CN112627277A - Automatic walking method of excavator - Google Patents
Automatic walking method of excavator Download PDFInfo
- Publication number
- CN112627277A CN112627277A CN202110052885.XA CN202110052885A CN112627277A CN 112627277 A CN112627277 A CN 112627277A CN 202110052885 A CN202110052885 A CN 202110052885A CN 112627277 A CN112627277 A CN 112627277A
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- excavator
- processor
- distance sensor
- sensor
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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
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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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 provides an automatic walking method of an excavator, wherein the excavator is provided with an automatic walking system, the automatic walking system comprises a Beidou navigation system, a camera, a distance sensor, a speed sensor, a steering sensor, a processor and a controller, and the controller is used for controlling a movable arm oil cylinder, a bucket rod oil cylinder, a bucket oil cylinder, a left walking device and a right walking device. Compared with the prior art, the invention has the advantages that: can be well adapted to the complex road conditions on the road.
Description
Technical Field
The invention belongs to the field of excavators, and particularly relates to an automatic walking method of an excavator.
Background
The excavator is applicable to the construction of more dangerous environment, and it can very big reduction manpower. Has been widely applied to the fields of buildings, water conservancy, mines and the like for many years. The crawler excavator has strong cross-country performance and can efficiently operate in places with severe working conditions such as muddy places, wetlands, mines and the like. The internal-combustion engine is the drive for traditional crawler excavator, and ubiquitous pollutant emission is high, big noise and inefficiency scheduling problem, and electrodynamic type crawler excavator has advantages such as zero release, low noise and transmission efficiency height, has made things convenient for the intelligent development of crawler excavator on the basis of overcoming above-mentioned problem. The excavator has a severe working environment which is often accompanied by working conditions such as vibration, high temperature, dust and the like, so that a driver is required to pay high attention for a long time in the working process, and the complex working environment must be judged and responded quickly and accurately, otherwise irreparable results are generated; in the operation tasks of mining, road construction and the like, the excavator has the advantages of single part of work, high repeatability and labor waste caused by engaging of professional drivers. The unmanned system can replace a driver to control the vehicle, autonomously senses the environment and makes a decision during operation, greatly reduces the operation risk of operators, reduces the waste of labor force and improves the working efficiency.
At present, an excavator capable of automatically walking on a highway is not produced.
Disclosure of Invention
Based on the above requirement, the present invention provides an automatic walking method for an excavator, which is implemented by the following technical solutions,
an automatic walking method for an excavator,
the excavator is provided with an automatic walking system,
the automatic walking system comprises a Beidou navigation system, a camera, a distance sensor, a speed sensor, a steering sensor, a processor and a controller,
the controller is used for controlling the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left walking device and the right walking device,
the Beidou navigation system sends the real-time position of the excavator to the processor;
the camera is used for acquiring images around the excavator and sending data to the processor;
the distance sensor is used for acquiring the distance from a peripheral object and sending data to the processor;
the speed sensor acquires and sends the speed of the excavator to the processor;
the steering sensor sends the walking direction of the excavator to the processor;
the processor processes data of the Beidou navigation system, the camera, the distance sensor, the speed sensor and the steering sensor and simultaneously sends the processed data to the controller;
the control controls a movable arm oil cylinder, an arm oil cylinder, a bucket oil cylinder, a left walking device and a right walking device according to the environment of the excavator and the state of the excavator,
the method comprises the following steps:
acquiring a real-time position through a Beidou navigation system;
acquiring the surrounding environment of the excavator in real time through a camera and a distance sensor;
the controller controls the states of the boom cylinder, the arm cylinder and the bucket cylinder;
the controller controls the speed of the left running gear and the right running gear,
the controller controls the speed and steering of the excavator based on the real-time position and the surrounding environment.
An automatic walking method for an excavator,
the excavator is provided with an automatic walking system,
the automatic walking system comprises a Beidou navigation system, a camera, a distance sensor, a speed sensor, a steering sensor, a processor and a controller,
the controller is used for controlling the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left walking device and the right walking device,
the Beidou navigation system sends the real-time position of the excavator to the processor;
the cameras comprise a left front camera, a right front camera, a left rear camera and a right rear camera, and the left front camera, the right front camera, the left rear camera and the right rear camera are used for acquiring images around the excavator and sending data to the processor;
the distance sensors comprise a left front distance sensor, a right front distance sensor, a left rear distance sensor and a right rear distance sensor, and the left front distance sensor, the right front distance sensor, the left rear distance sensor and the right rear distance sensor are used for acquiring distances between the distance sensors and peripheral objects and sending data to the processor;
the speed sensor acquires and sends the speed of the excavator to the processor;
the steering sensor sends the walking direction of the excavator to the processor;
the processor processes data of the Beidou navigation system, the camera, the distance sensor, the speed sensor and the steering sensor and simultaneously sends the processed data to the controller;
the control controls a movable arm oil cylinder, an arm oil cylinder, a bucket oil cylinder, a left walking device and a right walking device according to the environment of the excavator and the state of the excavator,
the method comprises the following steps:
acquiring a real-time position through a Beidou navigation system;
acquiring the surrounding environment of the excavator in real time through a camera and a distance sensor;
the controller controls the states of the boom cylinder, the arm cylinder and the bucket cylinder;
the controller controls the speed of the left running gear and the right running gear,
the controller controls the speed and steering of the excavator based on the real-time position and the surrounding environment.
An automatic walking method for an excavator,
the excavator is provided with an automatic walking system,
the automatic traveling system comprises a Beidou navigation system, a camera, a convex mirror, a distance sensor, a speed sensor, a steering sensor, a processor and a controller,
the controller is used for controlling the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left walking device and the right walking device,
the Beidou navigation system sends the real-time position of the excavator to the processor;
the convex mirror is arranged at the top of the excavator, the camera faces the convex mirror, images in the convex mirror are shot, and the obtained images are sent to the processor;
the distance sensors comprise a left front distance sensor, a right front distance sensor, a left rear distance sensor and a right rear distance sensor, and the left front distance sensor, the right front distance sensor, the left rear distance sensor and the right rear distance sensor are used for acquiring distances between the distance sensors and peripheral objects and sending data to the processor;
the speed sensor acquires and sends the speed of the excavator to the processor;
the steering sensor sends the walking direction of the excavator to the processor;
the processor processes data of the Beidou navigation system, the camera, the distance sensor, the speed sensor and the steering sensor and simultaneously sends the processed data to the controller;
the control controls a movable arm oil cylinder, an arm oil cylinder, a bucket oil cylinder, a left walking device and a right walking device according to the environment of the excavator and the state of the excavator,
the method comprises the following steps:
acquiring a real-time position through a Beidou navigation system;
acquiring the surrounding environment of the excavator in real time through a camera and a distance sensor;
the controller controls the states of the boom cylinder, the arm cylinder and the bucket cylinder;
the controller controls the speed of the left running gear and the right running gear,
the controller controls the speed and steering of the excavator based on the real-time position and the surrounding environment.
Further, the processor transforms the image into a planar image by means of image transformation, thereby unfolding the image around the excavator.
Compared with the prior art, the invention has the advantages that: can be well adapted to the complex road conditions on the road.
Drawings
FIG. 1 is a schematic diagram of a relationship according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "disposed," "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected or detachably connected; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
Example one
As shown in fig. 1, the present invention discloses an automatic walking method of an excavator,
the excavator is provided with an automatic walking system,
the automatic walking system comprises a Beidou navigation system, a camera, a distance sensor, a speed sensor, a steering sensor, a processor and a controller,
the controller is used for controlling the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left walking device and the right walking device,
the Beidou navigation system sends the real-time position of the excavator to the processor;
the camera is used for acquiring images around the excavator and sending data to the processor;
the distance sensor is used for acquiring the distance from a peripheral object and sending data to the processor;
the speed sensor acquires and sends the speed of the excavator to the processor;
the steering sensor sends the walking direction of the excavator to the processor;
the processor processes data of the Beidou navigation system, the camera, the distance sensor, the speed sensor and the steering sensor and simultaneously sends the processed data to the controller;
the control controls a movable arm oil cylinder, an arm oil cylinder, a bucket oil cylinder, a left walking device and a right walking device according to the environment of the excavator and the state of the excavator,
the method comprises the following steps:
acquiring a real-time position through a Beidou navigation system;
acquiring the surrounding environment of the excavator in real time through a camera and a distance sensor;
the controller controls the states of the boom cylinder, the arm cylinder and the bucket cylinder;
the controller controls the speed of the left running gear and the right running gear,
the controller controls the speed and steering of the excavator based on the real-time position and the surrounding environment.
Example two
As shown in fig. 2, the present invention discloses an automatic walking method of an excavator,
the excavator is provided with an automatic walking system,
the automatic walking system comprises a Beidou navigation system, a camera, a distance sensor, a speed sensor, a steering sensor, a processor and a controller,
the controller is used for controlling the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left walking device and the right walking device,
the Beidou navigation system sends the real-time position of the excavator to the processor;
the cameras comprise a left front camera, a right front camera, a left rear camera and a right rear camera, and the left front camera, the right front camera, the left rear camera and the right rear camera are used for acquiring images around the excavator and sending data to the processor;
the distance sensors comprise a left front distance sensor, a right front distance sensor, a left rear distance sensor and a right rear distance sensor, and the left front distance sensor, the right front distance sensor, the left rear distance sensor and the right rear distance sensor are used for acquiring distances between the distance sensors and peripheral objects and sending data to the processor;
the speed sensor acquires and sends the speed of the excavator to the processor;
the steering sensor sends the walking direction of the excavator to the processor;
the processor processes data of the Beidou navigation system, the camera, the distance sensor, the speed sensor and the steering sensor and simultaneously sends the processed data to the controller;
the control controls a movable arm oil cylinder, an arm oil cylinder, a bucket oil cylinder, a left walking device and a right walking device according to the environment of the excavator and the state of the excavator,
the method comprises the following steps:
acquiring a real-time position through a Beidou navigation system;
acquiring the surrounding environment of the excavator in real time through a camera and a distance sensor;
the controller controls the states of the boom cylinder, the arm cylinder and the bucket cylinder;
the controller controls the speed of the left running gear and the right running gear,
the controller controls the speed and steering of the excavator based on the real-time position and the surrounding environment.
EXAMPLE III
In this embodiment, the apparatus is simplified by a different manner of acquiring the peripheral image compared to the first and second embodiments.
In the embodiment of the invention, an automatic walking method of an excavator,
the excavator is provided with an automatic walking system,
the automatic traveling system comprises a Beidou navigation system, a camera, a convex mirror, a distance sensor, a speed sensor, a steering sensor, a processor and a controller,
the controller is used for controlling the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left walking device and the right walking device,
the Beidou navigation system sends the real-time position of the excavator to the processor;
the convex mirror is arranged at the top of the excavator, the camera faces the convex mirror, images in the convex mirror are shot, and the obtained images are sent to the processor;
the distance sensors comprise a left front distance sensor, a right front distance sensor, a left rear distance sensor and a right rear distance sensor, and the left front distance sensor, the right front distance sensor, the left rear distance sensor and the right rear distance sensor are used for acquiring distances between the distance sensors and peripheral objects and sending data to the processor;
the speed sensor acquires and sends the speed of the excavator to the processor;
the steering sensor sends the walking direction of the excavator to the processor;
the processor processes data of the Beidou navigation system, the camera, the distance sensor, the speed sensor and the steering sensor and simultaneously sends the processed data to the controller;
the control controls the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left traveling device and the right traveling device according to the environment of the excavator and the state of the excavator.
The processor transforms the image into a planar image by means of image transformation, thereby unfolding the image around the excavator.
The method comprises the following steps:
acquiring a real-time position through a Beidou navigation system;
acquiring the surrounding environment of the excavator in real time through a camera and a distance sensor;
the controller controls the states of the boom cylinder, the arm cylinder and the bucket cylinder;
the controller controls the speed of the left running gear and the right running gear,
the controller controls the speed and steering of the excavator based on the real-time position and surrounding environment
Compared with the prior art, the invention has the advantages that: can be well adapted to the complex road conditions on the road.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (4)
1. An automatic walking method of an excavator is characterized in that:
the excavator is provided with an automatic walking system,
the automatic walking system comprises a Beidou navigation system, a camera, a distance sensor, a speed sensor, a steering sensor, a processor and a controller,
the controller is used for controlling the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left walking device and the right walking device,
the Beidou navigation system sends the real-time position of the excavator to the processor;
the camera is used for acquiring images around the excavator and sending data to the processor;
the distance sensor is used for acquiring the distance from a peripheral object and sending data to the processor;
the speed sensor acquires and sends the speed of the excavator to the processor;
the steering sensor sends the walking direction of the excavator to the processor;
the processor processes data of the Beidou navigation system, the camera, the distance sensor, the speed sensor and the steering sensor and simultaneously sends the processed data to the controller;
the control controls a movable arm oil cylinder, an arm oil cylinder, a bucket oil cylinder, a left walking device and a right walking device according to the environment of the excavator and the state of the excavator,
the method comprises the following steps:
acquiring a real-time position through a Beidou navigation system;
acquiring the surrounding environment of the excavator in real time through a camera and a distance sensor;
the controller controls the states of the boom cylinder, the arm cylinder and the bucket cylinder;
the controller controls the speed of the left running gear and the right running gear,
the controller controls the speed and steering of the excavator based on the real-time position and the surrounding environment.
2. An automatic walking method of an excavator is characterized in that:
the excavator is provided with an automatic walking system,
the automatic walking system comprises a Beidou navigation system, a camera, a distance sensor, a speed sensor, a steering sensor, a processor and a controller,
the controller is used for controlling the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left walking device and the right walking device,
the Beidou navigation system sends the real-time position of the excavator to the processor;
the cameras comprise a left front camera, a right front camera, a left rear camera and a right rear camera, and the left front camera, the right front camera, the left rear camera and the right rear camera are used for acquiring images around the excavator and sending data to the processor;
the distance sensors comprise a left front distance sensor, a right front distance sensor, a left rear distance sensor and a right rear distance sensor, and the left front distance sensor, the right front distance sensor, the left rear distance sensor and the right rear distance sensor are used for acquiring distances between the distance sensors and peripheral objects and sending data to the processor;
the speed sensor acquires and sends the speed of the excavator to the processor;
the steering sensor sends the walking direction of the excavator to the processor;
the processor processes data of the Beidou navigation system, the camera, the distance sensor, the speed sensor and the steering sensor and simultaneously sends the processed data to the controller;
the control controls a movable arm oil cylinder, an arm oil cylinder, a bucket oil cylinder, a left walking device and a right walking device according to the environment of the excavator and the state of the excavator,
the method comprises the following steps:
acquiring a real-time position through a Beidou navigation system;
acquiring the surrounding environment of the excavator in real time through a camera and a distance sensor;
the controller controls the states of the boom cylinder, the arm cylinder and the bucket cylinder;
the controller controls the speed of the left running gear and the right running gear,
the controller controls the speed and steering of the excavator based on the real-time position and the surrounding environment.
3. An automatic walking method of an excavator is characterized in that:
the excavator is provided with an automatic walking system,
the automatic traveling system comprises a Beidou navigation system, a camera, a convex mirror, a distance sensor, a speed sensor, a steering sensor, a processor and a controller,
the controller is used for controlling the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder, the left walking device and the right walking device,
the Beidou navigation system sends the real-time position of the excavator to the processor;
the convex mirror is arranged at the top of the excavator, the camera faces the convex mirror, images in the convex mirror are shot, and the obtained images are sent to the processor;
the distance sensors comprise a left front distance sensor, a right front distance sensor, a left rear distance sensor and a right rear distance sensor, and the left front distance sensor, the right front distance sensor, the left rear distance sensor and the right rear distance sensor are used for acquiring distances between the distance sensors and peripheral objects and sending data to the processor;
the speed sensor acquires and sends the speed of the excavator to the processor;
the steering sensor sends the walking direction of the excavator to the processor;
the processor processes data of the Beidou navigation system, the camera, the distance sensor, the speed sensor and the steering sensor and simultaneously sends the processed data to the controller;
the control controls a movable arm oil cylinder, a bucket rod oil cylinder, a bucket oil cylinder, a left walking device and a right walking device according to the environment of the excavator and the state of the excavator;
the method comprises the following steps:
acquiring a real-time position through a Beidou navigation system;
acquiring the surrounding environment of the excavator in real time through a camera and a distance sensor;
the controller controls the states of the boom cylinder, the arm cylinder and the bucket cylinder;
the controller controls the speed of the left running gear and the right running gear,
the controller controls the speed and steering of the excavator based on the real-time position and the surrounding environment.
4. The automatic walking method of the excavator according to claim 3, wherein: the processor transforms the image into a planar image by means of image transformation, thereby unfolding the image around the excavator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110052885.XA CN112627277A (en) | 2021-01-15 | 2021-01-15 | Automatic walking method of excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110052885.XA CN112627277A (en) | 2021-01-15 | 2021-01-15 | Automatic walking method of excavator |
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| CN112627277A true CN112627277A (en) | 2021-04-09 |
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| CN202110052885.XA Withdrawn CN112627277A (en) | 2021-01-15 | 2021-01-15 | Automatic walking method of excavator |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111338333A (en) * | 2018-12-18 | 2020-06-26 | 北京航迹科技有限公司 | System and method for autonomous driving |
| CN111752273A (en) * | 2020-06-15 | 2020-10-09 | 华侨大学 | Unmanned walking system and method for electric crawler excavator |
-
2021
- 2021-01-15 CN CN202110052885.XA patent/CN112627277A/en not_active Withdrawn
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111338333A (en) * | 2018-12-18 | 2020-06-26 | 北京航迹科技有限公司 | System and method for autonomous driving |
| CN111752273A (en) * | 2020-06-15 | 2020-10-09 | 华侨大学 | Unmanned walking system and method for electric crawler excavator |
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Application publication date: 20210409 |