CN112627261A - Shovel blade attitude control system and method based on machine vision and land leveler - Google Patents
Shovel blade attitude control system and method based on machine vision and land leveler Download PDFInfo
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- CN112627261A CN112627261A CN202011302023.XA CN202011302023A CN112627261A CN 112627261 A CN112627261 A CN 112627261A CN 202011302023 A CN202011302023 A CN 202011302023A CN 112627261 A CN112627261 A CN 112627261A
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- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 84
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/815—Blades; Levelling or scarifying tools
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/815—Blades; Levelling or scarifying tools
- E02F3/8152—Attachments therefor, e.g. wear resisting parts, cutting edges
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/815—Blades; Levelling or scarifying tools
- E02F3/8155—Blades; Levelling or scarifying tools provided with movable parts, e.g. cutting discs, vibrating teeth or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/815—Blades; Levelling or scarifying tools
- E02F3/8157—Shock absorbers; Supports, e.g. skids, rollers; Devices for compensating wear-and-tear, or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (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 a cutting blade attitude control system and method based on machine vision and a land leveler, which belong to the technical field of land levelers. The method comprises the following steps: the system comprises a plurality of cameras, a control unit and a control unit, wherein the cameras are arranged at set positions of the grader and are used for acquiring real-time position information of a plurality of visual perception tracking points arranged at the set positions of the grader; the vision processing unit is used for acquiring the current posture of the scraper knife according to the received real-time position information of each vision perception tracking point, and generating a target state of the scraper knife posture control mechanism by combining the target posture of the scraper knife sent by the man-machine display, and the vehicle-mounted controller is used for controlling the scraper knife posture control mechanism through the electric proportional control valve according to the target state and the current state of the scraper knife posture control mechanism, so that the scraper knife posture control mechanism drives the scraper knife to the target posture.
Description
Technical Field
The invention belongs to the technical field of land levelers, and particularly relates to a shovel blade attitude control system and method based on machine vision and a land leveller.
Background
The land leveler is a soil shoveling and transporting construction machine which takes a shovel blade as a main body and is matched with other various replaceable operation devices to carry out soil shoveling, leveling and shaping operations, is mainly applied to large-area soil leveling operations such as roads, airports, farmlands, water conservancy and the like and construction operations such as slope scraping, ditching, bulldozing, soil loosening, road surface ice and snow clearing and the like, is one of important devices in national defense, traffic, agriculture and water conservancy basic construction, and plays a great role in national economic construction. Compared with other engineering machinery, the core working device of the land leveler has the advantages that the movement of the scraper knife is flexible, the movement range is large, the accurate detection and control difficulty of the posture of the scraper knife is large, the scraper knife is frequently collided with other structures (such as front and rear tires, boarding ladders and the like) of the land leveler due to misoperation of a driver, the control difficulty is large, the labor intensity is high, and the construction operation quality is difficult to guarantee.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a blade attitude control system and method based on machine vision and a grader, which can automatically adjust a blade to a set attitude according to an operation instruction of a driver, and reduce the control difficulty and labor intensity of the driver.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a machine vision-based blade attitude control system, comprising: the system comprises a plurality of cameras, a vision processing unit and a control unit, wherein the cameras are arranged at set positions of the land scraper and are used for acquiring real-time position information of a plurality of vision perception tracking points arranged at the set positions of the land scraper and sending the real-time position information to the vision processing unit; the vision processing unit is used for acquiring the current posture of the scraper knife according to the received real-time position information of each vision perception tracking point, generating a target state of the scraper knife posture control mechanism by combining the target posture of the scraper knife sent by the human-computer display, and sending the target state and the current state of the scraper knife posture control mechanism to the vehicle-mounted controller; and the vehicle-mounted controller is used for controlling the scraper knife attitude control mechanism through the electric proportional control valve according to the received target state and the current state of the scraper knife attitude control mechanism, so that the scraper knife attitude control mechanism drives the scraper knife to a target attitude.
Furthermore, the camera is arranged at a fixed position of the whole vehicle and comprises a cab and a front frame; the visual perception tracking points are arranged on the scraper knife, the rotary support and the scraper knife attitude control mechanism according to the set size interval.
Further, the camera is an infrared camera.
Further, the scraper knife attitude control mechanism comprises a left lifting oil cylinder, a right lifting oil cylinder, a diagonal drawing oil cylinder, a leading-out oil cylinder, a soil shoveling angle oil cylinder and a hydraulic motor; the cylinder bodies of the left lifting oil cylinder and the right lifting oil cylinder are respectively hinged with the left swing frame and the right swing frame, and the telescopic rods of the left lifting oil cylinder and the right lifting oil cylinder are respectively hinged with the rotary support; the cylinder body of the cable-stayed oil cylinder is hinged with the rotary support, and the telescopic rod of the cable-stayed oil cylinder is hinged with the left swing frame; one end of the leading-out oil cylinder is hinged with the angle positioner, and the other end of the leading-out oil cylinder is fixedly connected with the scraper knife; one end of the angle positioner is hinged with a piston rod of the soil shoveling angle oil cylinder, and a cylinder body of the soil shoveling angle oil cylinder is hinged with the rotary support; the inner gear ring of the rotary support is embedded in the groove of the traction frame, and the hydraulic motor drives the turbine box fixed on the traction frame to further drive the scraper knife to do rotary motion through internal tooth-external tooth transmission.
Further, the vehicle-mounted controller is configured with a blade collision posture subset, and after the vehicle-mounted controller receives action information of the blade collision posture control mechanism, a control sequence of the blade posture control mechanism avoiding the blade collision posture subset is automatically selected to adjust the blade posture in real time.
And further, the man-machine display is used for setting and sending the target posture of the scraper knife to the visual processing unit, displaying the three-dimensional graph of the whole vehicle in real time based on the current posture of the scraper knife acquired by the visual processing unit, and switching the manual control state and the automatic control state.
Further, in the manual control state, when the driver manually adjusts the posture of the shovel blade and reaches the boundary of the sub-set of collision postures of the shovel blade, the vehicle-mounted controller stops the movement of the shovel blade and sends alarm information.
A grader is configured with the aforementioned machine vision-based blade attitude control system.
A method for controlling the posture of a scraper knife based on machine vision comprises the following steps: collecting real-time position information of a plurality of visual perception tracking points arranged at a set position of a land scraper; acquiring the current posture of the scraper knife according to the real-time position information of each visual perception tracking point, and generating a target state of a scraper knife posture control mechanism by combining the target posture of the scraper knife; and controlling the scraper knife attitude control mechanism through the electric proportional control valve according to the target state and the current state of the scraper knife attitude control mechanism, so that the scraper knife attitude control mechanism drives the scraper knife to a target attitude.
Further, according to the target state and the current state of the blade attitude control mechanism, controlling the blade attitude control mechanism through the electric proportional control valve to enable the blade attitude control mechanism to drive the blade to the target attitude, the method includes: c1, generating an initial control sequence of the scraper knife attitude control mechanism according to the target state and the current state of the scraper knife attitude control mechanism; c2, comparing the generated initial control sequence of the blade attitude control mechanism with the blade collision attitude subset, and selecting a control sequence of the blade attitude control mechanism avoiding the blade collision attitude subset as an execution control sequence; c3, controlling the blade attitude control mechanism through the electric proportional control valve based on the execution control sequence selected in the step c2, and enabling the blade attitude control mechanism to drive the blade to the target attitude.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention is based on the machine vision technology, the camera is used for acquiring the real-time position information of the visual perception tracking point arranged on the land leveler, so as to further acquire the current posture of the scraper knife, and the current posture of the scraper knife is compared with the required target posture of the scraper knife, so as to acquire the target state of the scraper knife posture control mechanism, and the vehicle-mounted controller realizes the automatic control of the posture of the scraper knife based on the target state of the scraper knife posture control mechanism, thereby reducing the control difficulty and labor intensity of a driver;
(2) according to the invention, the blade collision posture subset is configured in the vehicle-mounted controller, and after the vehicle-mounted controller receives the action information of the blade posture control mechanism, a control sequence of the blade posture control mechanism which avoids the blade collision posture subset is automatically selected to adjust the blade posture in real time, so that the collision problem between the blade and other mechanisms of the grader, which possibly occurs in the automatic and manual adjustment processes of the blade, is solved, and the operation safety is improved.
Drawings
Fig. 1 is a schematic perspective view of a blade attitude control mechanism of a blade attitude control system based on machine vision according to an embodiment of the present invention;
fig. 2 is a schematic plan structure view of a blade attitude control mechanism of a blade attitude control system based on machine vision according to an embodiment of the present invention;
FIG. 3 is a schematic view of the definition of the depth of penetration and the angle of shoveling;
FIG. 4 is a schematic view of the blade rotation angle and the lead-out displacement definition;
FIG. 5 is a schematic view of a blade cross slope angle definition;
FIG. 6 is a system block diagram of a machine vision based blade attitude control system according to an embodiment of the present invention;
fig. 7 is a first schematic diagram illustrating distribution states of a camera and a visual perception tracking point in a machine vision-based blade attitude control system according to an embodiment of the present invention;
fig. 8 is a schematic view of a distribution state of a camera and a visual perception tracking point in a machine vision-based blade attitude control system according to an embodiment of the present invention;
fig. 9 is a third schematic view of distribution states of a camera and a visual perception tracking point in a machine vision-based blade attitude control system according to an embodiment of the present invention;
fig. 10 is a schematic diagram of the recognition of the visually perceived tracking point and the conversion of the blade attitude in fig. 9.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
as shown in fig. 1 to 10, a blade attitude control system based on machine vision includes: the cameras 15 are arranged at set positions of the land scraper and are used for acquiring real-time position information of a plurality of visual perception tracking points 16 arranged at the set positions of the land scraper and sending the real-time position information to the visual processing unit 17; the visual processing unit 17 is configured to obtain a current posture of the blade 10 according to the received real-time position information of each visual perception tracking point 16, generate a target state of the blade posture control mechanism by combining the target posture of the blade 10 sent by the human-computer display 19, and send the target state and the current state of the blade posture control mechanism to the onboard controller 18; the onboard controller 18 is configured to control the blade attitude control mechanism through the electric proportional control valve 20 according to the received target state and current state of the blade attitude control mechanism, so that the blade attitude control mechanism drives the blade 10 to a target attitude.
As shown in fig. 1, 2, 7, and 8, in the present embodiment, the blade attitude control mechanism includes a left lift cylinder 4, a right lift cylinder 5, a diagonal draw cylinder 6, a lead-out cylinder 12, a soil shoveling angle cylinder 11, and a hydraulic motor 21; the cylinder bodies of the left lifting oil cylinder 4 and the right lifting oil cylinder 5 are respectively hinged with the left swing frame 2 and the right swing frame 3, and the telescopic rods of the left lifting oil cylinder 4 and the right lifting oil cylinder 5 are respectively hinged with the rotary support 8; cylinder of diagonal drawing oil cylinder 6The body is hinged with a rotary support 8, and a telescopic rod of a diagonal draw oil cylinder 6 is hinged with the left swing frame 2; one end of the leading-out oil cylinder 12 is hinged with the angle positioner 9, and the other end is fixedly connected with the scraper knife 10; one end of the angle positioner 9 (the upper end of the angle positioner 9 in figure 1) is hinged with the end part of a piston rod of the soil shoveling angle cylinder 11, and the other end of the angle positioner 9 (the lower end of the angle positioner 9 in figure 1) is hinged with a pin shaft below the rotary support 8OThe cylinder body of the soil shoveling angle oil cylinder 11 is hinged with the rotary support 8; the inner gear ring of the rotary support 8 is embedded in the groove of the traction frame 7, and the hydraulic motor 21 drives the turbine box 13 fixed on the traction frame 7 to drive the scraper knife 10 to do rotary motion through internal tooth-external tooth transmission; the scraper knife 10 is embedded in a guide groove of the angle positioner 9 through a guide rail at the rear part of the scraper knife 10, and the scraper knife 10 slides in a groove of the angle positioner 9 through a leading-out oil cylinder 12; one end of a traction frame 7 is hinged to the front end of the front frame 1 through a spherical hinge, and the other end of the traction frame 7 is connected with piston rod parts of the left lifting oil cylinder 4, the right lifting oil cylinder 5 and the diagonal drawing oil cylinder 6 through spherical hinges; the cylinder body parts of the left lifting cylinder 4, the right lifting cylinder 5 and the diagonal draw cylinder 6 are hinged with the swing frame.
Definition of the attitude of the blade 10, as shown in FIGS. 3, 4, and 5, the grader blade 10 is flexible in movement and its working attitude has a depth of penetration into the earthHAngle of shoveling soilθAngle of rotationψTransverse slope angleΦLeading out displacementLAnd 5 are equal. Depth of penetration of the blade 10HThe depth of the blade 10 penetrating into the soil is referred to, and the numerical value is the distance between the blade tip and the soil surface (see fig. 3); shovel angle of the shovel blade 10θThe angle of the lowest end of the scraper knife 10 cutting into the soil horizontally is the included angle between the tangent line of the arc at the lowest end of the scraper knife 10 and the horizontal plane (see fig. 3); angle of rotation of the bladeψThe numerical value of the rotation angle of the scraper 10 along with the rotary support 8 is the horizontal included angle between the length direction of the scraper 10 and the running direction of the land scraper (see fig. 4); cross slope angle of the blade 10ΦThe angle between the projection of the cutting edge of the cutting blade 10 on the vertical plane in the running direction of the land scraper and the horizontal plane is the cross slope angle of the soil surface formed by the cutting blade 10 of the land scraper (see fig. 5); lead-out displacement of the blade 10LRefers to the lateral displacement of the blade 10 relative to the slewing bearing 8The distance is a distance between a symmetrical plane of the blade 10 in the length direction and a symmetrical plane passing through the center of the rotary support 8 and perpendicular to the length direction of the blade (see fig. 4, in the figure, m represents a symmetrical plane of the blade in the length direction, and n represents a symmetrical plane passing through the center of the rotary support and perpendicular to the length direction of the blade).
As shown in fig. 6 to 10, each camera 15 sends the acquired real-time position information of each visual perception tracking point 16 to the visual processing unit 17; the vision processing unit 17 is a GPU with a very strong computing function, which needs to perform the computation of vision recognition, and the vision processing unit 17 acquires the current posture of the blade 10 according to the received real-time position information of each vision perception tracking point 16, generates the target state of the blade posture control mechanism by combining the target posture of the blade 10 sent by the human-computer display 19, and sends the control decision mechanisms such as the target state and the current state of the blade posture control mechanism to the onboard controller 18 through the CAN bus; the vehicle-mounted controller 18 controls the blade attitude control mechanism through the electric proportional control valve 20 according to the received target state and current state of the blade attitude control mechanism, so that the blade attitude control mechanism drives the blade 10 to a target attitude; the electric proportional control valve 20 is connected with the PWM output of the vehicle-mounted controller 18 and controls a scraper knife posture control mechanism, and comprises a left lifting hydraulic oil cylinder 4, a right lifting hydraulic oil cylinder 5, a diagonal draw oil cylinder 6, a scraper knife leading-out oil cylinder 12, a scraper angle control oil cylinder 11, a hydraulic motor 21 for driving the scraper knife to rotate by an angle, and the like; by the operation of these actuators, the overall spatial working attitude of the blade 10 can be changed and adjusted. The man-machine display 19 and the vision processing unit 17 and the vehicle-mounted controller 18 are communicated with each other through a CAN bus respectively, when the system is powered on, the man-machine display 19 CAN display the self-checking result of the vision identification system, provide a three-dimensional figure of the whole vehicle, mark a camera 15 or a vision perception tracking point 16 which needs to be cleaned or replaced by a red abnormal point, and prompt a user about the specific operation steps of subsequent maintenance; the man-machine display 19 is also used for setting and sending the target posture of the blade 10 to the visual processing unit 17, displaying the three-dimensional figure of the whole vehicle in real time based on the current posture of the blade 10 acquired by the visual processing unit 17, switching the manual control state and the automatic control state, and the like.
In the embodiment, the number of the cameras 15 is 7, and the cameras are respectively arranged at fixed positions of the whole vehicle and comprise a cab 14, a front frame 1 and the like; the visual perception tracking points 16 are uniformly arranged on key parts such as the scraper knife 10, the rotary support 8, each control oil cylinder of the scraper knife attitude control mechanism, the hydraulic motor 21 and the like according to a set size interval, and the number of the visual perception tracking points 16 is in accordance with the proportion of 1 to 2 (namely, for the tracking points obtained by the same size, two spare points are provided). The vision perception camera 15 is an infrared camera, has the positioning accuracy of millimeter level and the response time of millisecond level, and this camera has the automatic control camera cover, can open the lens cap in normal work progress, automatic closing lens cap after the construction finishes. During working, the space coordinates of the visual perception tracking point 16 are captured by the visual perception camera 15 and transmitted to the visual processing unit 17, all the space postures of the current blade 10 and the extension amounts (namely the current state of the blade posture control mechanism) of the piston rods of the cylinders (the left lifting cylinder 4, the right lifting cylinder 5, the diagonal pulling cylinder 6, the soil shoveling angle cylinder 11 and the lead-out cylinder 12) in the blade posture control mechanism are calculated in the visual processing unit 17 through a prefabricated algorithm, and the current state of the grader working device system is comprehensively obtained, and is shown in fig. 9 and 10.
Controlling the posture of the scraper knife: the vision processing unit 17 obtains a target posture of the blade 10 set by a user from the man-machine display 19, calculates a target state (i.e. the extension amount of a piston rod of each cylinder in the blade posture control mechanism in the target posture) of the blade posture control mechanism (the left lift cylinder 4, the right lift cylinder 5, the diagonal draw cylinder 6, the earth-shoveling angle cylinder 11 and the extraction cylinder 12) based on the target posture, and transmits the current state and the target state information of the blade posture control mechanism to the on-board controller 18, the on-board controller 17 sends a control signal of the moving direction and speed (the larger the difference between the measured posture and the target posture is, the faster the execution speed of the control mechanism) of each cylinder in the blade posture control mechanism, and controls the left lift cylinder 4, the right lift cylinder 5, the diagonal draw cylinder 6, the extraction cylinder 12, the earth-shoveling angle cylinder 11 and the hydraulic motor 21 for driving the blade rotation angle to operate through the electric proportional control valve 20, and adjusting all spatial postures of the scraper knife 10 to approach to the target posture in real time, and acquiring the latest posture information of the scraper knife 10 in real time through the visual perception camera 15 to form closed-loop control until the scraper knife 10 reaches the target posture. Because the visual perception tracking point 16 is directly arranged on the scraper knife 10 and the posture of the scraper knife is adjusted and positioned through closed-loop control, the final control precision of the posture of the scraper knife is not influenced by the clearance of each motion structure of the land leveler, and the control precision is high.
Anti-collision control: based on the system structure of the grader working device and the movement range of the blade attitude control mechanism (the left lifting cylinder 4, the right lifting cylinder 5, the inclined-pulling cylinder 6, the soil shoveling angle cylinder 11, the leading-out cylinder 12 and the hydraulic motor 21), the attitude subset of the grader blade 10, which is smaller than a certain set value or has collision and interference, among all possible attitude complete sets and other structures of the grader, is calculated, and named as: the subset of blade collision poses and the information for the subset of blade collision poses is stored in the onboard controller 18. In the process that the scraper knife 10 is changed from the current posture to the target posture, the vehicle-mounted controller 18 automatically selects a control sequence of a scraper knife posture control mechanism for avoiding the scraper knife collision posture subset to adjust the scraper knife posture in real time; meanwhile, in the manual control state, when the driver manually adjusts the posture of the shovel blade and reaches the boundary of the sub-set of collision postures of the shovel blade, the vehicle-mounted controller 18 stops the movement of the shovel blade and sends out sound and light alarm information to remind the driver to process, so that the operation safety is improved.
The embodiment can realize real-time detection of the full posture (the depth of the shovel blade entering the soil, the shovel blade soil shoveling angle, the shovel blade rotation angle, the shovel blade cross slope angle, the shovel blade leading-out displacement and the like) of the shovel blade and the extension of a piston rod of the hydraulic control oil cylinder; the visual perception tracking point on the scraper knife is directly tracked, the operation posture of the scraper knife is obtained through conversion, the detection precision is high, and the influence of the mechanism clearance is avoided; based on the differences of the system structure of the grader working device and the target posture and the actual posture of the blade, when the blade is converted from the current posture to the target posture, the motion amplitude and direction of each blade posture control mechanism are quickly calculated and fed back to the control system to adjust and control the posture of the grader blade in real time, so that the target posture is accurately and quickly achieved, the construction quality is improved, and the labor intensity of a driver is reduced; based on the system structure of the grader working device and the movement range of the blade attitude control mechanism, attitude subsets of the grader blade, of which the distances between all possible attitude total sets and other structures of the grader are smaller than a certain set value or are collided and interfered, are solved, and the information of the subsets is stored in a vehicle-mounted controller; in the process of changing the scraper knife from the current posture to the target posture, the controller automatically selects an execution mechanism control sequence for avoiding the scraper knife from colliding with the posture subset to adjust the posture of the scraper knife in real time; meanwhile, when the posture of the scraper knife is manually adjusted by a driver and the scraper knife collides with the boundary of the posture subset, the system stops the movement of the scraper knife and gives out sound alarm to remind the driver to process, so that the operation safety is improved.
Example two:
based on the machine vision-based blade attitude control system of the first embodiment, the present embodiment provides a motor grader equipped with the machine vision-based blade attitude control system of the first embodiment.
Example three:
based on the blade attitude control system based on the machine vision in the first embodiment, the embodiment provides a blade attitude control method based on the machine vision, which includes:
1) collecting real-time position information of a plurality of visual perception tracking points arranged at a set position of a land scraper;
2) acquiring the current posture of the scraper knife according to the real-time position information of each visual perception tracking point, and generating a target state of a scraper knife posture control mechanism by combining the target posture of the scraper knife;
3) according to the target state and the current state of the scraper knife attitude control mechanism, the scraper knife attitude control mechanism is controlled through the electric proportional control valve, so that the scraper knife attitude control mechanism drives the scraper knife to the target attitude, specifically comprising the following steps:
31) generating an initial control sequence of the scraper knife attitude control mechanism according to the target state and the current state of the scraper knife attitude control mechanism;
32) comparing the generated initial control sequence of the scraper knife attitude control mechanism with the scraper knife collision attitude subset, and selecting a control sequence of the scraper knife attitude control mechanism avoiding the scraper knife collision attitude subset as an execution control sequence;
33) controlling the scraper knife attitude control mechanism through the electric proportional control valve based on the execution control sequence selected in the step 32), so that the scraper knife attitude control mechanism drives the scraper knife to the target attitude.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A shovel blade attitude control system based on machine vision is characterized by comprising:
the system comprises a plurality of cameras, a vision processing unit and a control unit, wherein the cameras are arranged at set positions of the land scraper and are used for acquiring real-time position information of a plurality of vision perception tracking points arranged at the set positions of the land scraper and sending the real-time position information to the vision processing unit;
the vision processing unit is used for acquiring the current posture of the scraper knife according to the received real-time position information of each vision perception tracking point, generating a target state of the scraper knife posture control mechanism by combining the target posture of the scraper knife sent by the human-computer display, and sending the target state and the current state of the scraper knife posture control mechanism to the vehicle-mounted controller;
and the vehicle-mounted controller is used for controlling the scraper knife attitude control mechanism through the electric proportional control valve according to the received target state and the current state of the scraper knife attitude control mechanism, so that the scraper knife attitude control mechanism drives the scraper knife to a target attitude.
2. The machine vision-based blade attitude control system of claim 1, wherein said camera is mounted in a fixed position on the entire vehicle, including the cab and the front frame; the visual perception tracking points are arranged on the scraper knife, the rotary support and the scraper knife attitude control mechanism according to the set size interval.
3. The machine-vision-based blade attitude control system of claim 1, wherein said camera is an infrared camera.
4. The machine vision-based blade attitude control system of claim 1, wherein the blade attitude control mechanism comprises a left lift cylinder, a right lift cylinder, a diagonal pull cylinder, a lead-out cylinder, a shoveling angle cylinder, and a hydraulic motor; the cylinder bodies of the left lifting oil cylinder and the right lifting oil cylinder are respectively hinged with the left swing frame and the right swing frame, and the telescopic rods of the left lifting oil cylinder and the right lifting oil cylinder are respectively hinged with the rotary support; the cylinder body of the cable-stayed oil cylinder is hinged with the rotary support, and the telescopic rod of the cable-stayed oil cylinder is hinged with the left swing frame; one end of the leading-out oil cylinder is hinged with the angle positioner, and the other end of the leading-out oil cylinder is fixedly connected with the scraper knife; one end of the angle positioner is hinged with a piston rod of the soil shoveling angle oil cylinder, and a cylinder body of the soil shoveling angle oil cylinder is hinged with the rotary support; the inner gear ring of the rotary support is embedded in the groove of the traction frame, and the hydraulic motor drives the turbine box fixed on the traction frame to further drive the scraper knife to do rotary motion through internal tooth-external tooth transmission.
5. The machine-vision-based blade attitude control system of claim 1, wherein the onboard controller is configured with a blade collision attitude subset, and when the onboard controller receives the motion information of the blade attitude control mechanism, a control sequence of the blade attitude control mechanism avoiding the blade collision attitude subset is automatically selected to adjust the blade attitude in real time.
6. The machine vision-based blade attitude control system according to claim 5, wherein the human-machine display is configured to set and send a target attitude of the blade to the vision processing unit, display a three-dimensional figure of the entire vehicle in real time based on the current attitude of the blade acquired by the vision processing unit, and switch between a manual control state and an automatic control state.
7. The machine-vision-based blade attitude control system of claim 6, wherein in the manual control state, when the driver manually adjusts the blade attitude and reaches the boundary of the blade collision attitude subset, the onboard controller stops the blade movement and sends an alarm message.
8. A grader equipped with the machine vision-based blade attitude control system of any one of claims 1 to 7.
9. A shovel blade attitude control method based on machine vision is characterized by comprising the following steps:
collecting real-time position information of a plurality of visual perception tracking points arranged at a set position of a land scraper;
acquiring the current posture of the scraper knife according to the real-time position information of each visual perception tracking point, and generating a target state of a scraper knife posture control mechanism by combining the target posture of the scraper knife;
and controlling the scraper knife attitude control mechanism through the electric proportional control valve according to the target state and the current state of the scraper knife attitude control mechanism, so that the scraper knife attitude control mechanism drives the scraper knife to a target attitude.
10. The machine vision-based blade attitude control method according to claim 9, wherein the controlling the blade attitude control mechanism by the electric proportional control valve according to the target state and the current state of the blade attitude control mechanism to make the blade attitude control mechanism drive the blade to the target attitude comprises:
c1, generating an initial control sequence of the scraper knife attitude control mechanism according to the target state and the current state of the scraper knife attitude control mechanism;
c2, comparing the generated initial control sequence of the blade attitude control mechanism with the blade collision attitude subset, and selecting a control sequence of the blade attitude control mechanism avoiding the blade collision attitude subset as an execution control sequence;
c3, controlling the blade attitude control mechanism through the electric proportional control valve based on the execution control sequence selected in the step c2, and enabling the blade attitude control mechanism to drive the blade to the target attitude.
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