, the fault monitoring module and the display module and is used for controlling each module to normally work through the main controller;
the operating module is connected with the main control module and used for controlling the excavator through the operating mechanism;
the driving module is connected with the main control module and used for driving the excavator to operate through the engine;
the position determining module is connected with the main control module and used for controlling the excavating position of the excavator through the position controller;
the power measuring module is connected with the main control module and used for measuring the operating power of the engine of the excavator through a measuring program;
the energy consumption calculation module is connected with the main control module and used for calculating the energy consumption of the excavator through a calculation program;
the fault monitoring module is connected with the main control module and used for monitoring fault signals of the excavator through monitoring equipment;
and the display module is connected with the main control module and used for displaying the measured power, the energy consumption data and the fault signal through the display.
Another object of the present invention is to provide a program storage medium for receiving a user input, the stored computer program causing an electronic device to execute the closed loop control method for telemechanical excavator position based on an echo state network.
The invention has the advantages and positive effects that: according to the invention, the spatial positions and postures of the excavator body, the movable arm, the bucket rod and the bucket can be more intuitively monitored in real time through the operation module, the tooth tip position and the operation track of the bucket can be synchronously obtained, the parameter setting and state monitoring of automatic operation can be realized, the operation precision is improved, and the workload is reduced; meanwhile, whether the efficiency of the walking hydraulic pump is low or not is judged through the fault monitoring module according to the change of the output oil pressure of the walking hydraulic pump under the specified working condition, and then whether the walking hydraulic pump has the fault of low working efficiency or not is confirmed, so that the working efficiency of the hydraulic pump can be accurately judged, and the walking hydraulic pump is effectively prevented from being permanently damaged; and a flow sensor is not required to be additionally arranged, so that the cost of the excavator is not increased.
The positioning method avoids complex calculation, so that the three-dimensional positioning precision is higher, and the errors are all within 0.5 m.
Drawings
Fig. 1 is a flowchart of a closed-loop control method for a teletype excavator position based on an echo state network according to an embodiment of the present invention.
Fig. 2 is a block diagram of a closed-loop control device for a telemechanical excavator position based on an echo state network according to an embodiment of the present invention.
In fig. 2: 1. an instruction input module; 2. a main control module; 3. an operation module; 4. a drive module; 5. a location determination module; 6. a power measurement module; 7. an energy consumption calculation module; 8. a fault monitoring module; 9. and a display module.
Fig. 3 is a flowchart of an operation method of an operation module according to an embodiment of the present invention.
Fig. 4 is a flowchart of a fault monitoring module monitoring method according to an embodiment of the present invention.
Fig. 5 is a flowchart for comparing the difference between the theoretical output oil pressure and the actual output oil pressure of the hydraulic pump to be measured with the preset difference according to the embodiment of the present invention.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are exemplified and included in the detailed description with reference to the accompanying drawings.
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the closed-loop control method for the position of the teletype excavator based on the echo state network provided by the invention comprises the following steps:
and S101, inputting a control command of the excavator by using input equipment through a command input module.
And S102, the main control module controls the excavator through the operation module by using the operation mechanism.
And S103, driving the excavator to work by using the engine through the driving module.
And S104, controlling the excavating position of the excavator by using the position controller through the position determining module. The operating power of the engine of the excavator is measured by the power measuring module by using a measuring program.
And S105, calculating the energy consumption of the excavator by using the energy consumption calculation module and the calculation program. And monitoring a fault signal of the excavator by using monitoring equipment through a fault monitoring module.
And S106, displaying the measured power, the energy consumption data and the fault signal by using a display through a display module.
Step S104, controlling the excavating position of the excavator by using the position controller through the position determining module, and specifically comprises the following steps:
the method comprises the following steps that firstly, a plurality of position controllers are arranged, positioning is carried out through the position controllers, and the time from each position controller to a position determination terminal of the electric excavator can be detected through an information detector and an information processor of a position determination module. And (4) obtaining the distance from each position controller to the position determination terminal of the teletype excavator. And selecting a certain coordinate system, projecting the spatial position of each position controller, and positioning the position determination terminal of the telex excavator by using the position information of the three position controllers.
And secondly, taking the position of each orientation controller in the coordinate space as a sphere center, taking the distance corresponding to the terminal as a radius to form an orientation controller circle, projecting points to a cuboid in which the public area of all the orientation controller circles is located, and under the condition that the projection points are enough, always enabling one point to be closest to the actual position. By screening, only the points within the region are left for subsequent determination.
And thirdly, measuring the real radius between the test point and each position controller, utilizing the time from each position controller to the position determination terminal of the electric excavator to solve the distance between the test point and each position controller, then utilizing the scanning information of the positioning two-dimensional code mark which is installed at the position along the working path of the electric excavator and contains the positioning information code, and receiving the two-dimensional code mark by the position controller after the two-dimensional code mark is reflected.
And fourthly, after receiving the information, the orientation controller transmits the information to a position determining terminal of the telex excavator, firstly detects whether the coding information of the positioning two-dimensional code mark is wrong through a detection program, and then sends the coding information into a decoding program after confirming that the coding information is correct, and the positioning coding information on the positioning two-dimensional code mark is decoded.
And fifthly, after the decoding information is obtained, obtaining a projection point closest to the relevant real point through a series of operation processing.
And sixthly, determining the measurement distance of the terminal according to the position from the position controller to the position of the telex, and calculating the distance measurement mean value and the distance measurement variance of the terminal. And preprocessing the measured distance to obtain an estimated value of the real distance.
Seventhly, correcting all the points left in the public area after screening by using unbiased estimation, wherein n possible points exist in the working area, and measuring the true radius r from the ith possible point to each position controllerij(i 1,2.. n, j 1,2.. m), and a distance R from the test point to each position controllerij(i 1,2.. n, j 1,2.. m), a corresponding correction function is obtained.
In the formula(xi,yi,zi) Representing the coordinates of the ith possible point M. (X)j,Yj,Zj) Representing the coordinates of the position controller S.
And searching the minimum value of the square difference of all the projection points as a calculated point which is the actually calculated reference position of the electric excavator according to the distance between the corrected point and each position controller and the projection point.
As shown in fig. 2, the closed-loop control device for teletype excavator position based on echo state network according to the embodiment of the present invention includes: the device comprises an instruction input module 1, a main control module 2, an operation module 3, a driving module 4, a position determining module 5, a power measuring module 6, an energy consumption calculating module 7, a fault monitoring module 8 and a display module 9.
And the command input module 1 is connected with the main control module 2 and used for inputting the control command of the excavator through input equipment.
The main control module 2 is connected with the instruction input module 1, the operation module 3, the driving module 4, the position determining module 5, the power measuring module 6, the energy consumption calculating module 7, the fault monitoring module 8 and the display module 9, and is used for controlling the normal work of each module through the main controller.
And the operating module 3 is connected with the main control module 2 and used for controlling the excavator through an operating mechanism.
And the driving module 4 is connected with the main control module 2 and is used for driving the excavator to operate through the engine.
And the position determining module 5 is connected with the main control module 2 and is used for controlling the excavating position of the excavator through the position controller.
And the power measuring module 6 is connected with the main control module 2 and is used for measuring the working power of the engine of the excavator through a measuring program.
And the energy consumption calculation module 7 is connected with the main control module 2 and is used for calculating the energy consumption of the excavator through a calculation program.
And the fault monitoring module 8 is connected with the main control module 2 and used for monitoring fault signals of the excavator through monitoring equipment.
And the display module 9 is connected with the main control module 2 and used for displaying the measured power, the energy consumption data and the fault signal through a display.
As shown in fig. 3, the operation module 3 provided by the present invention includes:
s201, receiving automatic operation function parameters through a controller, wherein the automatic operation function parameters comprise excavation times, excavation depth, excavation angle and excavation direction.
And S202, executing the excavation action according to the automatic operation function parameters.
After the excavation action is executed according to the automatic operation function parameters, the method further comprises the following steps:
acquiring state information of an electric system, a hydraulic system and an engine system related to the excavator operation management.
And analyzing the state information to generate an action command.
And sending the action instruction to a CAN bus communication module.
After the action command is generated, the method further comprises the following steps:
and displaying the action instruction.
After the excavation action is executed according to the automatic operation function parameters, the method further comprises the following steps:
state data of at least three angle sensors is acquired.
And analyzing the state data to obtain at least three angle information.
And performing spatial coordinate conversion and attitude conversion processing on the at least three pieces of angle information to obtain the current position attitude of the movable mechanical structure of the excavator.
As shown in fig. 4, the monitoring method of the fault monitoring module 8 provided by the present invention includes:
s301, controlling the excavator to work under a specified working condition through fault detection equipment, and acquiring the actual output oil pressure of the walking hydraulic pump to be detected under the specified working condition.
S302, comparing the difference value between the theoretical output oil pressure and the actual output oil pressure under the specified working condition with a preset difference value, and if the difference value is larger than or equal to the preset difference value, determining that the walking hydraulic pump to be detected has a fault of low working efficiency.
The designated working condition provided by the invention refers to that the excavator is set to a preset gear, and an accelerator pedal of an oil path where the walking hydraulic pump to be detected is controlled to work at a preset accelerator opening.
If the difference value is smaller than the preset difference value, the walking hydraulic pump to be detected is normal.
Before the step of controlling the excavator to work under the specified working condition, the input current of all walking hydraulic pumps of the excavator is set to be zero.
After the step of controlling the excavator to work under the specified working condition, the walking hydraulic pump to be tested is controlled to work at the preset current.
As shown in fig. 5, the step of comparing the difference between the theoretical output oil pressure and the actual output oil pressure of the hydraulic pump to be measured with the preset difference includes:
s401, measuring the actual output oil pressure of the walking hydraulic pump to be measured under the specified working condition for multiple times, and calculating an average value.
And S402, comparing the difference value between the theoretical output oil pressure of the walking hydraulic pump to be tested under the specified working condition and the average value.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (9)
1. A closed-loop control method for the position of a telex excavator based on an echo state network is characterized by comprising the following steps:
step one, inputting a control instruction of the excavator by using input equipment through an instruction input module;
secondly, the main control module controls the excavator through the operation module by using the operation mechanism;
driving the excavator to operate by using the engine through the driving module;
fourthly, controlling the excavating position of the excavator by using the position controller through the position determining module; measuring the operating power of the engine of the excavator by using a measuring program through a power measuring module;
the step of controlling the excavating position of the excavator by the position determining module by using the position controller specifically comprises the following steps:
the method comprises the following steps that firstly, a plurality of position controllers are arranged, positioning is carried out through the position controllers, and the time from each position controller to a position determination terminal of the electric excavator can be detected through an information detector and an information processor of a position determination module; obtaining the distance from each position controller to a position determination terminal of the telex excavator; selecting a certain coordinate system, projecting the spatial position of each position controller, and positioning the position determination terminal of the telex excavator by using the position information of the three position controllers;
secondly, taking the position of each orientation controller in the coordinate space as a sphere center, taking the distance corresponding to the terminal as a radius to form an orientation controller circle, projecting points into a cuboid where the public area of all the orientation controller circles is located, and under the condition that multiple projection points exist, always enabling one point to be closest to the actual position; only the points in the region are left for subsequent judgment through screening;
thirdly, measuring the real radius between the test point and each position controller, utilizing the time from each position controller to the position determination terminal of the electric excavator to solve the distance between the test point and each position controller, then utilizing the scanning information of the positioning two-dimensional code mark which is installed at the position along the working path of the electric excavator and contains the positioning information code, and receiving the two-dimensional code mark by the position controller after the two-dimensional code mark is reflected;
fourthly, after receiving the information, the orientation controller transmits the information to a position determining terminal of the telex excavator, firstly detects whether the coding information of the positioning two-dimensional code mark is wrong through a detection program, and then sends the coding information into a decoding program after confirming that the coding information is correct, and the positioning coding information on the positioning two-dimensional code mark is decoded;
fifthly, after the decoding information is obtained, a projection point closest to the relevant real point is obtained through a series of operation processing;
sixthly, determining the measurement distance of the terminal according to the position from the position controller to the position of the telex, and calculating the distance measurement mean value and the distance measurement variance of the terminal; preprocessing the measured distance to obtain an estimated value of the real distance;
seventhly, correcting all points left in the public area after screening by using unbiased estimation,
there are n possible points in the working area, by measuring the true radius between the ith possible point and the respective position controller
And the distance from the test point to each position controller
Obtaining a corresponding correction function;
in the formula
Representing the ith possible point
The coordinates of (a);
indicating position controller
The coordinates of (a);
searching the minimum value of the square difference in all the projection points as a calculated point which is the actually calculated reference position of the telex excavator according to the distance between the corrected point and each position controller and the projection point;
fifthly, calculating the energy consumption of the excavator by using a calculation program through an energy consumption calculation module; monitoring a fault signal of the excavator by using monitoring equipment through a fault monitoring module;
and step six, displaying the measured power, the energy consumption data and the fault signal by using a display through a display module.
2. The closed-loop control method for teletype excavator position based on echo state network as claimed in claim 1, wherein the operation method of operation module of step two comprises:
(1) receiving automatic operation function parameters through a controller, wherein the automatic operation function parameters comprise excavation times, excavation depth, excavation angle and excavation direction;
(2) and executing the excavation action according to the automatic operation function parameters.
3. The closed-loop control method for the position of the teletype excavator based on the echo state network as claimed in claim 2, characterized in that after the excavating action is executed according to the automatic operation function parameters, the following steps are further performed:
acquiring state information of an electric system, a hydraulic system and an engine system related to the excavator operation management;
analyzing the state information to generate an action instruction;
sending the action instruction to a CAN bus communication module;
and displaying the action instruction.
4. The echoic state network based telemechanical excavator position closed-loop control method of claim 2, wherein after said performing an excavating action according to said automatic work function parameters, the method further comprises:
acquiring state data of at least three angle sensors;
analyzing the state data to obtain at least three angle information;
and performing spatial coordinate conversion and attitude conversion processing on the at least three pieces of angle information to obtain the current position attitude of the movable mechanical structure of the excavator.
5. The closed-loop control method for the position of the teletype excavator based on the echo state network as claimed in claim 1, wherein the monitoring method of the five fault monitoring modules comprises the following steps:
1) controlling the excavator to work under a specified working condition through fault detection equipment, and acquiring the actual output oil pressure of the walking hydraulic pump to be detected under the specified working condition;
2) and comparing the difference value between the theoretical output oil pressure and the actual output oil pressure under the specified working condition with a preset difference value, and if the difference value is more than or equal to the preset difference value, determining that the walking hydraulic pump to be detected has a fault of lower working efficiency.
6. The echo state network-based closed-loop control method for the position of the telemechanical excavator according to claim 5, wherein in the step 2), the designated working condition refers to that the excavator is set to a preset gear, and an accelerator pedal of an oil path where the walking hydraulic pump to be detected is located is controlled to work at a preset accelerator opening degree;
if the difference value is smaller than the preset difference value, the walking hydraulic pump to be detected is normal;
before the excavator is controlled to work under the specified working condition, the input currents of all the walking hydraulic pumps of the excavator are set to be zero;
after the step of controlling the excavator to work under the specified working condition, the walking hydraulic pump to be tested is controlled to work at the preset current.
7. The echo state network-based closed-loop control method for the position of the telemechanical excavator according to claim 5, wherein the step of comparing the difference between the theoretical output oil pressure and the actual output oil pressure of the traveling hydraulic pump to be measured with a preset difference in 2) comprises:
measuring the actual output oil pressure of the walking hydraulic pump to be measured under the specified working condition for multiple times, and calculating an average value;
and comparing the difference value between the theoretical output oil pressure of the walking hydraulic pump to be detected under the specified working condition and the average value.
8. The echo state network-based teletype excavator position closed-loop control device of the echo state network-based teletype excavator position closed-loop control method according to claim 1, wherein the echo state network-based teletype excavator position closed-loop control device comprises:
the device comprises a command input module, a main control module, an operation module, a driving module, a position determining module, a power measuring module, an energy consumption calculating module, a fault monitoring module and a display module;
the command input module is connected with the main control module and used for inputting a control command of the excavator through input equipment;
the main control module is connected with the instruction input module, the operation module, the driving module, the position determining module, the power measuring module, the energy consumption calculating module, the fault monitoring module and the display module and is used for controlling each module to normally work through the main controller;
the operating module is connected with the main control module and used for controlling the excavator through the operating mechanism;
the driving module is connected with the main control module and used for driving the excavator to operate through the engine;
the position determining module is connected with the main control module and used for controlling the excavating position of the excavator through the position controller;
the power measuring module is connected with the main control module and used for measuring the operating power of the engine of the excavator through a measuring program;
the energy consumption calculation module is connected with the main control module and used for calculating the energy consumption of the excavator through a calculation program;
the fault monitoring module is connected with the main control module and used for monitoring fault signals of the excavator through monitoring equipment;
and the display module is connected with the main control module and used for displaying the measured power, the energy consumption data and the fault signal through the display.
9. A program storage medium for receiving user input, the stored computer program causing an electronic device to perform the method of closed loop control of telemechanical excavator position based on an echo state network according to any one of claims 1 to 7.
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| EP0598937A1 (en) * | 1992-11-25 | 1994-06-01 | Samsung Heavy Industries Co., Ltd | Multiprocessor system for hydraulic excavator |
| WO2013183654A1 (en) * | 2012-06-08 | 2013-12-12 | 住友重機械工業株式会社 | Excavator control method and control device |
| JP6265725B2 (en) * | 2013-12-16 | 2018-01-24 | 株式会社小松製作所 | Work vehicle and control method of work vehicle |
| JP6199449B2 (en) * | 2016-07-14 | 2017-09-20 | 株式会社小松製作所 | Construction management system |
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