CN113128742B - Construction method and device for engineering machinery, readable storage medium and processor - Google Patents
Construction method and device for engineering machinery, readable storage medium and processor Download PDFInfo
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Abstract
The embodiment of the invention provides a construction method and device of engineering machinery, a readable storage medium and a processor, and belongs to the technical field of engineering machinery. The construction method comprises the following steps: step S1, determining coordinates of an outline of a construction area of the engineering machinery; step S2, dividing the construction area into a plurality of parts according to a first distance based on the coordinates of the contour line of the construction area; step S3, generating coordinates of a plurality of construction positions according to the second distance for each of the plurality of parts; and step S4, controlling the engineering machinery to perform construction on the coordinates of each construction position in each part in a mode of moving to an adjacent construction position when the construction position is replaced every time for each part. The construction method, the construction device, the readable storage medium and the processor of the engineering machinery can ensure construction efficiency and reduce the workload of a driver.
Description
Technical Field
The present invention relates to the field of engineering machinery, and in particular, to a construction method and apparatus for an engineering machine, a readable storage medium, and a processor.
Background
Currently, construction guidance systems are provided for construction machines, particularly excavators, to guide drivers to perform operations, but in existing guidance systems, planning of the working position of the excavator during the construction process is not accurate nor comprehensive, much labor cost is still required, and the construction efficiency is not high.
Disclosure of Invention
The embodiment of the invention aims to provide a construction method, a construction device, a readable storage medium and a processor of engineering machinery, which can ensure construction efficiency and reduce workload of a driver.
In order to achieve the above object, an embodiment of the present invention provides a construction method of an engineering machine, including: step S1, determining coordinates of an outline of a construction area of the engineering machinery; step S2, dividing the construction area into a plurality of parts according to a first distance based on the coordinates of the contour line of the construction area; step S3, generating coordinates of a plurality of construction positions according to the second distance for each of the plurality of parts; and step S4, controlling the engineering machinery to perform construction on the coordinates of each construction position in each part in a mode of moving to an adjacent construction position when the construction position is replaced every time for each part.
Preferably, when a vertical distance between an end of an arm of the construction machine and a rotation axis of a boom of the construction machine is fixed, the first distance and the second distance are obtained by: step S5, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm according to the operability threshold value of the engineering machinery and the related parameters of the movable arm and the bucket rod; and S6, determining the first distance and the second distance according to the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the relevant parameters of the boom and the stick include: the length of the movable arm, the length of the bucket rod and the vertical distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the step S6 includes: step S61, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body according to the horizontal distance between the revolving shaft of the movable arm and the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the movable arm; and step S62, determining the first distance and the second distance according to the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the vehicle body.
Preferably, the step S62 includes: the second distance is calculated by the following formula: l=x max -x min Wherein L is a second distance, x min Is the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body, x max Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body; and calculating the first distance by the following formula:wherein L is a second distance, x max Is the maximum value of the horizontal distance between the end of the arm and the pivot axis of the vehicle body, and d is the first distance.
Preferably, the step S1 includes: step S11, determining a three-dimensional model of a target construction state of a construction object; and step S12, determining coordinates of a contour line of projection of the target construction surface of the three-dimensional model on a plane as coordinates of a contour line of a construction area of the engineering machine.
Preferably, the step S2 includes: step S21, determining two coordinates with the farthest distance in coordinates of a contour line of the construction area as a first coordinate point and a second coordinate point; and S22, starting from the connecting line of the first coordinate point and the second coordinate point, generating straight lines at intervals of the first distance until the number of intersection points of the straight lines and the contour line of the construction area is less than or equal to 1, so as to finish the segmentation of the construction area, wherein the straight lines are parallel to the connecting line of the first coordinate point and the second coordinate point.
Preferably, the step S3 includes: step S31, comparing a first intersection point distance between a first straight line and at least one intersection point of the contour line of the construction area with a second intersection point distance between a second straight line and at least one intersection point of the contour line of the construction area, wherein the first straight line is adjacent to the second straight line; step S32, when the first intersection distance is greater than or equal to the second intersection distance, taking a perpendicular line from an intersection point of the first straight line and a contour line of the construction area to an extension line of the second straight line as a first perpendicular line and a second perpendicular line; and step S33, starting from the coordinates of the midpoint of the first vertical line, generating the coordinates of the construction position at intervals of a second distance on the vertical line from the midpoint of the first vertical line to the second vertical line.
The embodiment of the invention also provides a construction device of the engineering machinery, which comprises: a construction area determining unit, a construction position determining unit and a control unit, wherein the construction area determining unit is used for determining coordinates of an outline of a construction area of the engineering machinery; the construction position determining unit is used for: dividing the construction area into a plurality of parts according to a first distance based on coordinates of a contour line of the construction area; generating coordinates of a plurality of construction positions according to the second distance for each of the plurality of parts; the control unit is configured to control the construction machine to perform construction on coordinates of each construction position in each section so that the construction machine moves to an adjacent construction position every time the construction position is replaced.
Preferably, the apparatus further comprises a distance determining unit for: determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm according to the operability threshold value of the engineering machinery and the related parameters of the movable arm and the bucket rod; and determining the first distance and the second distance according to the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the relevant parameters of the boom and the stick include: the length of the movable arm, the length of the bucket rod and the vertical distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the distance determining unit is further configured to: determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body according to the horizontal distance between the revolving shaft of the movable arm and the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the movable arm; and determining the first distance and the second distance according to the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body.
Preferably, the distance determining unit is further configured to: the second distance is calculated by the following formula: l=x max -x min Wherein L is a second distance, x min Is the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body, x max Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body; and calculating the first distance by the following formula:wherein L is a second distance, x max Is the maximum value of the horizontal distance between the end of the arm and the pivot axis of the vehicle body, and d is the first distance.
Preferably, the construction area determining unit is further configured to: determining a three-dimensional model of a target construction state of a construction object; and determining the coordinates of the contour line of the projection of the target construction surface of the three-dimensional model on the plane as the coordinates of the contour line of the construction area of the engineering machine.
Preferably, the construction position determining unit is further configured to: determining two coordinates with the farthest distance in coordinates of a contour line of the construction area, and taking the two coordinates as a first coordinate point and a second coordinate point; and generating straight lines at intervals of the first distances from the connecting line of the first coordinate point and the second coordinate point until the number of intersection points of the straight lines and the contour line of the construction area is less than or equal to 1, so as to complete the segmentation of the construction area, wherein the straight lines are parallel to the connecting line of the first coordinate point and the second coordinate point.
Preferably, the construction position determining unit is further configured to: comparing a first intersection distance between a first straight line and at least one intersection point of a contour line of the construction area with a second intersection point distance between a second straight line and at least one intersection point of a contour line of the construction area, wherein the first straight line is adjacent to the second straight line; when the first intersection point distance is larger than or equal to the second intersection point distance, taking a perpendicular line from an intersection point of the first straight line and the contour line of the construction area to an extension line of the second straight line as a first perpendicular line and a second perpendicular line; and generating coordinates of the construction position at intervals of a second distance on a vertical line from the midpoint of the first vertical line to the second vertical line from the coordinates of the midpoint of the first vertical line.
Embodiments of the present invention also provide a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described method.
The embodiment of the invention also provides a processor for running a program, wherein the program is used for executing the method.
According to the technical scheme, the construction method, the construction device, the readable storage medium and the processor of the engineering machine are adopted, the coordinates of the contour line of the construction area of the engineering machine are firstly determined, then the construction area is divided into a plurality of parts according to the first distance based on the coordinates of the contour line of the construction area, then the coordinates of a plurality of construction positions are generated according to the second distance for each of the plurality of parts, and finally the engineering machine is controlled to perform construction on the coordinates of each construction position in each part in a mode that the construction machine moves to the adjacent construction position when the construction position is replaced each time. The invention can automatically determine the construction position and automatically control the engineering machinery to reach the construction position, the construction route is optimized, the construction efficiency can be ensured, and the workload of a driver is reduced.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a flow chart of a construction method of a construction machine according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of determining coordinates of an outline of a construction area of the work machine according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for dividing the construction area into a plurality of sections according to an embodiment of the present invention;
FIG. 4 is a schematic view of construction area division according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method of determining coordinates of a plurality of construction locations provided in an embodiment of the present invention;
FIG. 6 is a flow chart of a method of determining a first distance and a second distance provided by an embodiment of the present invention;
FIG. 7 is a schematic view of a construction of a body, boom, and stick of an industrial machine according to an embodiment of the present invention;
FIG. 8 is a flow chart of a method of determining a first distance and a second distance provided by another embodiment of the present invention;
FIG. 9A is a schematic diagram of an optimal construction range of a work machine according to an embodiment of the present disclosure;
FIG. 9B is a schematic illustration of a construction optimal range shift provided by an embodiment of the present invention;
fig. 10 is a block diagram of a construction device of a construction machine according to an embodiment of the present invention.
Description of the reference numerals
1. Construction area determination unit 2 construction position determination unit
3. Control unit 4 distance determination unit
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
Fig. 1 is a flowchart of a construction method of a construction machine according to an embodiment of the present invention. As shown in fig. 1, the construction method includes:
step S1, determining coordinates of an outline of a construction area of the engineering machinery;
in particular, the work machine of the present invention is preferably an excavator, such as an excavator having a 3D construction guidance system. The following steps of determining the construction position are automatically performed by the controller. In the embodiment of the invention, the output of the guidance of the optimal construction position is a series of guidance position sequences, and a driver can automatically move to the next optimal construction position after receiving the instruction of completing the construction of the current position by moving the excavator to the optimal construction position according to the recommended sequence, so that the optimization of the construction efficiency, quality and power consumption is ensured.
Wherein, determining the coordinates of the contour line of the construction area of the engineering machine includes steps S11-S12, as shown in fig. 2:
step S11, determining a three-dimensional model of a target construction state of a construction object;
the target construction state is the state that the construction object needs to be constructed, a three-dimensional model of the target construction state of the construction object is built, and coordinates forming the three-dimensional model are obtained (namely, each contour line of the three-dimensional model can be regarded as being composed of a large number of coordinates).
And step S12, determining coordinates of a contour line of projection of the target construction surface of the three-dimensional model on a plane as coordinates of a contour line of a construction area of the engineering machine.
The three-dimensional model is a three-dimensional model, which has a plurality of surfaces, projects a target construction surface to be constructed on a plane, and can obtain a plurality of coordinates of a projected contour line according to each coordinate constituting the target construction surface, namely, the coordinates of the contour line of a construction area of the engineering machine.
Step S2, dividing the construction area into a plurality of parts according to a first distance based on the coordinates of the contour line of the construction area;
specifically, dividing the construction area into a plurality of sections includes steps S21-S22, as shown in fig. 3:
Step S21, determining two coordinates with the farthest distance in coordinates of a contour line of the construction area as a first coordinate point and a second coordinate point;
specifically, as shown in fig. 4, the construction area is an irregular area, and points a and B are two coordinates farthest from each other on the contour line.
And S22, starting from the connecting line of the first coordinate point and the second coordinate point, generating straight lines at intervals of the first distance until the number of intersection points of the straight lines and the contour line of the construction area is less than or equal to 1, so as to finish the segmentation of the construction area, wherein the straight lines are parallel to the connecting line of the first coordinate point and the second coordinate point.
Specifically, as shown in fig. 4, the first distance may be denoted by d. On both sides of the connection LINE of the point A and the point B, straight LINEs can be generated, for example, the connection LINE of the point A and the point B is LINE (3), parallel straight LINEs LINE (2) and LINE (4) are generated at intervals d, and then parallel straight LINEs LINE (3) and LINE (5) are generated at intervals d. The LINE (1) and the LINE (5) have no intersection points with the contour LINEs of the construction area, namely the number of the intersection points is smaller than 1, and the segmentation of the construction area is completed. Fig. 4 divides the construction area into 4 parts.
Step S3, generating coordinates of a plurality of construction positions according to the second distance for each of the plurality of parts;
Specifically, determining coordinates of a plurality of construction positions includes steps S31 to S33, as shown in fig. 5:
step S31, comparing a first intersection point distance between a first straight line and at least one intersection point of the contour line of the construction area with a second intersection point distance between a second straight line and at least one intersection point of the contour line of the construction area, wherein the first straight line is adjacent to the second straight line;
for example, as shown in fig. 4, the first straight LINE is LINE (3), the second straight LINE is LINE (4), the intersection point of LINE (3) and the contour LINE of the construction area is points a and B, and the distance between the points is greater than the distance between the intersection point of LINE (4) and the contour LINE of the construction area, that is, the first intersection point distance is greater than the second intersection point distance.
Step S32, when the first intersection distance is greater than or equal to the second intersection distance, taking a perpendicular line from an intersection point of the first straight line and a contour line of the construction area to an extension line of the second straight line as a first perpendicular line and a second perpendicular line;
for example, since the first intersection distance is larger than the second intersection distance, the first and second perpendicular LINEs VS (1) and VS (2) are obtained by generating a perpendicular LINE to the extension LINE of LINE (4) using points a and B.
And step S33, starting from the coordinates of the midpoint of the first vertical line, generating the coordinates of the construction position at intervals of a second distance on the vertical line from the midpoint of the first vertical line to the second vertical line.
For example, the midpoint coordinates of VS (1) are (x 1, y 1), and a perpendicular is drawn from this point to the second perpendicular, and coordinates are generated at a second distance from the drawn perpendicular, and finally coordinates of a plurality of construction positions are obtained.
Steps S31-S33 are repeated for all adjacent LINEs, e.g. starting from LINE (1) and proceeding sequentially to LINE (5), i.e. first to LINE (1) and LINE (2), then to LINE (2) and LINE (3), and finally to LINE (4) and LINE (5). The processing is completed when the number of processing times is equal to the number of straight lines.
And step S4, controlling the engineering machinery to perform construction on the coordinates of each construction position in each part in a mode of moving to an adjacent construction position when the construction position is replaced every time for each part.
Specifically, a positioning device, such as a GPS, is installed on the engineering machine, so that coordinates of the engineering machine can be obtained in real time. After the construction of one construction position is completed, the driver can give an instruction to move the engineering machine to the next construction position. In order to optimize the construction route, for each divided portion, the construction machine is moved only from the current construction position to the adjacent construction position per movement, and the construction of the portion is completed after the construction of each construction position of the portion is completed. Then, when selecting to move to the next divided portion, the starting point of the next divided portion may be selected by itself, but it is preferable to move to the position of the most edge of the next divided portion so as not to move on the repeated route. For example, as shown in fig. 4, the movement is preferentially performed in one portion where the construction area is divided, that is, only the second distance, and when the construction is completed in all the construction positions in one portion, the movement may be performed to the construction position of the next portion, that is, the construction machine takes an "arcuate" shape movement.
In addition, the invention also provides a method for determining the first distance and the second distance. The method comprises the steps S5-S6, as shown in FIG. 6:
step S5, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm according to the operability threshold value of the engineering machine, the length of the movable arm of the engineering machine, the length of the bucket rod of the engineering machine and the vertical distance between the tail end of the bucket rod and the rotating shaft of the movable arm;
specifically, fig. 7 is a schematic view of the construction of a construction machine body, boom, and arm. Wherein O is 1 Is the revolving axle of the car body, O 2 Is the rotating shaft of the movable arm O 3 Is the end of the movable arm, O 4 Is the end of the stick.
The range of the horizontal distance between the end of the arm and the rotation axis of the boom is first obtained by the following formula:
H＜-l1×l2×sin(abs(acos((y 2 -l1 2 -l2 2 +x 2 ) /(2×l1×l2))) formula 1
Where H is an operability threshold of the construction machine (the operability threshold is preferably 2, but is not limited thereto, so that the end of the arm may have sufficient operability no matter how close to or far from the vehicle body), l1 is the length of the boom, l2 is the length of the arm, x is a range of horizontal distances between the end of the arm and the rotation axis of the boom, and y is a vertical distance between the end of the arm and the rotation axis of the boom (y is a constant value when the end of the arm of the construction machine moves on the same horizontal line);
Then, a maximum value and a minimum value of the horizontal distance between the tip of the arm and the rotation axis of the boom are obtained from the range of the horizontal distance between the tip of the arm and the rotation axis of the boom.
The invention also provides a deduction method of the formula 1, which comprises the following steps:
first, the angle of rotation of the boom, the length of the stick, the horizontal distance between the tip of the stick and the rotation axis of the boom, and the vertical distance between the tip of the stick and the rotation axis of the boom have the following relationships:
q2＝-abs(acos((x 2 +y 2 -l1 2 -l2 2 ) /(2×l1×l2)) type 2
Wherein q2 is the rotation angle of the movable arm, l1 is the length of the movable arm, l2 is the length of the bucket rod, x is the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm, and y is the vertical distance between the tail end of the bucket rod and the rotating shaft of the movable arm;
the rotation angle of the bucket rod, the rotation angle of the movable arm, the length of the movable arm and the length of the bucket rod have the following relation:
wherein q1 is the rotation angle of the arm, q2 is the rotation angle of the boom, l1 is the length of the boom, and l2 is the length of the arm.
Next, the jacobian matrix of the 2-degree-of-freedom mechanism (i.e., the rotation axis of the boom and the rotation axis of the arm can rotate freely) composed of the boom and the arm is:
Wherein J is a Jacobian matrix, q1 is the rotation angle of the bucket rod, q2 is the rotation angle of the movable arm, l1 is the length of the movable arm, and l2 is the length of the bucket rod.
Then, the operability of the arm and the boom is:
w=abs (det (J)) type 5
Where w is the operability and J is the jacobian matrix.
Finally, the expression 4 is brought into expression 5, and expression 1 can be obtained.
And S6, determining the first distance and the second distance according to the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Specifically, determining the first distance and the second distance in step S6 includes steps S61-S62, as shown in fig. 8:
step S61, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body according to the horizontal distance between the revolving shaft of the movable arm and the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the movable arm;
specifically, the minimum value of the horizontal distance of the tip end of the arm from the pivot axis of the vehicle body is calculated by the following formula:
x min ＝a+ 1 x o2 6. The method is to
Wherein x is min A is a minimum value of a horizontal distance between the tip of the arm and a pivot axis of the vehicle body, a is a minimum value of a horizontal distance between the tip of the arm and a pivot axis of the boom, 1 x o2 is the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine;
the maximum value of the horizontal distance between the end of the arm and the pivot axis of the vehicle body is calculated by the following formula:
x max ＝b+ 1 x o2 7. The method of the invention
Wherein x is max Is of the bucket rodA maximum value of a horizontal distance between a tip end and a pivot axis of the vehicle body, b is a maximum value of a horizontal distance between a tip end of the arm and a pivot axis of the boom, 1 x o2 is the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine.
And step S62, determining the first distance and the second distance according to the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the vehicle body.
Specifically, the second distance is calculated by the following formula:
L＝x max -x min 8. The method is used for preparing the product
Wherein L is a second distance, x min Is the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body, x max Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body.
The first distance is calculated by the following formula:
Wherein L is a second distance, x max Is the maximum value of the horizontal distance between the end of the arm and the pivot axis of the vehicle body, and d is the first distance.
As shown in fig. 9A, in fact, the optimum construction range of the construction machine is an outside diameter x when the chassis is stationary, taking into consideration the vehicle body revolution max An inner diameter of x min Is a ring of the above-mentioned ring type. After the excavator rotates for 360 degrees through the car body, the optimal construction range is the shadow part in fig. 9A, and the chassis coverage area, namely the hollow white part in fig. 9A, is not constructed.
As shown in fig. 9B, the construction machine is moved, the first distance d may be a distance between two intersections where the outer circle of the moved ring intersects with the outer circle of the ring before the movement, and the second distance L may be a distance moved by the construction machine, so that the construction range after the movement of the construction machine covers the blank portion of fig. 9A.
Fig. 10 is a block diagram of a construction device of a construction machine according to an embodiment of the present invention. As shown in fig. 10, an embodiment of the present invention further provides a construction device for a construction machine, including: a construction area determining unit 1, a construction position determining unit 2 and a control unit 3, wherein the construction area determining unit 1 is used for determining coordinates of an outline of a construction area of the construction machine; the construction position determining unit 2 is configured to: dividing the construction area into a plurality of parts according to a first distance based on coordinates of a contour line of the construction area; generating coordinates of a plurality of construction positions according to the second distance for each of the plurality of parts; the control unit 3 is configured to control the construction machine to perform construction on coordinates of each construction position in each section so that the construction machine moves to an adjacent construction position every time the construction position is replaced.
Preferably, the apparatus further comprises a distance determination unit 4 for: determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm according to the operability threshold value of the engineering machinery and the related parameters of the movable arm and the bucket rod; and determining the first distance and the second distance according to the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the relevant parameters of the boom and the stick include: the length of the movable arm, the length of the bucket rod and the vertical distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the distance determining unit 4 is further configured to: determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body according to the horizontal distance between the revolving shaft of the movable arm and the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the movable arm; and determining the first distance and the second distance according to the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body.
Preferably, the distance determining unit is further configured to: the second distance is calculated by the following formula: l=x max -x min Wherein L is a second distance, x min Is the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body, x max Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body; and calculating the first distance by the following formula:wherein L is a second distance, x max Is the maximum value of the horizontal distance between the end of the arm and the pivot axis of the vehicle body, and d is the first distance.
Preferably, the construction area determining unit 1 is further configured to: determining a three-dimensional model of a target construction state of a construction object; and determining the coordinates of the contour line of the projection of the target construction surface of the three-dimensional model on the plane as the coordinates of the contour line of the construction area of the engineering machine.
Preferably, the construction position determining unit 2 is further configured to: determining two coordinates with the farthest distance in coordinates of a contour line of the construction area, and taking the two coordinates as a first coordinate point and a second coordinate point; and generating straight lines at intervals of the first distances from the connecting line of the first coordinate point and the second coordinate point until the number of intersection points of the straight lines and the contour line of the construction area is less than or equal to 1, so as to complete the segmentation of the construction area, wherein the straight lines are parallel to the connecting line of the first coordinate point and the second coordinate point.
Preferably, the construction position determining unit 2 is further configured to: comparing a first intersection distance between a first straight line and at least one intersection point of a contour line of the construction area with a second intersection point distance between a second straight line and at least one intersection point of a contour line of the construction area, wherein the first straight line is adjacent to the second straight line; when the first intersection point distance is larger than or equal to the second intersection point distance, taking a perpendicular line from an intersection point of the first straight line and the contour line of the construction area to an extension line of the second straight line as a first perpendicular line and a second perpendicular line; and generating coordinates of the construction position at intervals of a second distance on a vertical line from the midpoint of the first vertical line to the second vertical line from the coordinates of the midpoint of the first vertical line.
The construction device of the construction machine described above is similar to the embodiment of the construction method of the construction machine described above, and will not be described again here.
Embodiments of the present invention also provide a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described method.
The embodiment of the invention also provides a processor for running a program, wherein the program is used for executing the method.
According to the technical scheme, the construction method, the construction device, the readable storage medium and the processor of the engineering machine are adopted, the coordinates of the contour line of the construction area of the engineering machine are firstly determined, then the construction area is divided into a plurality of parts according to the first distance based on the coordinates of the contour line of the construction area, then the coordinates of a plurality of construction positions are generated according to the second distance for each of the plurality of parts, and finally the engineering machine is controlled to perform construction on the coordinates of each construction position in each part in a mode that the construction machine moves to the adjacent construction position when the construction position is replaced each time. The invention can automatically determine the construction position and automatically control the engineering machinery to reach the construction position, the construction route is optimized, the construction efficiency can be ensured, and the workload of a driver is reduced.
The construction device of the engineering machinery comprises a processor and a memory, wherein the construction area determining unit, the construction position determining unit, the control unit and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and the construction position is automatically determined by adjusting kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the invention provides a storage medium, on which a program is stored, which when executed by a processor, implements a construction method of the construction machine.
The embodiment of the invention provides a processor which is used for running a program, wherein the program runs to execute a construction method of engineering machinery.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the program:
step S1, determining coordinates of an outline of a construction area of the engineering machinery; step S2, dividing the construction area into a plurality of parts according to a first distance based on the coordinates of the contour line of the construction area; step S3, generating coordinates of a plurality of construction positions according to the second distance for each of the plurality of parts; and step S4, controlling the engineering machinery to perform construction on the coordinates of each construction position in each part in a mode of moving to an adjacent construction position when the construction position is replaced every time for each part.
Preferably, when a vertical distance between an end of an arm of the construction machine and a rotation axis of a boom of the construction machine is fixed, the first distance and the second distance are obtained by: step S5, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm according to the operability threshold value of the engineering machinery and the related parameters of the movable arm and the bucket rod; and S6, determining the first distance and the second distance according to the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the relevant parameters of the boom and the stick include: the length of the movable arm, the length of the bucket rod and the vertical distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the step S6 includes: step S61, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body according to the horizontal distance between the revolving shaft of the movable arm and the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the movable arm; and step S62, determining the first distance and the second distance according to the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the vehicle body.
Preferably, the step S62 includes: the second distance is calculated by the following formula: l=x max -x min Wherein L is a second distance, x min Is the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body, x max Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body; and calculating the first distance by the following formula:wherein L is a second distance, x max Is the maximum value of the horizontal distance between the end of the arm and the pivot axis of the vehicle body, and d is the first distance.
Preferably, the step S1 includes: step S11, determining a three-dimensional model of a target construction state of a construction object; and step S12, determining coordinates of a contour line of projection of the target construction surface of the three-dimensional model on a plane as coordinates of a contour line of a construction area of the engineering machine.
Preferably, the step S2 includes: step S21, determining two coordinates with the farthest distance in coordinates of a contour line of the construction area as a first coordinate point and a second coordinate point; and S22, starting from the connecting line of the first coordinate point and the second coordinate point, generating straight lines at intervals of the first distance until the number of intersection points of the straight lines and the contour line of the construction area is less than or equal to 1, so as to finish the segmentation of the construction area, wherein the straight lines are parallel to the connecting line of the first coordinate point and the second coordinate point.
Preferably, the step S3 includes: step S31, comparing a first intersection point distance between a first straight line and at least one intersection point of the contour line of the construction area with a second intersection point distance between a second straight line and at least one intersection point of the contour line of the construction area, wherein the first straight line is adjacent to the second straight line; step S32, when the first intersection distance is greater than or equal to the second intersection distance, taking a perpendicular line from an intersection point of the first straight line and a contour line of the construction area to an extension line of the second straight line as a first perpendicular line and a second perpendicular line; and step S33, starting from the coordinates of the midpoint of the first vertical line, generating the coordinates of the construction position at intervals of a second distance on the vertical line from the midpoint of the first vertical line to the second vertical line.
The device herein may be a server, PC, PAD, cell phone, etc.
The present application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of:
step S1, determining coordinates of an outline of a construction area of the engineering machinery; step S2, dividing the construction area into a plurality of parts according to a first distance based on the coordinates of the contour line of the construction area; step S3, generating coordinates of a plurality of construction positions according to the second distance for each of the plurality of parts; and step S4, controlling the engineering machinery to perform construction on the coordinates of each construction position in each part in a mode of moving to an adjacent construction position when the construction position is replaced every time for each part.
Preferably, when a vertical distance between an end of an arm of the construction machine and a rotation axis of a boom of the construction machine is fixed, the first distance and the second distance are obtained by: step S5, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm according to the operability threshold value of the engineering machinery and the related parameters of the movable arm and the bucket rod; and S6, determining the first distance and the second distance according to the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the relevant parameters of the boom and the stick include: the length of the movable arm, the length of the bucket rod and the vertical distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
Preferably, the step S6 includes: step S61, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body according to the horizontal distance between the revolving shaft of the movable arm and the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the movable arm; and step S62, determining the first distance and the second distance according to the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the vehicle body.
Preferably, the step S62 includes: the second distance is calculated by the following formula: l=x max -x min Wherein L is a second distance, x min Is the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body, x max Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body; and calculating the first distance by the following formula:wherein L is a second distance, x max Is the maximum value of the horizontal distance between the end of the arm and the pivot axis of the vehicle body, and d is the first distance.
Preferably, the step S1 includes: step S11, determining a three-dimensional model of a target construction state of a construction object; and step S12, determining coordinates of a contour line of projection of the target construction surface of the three-dimensional model on a plane as coordinates of a contour line of a construction area of the engineering machine.
Preferably, the step S2 includes: step S21, determining two coordinates with the farthest distance in coordinates of a contour line of the construction area as a first coordinate point and a second coordinate point; and S22, starting from the connecting line of the first coordinate point and the second coordinate point, generating straight lines at intervals of the first distance until the number of intersection points of the straight lines and the contour line of the construction area is less than or equal to 1, so as to finish the segmentation of the construction area, wherein the straight lines are parallel to the connecting line of the first coordinate point and the second coordinate point.
Preferably, the step S3 includes: step S31, comparing a first intersection point distance between a first straight line and at least one intersection point of the contour line of the construction area with a second intersection point distance between a second straight line and at least one intersection point of the contour line of the construction area, wherein the first straight line is adjacent to the second straight line; step S32, when the first intersection distance is greater than or equal to the second intersection distance, taking a perpendicular line from an intersection point of the first straight line and a contour line of the construction area to an extension line of the second straight line as a first perpendicular line and a second perpendicular line; and step S33, starting from the coordinates of the midpoint of the first vertical line, generating the coordinates of the construction position at intervals of a second distance on the vertical line from the midpoint of the first vertical line to the second vertical line.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (12)
1. The construction method of the engineering machinery is characterized by comprising the following steps:
step S1, determining coordinates of an outline of a construction area of the engineering machinery;
step S2, dividing the construction area into a plurality of parts according to a first distance based on the coordinates of the contour line of the construction area;
Step S3, generating coordinates of a plurality of construction positions according to the second distance for each of the plurality of parts;
step S4, for each part, controlling the engineering machine to perform construction on the coordinates of each construction position in each part in a manner of moving to an adjacent construction position every time the construction position is replaced,
wherein, the step S2 includes:
step S21, determining two coordinates with the farthest distance in coordinates of a contour line of the construction area as a first coordinate point and a second coordinate point;
step S22, starting from the connection line of the first coordinate point and the second coordinate point, generating straight lines at intervals of the first distance until the number of intersection points of the straight lines and the contour line of the construction area is less than or equal to 1, so as to complete the segmentation of the construction area, wherein the straight lines are parallel to the connection line of the first coordinate point and the second coordinate point,
wherein, the step S3 includes:
step S31, comparing a first intersection point distance between a first straight line and at least one intersection point of the contour line of the construction area with a second intersection point distance between a second straight line and at least one intersection point of the contour line of the construction area, wherein the first straight line is adjacent to the second straight line;
Step S32, when the first intersection distance is greater than or equal to the second intersection distance, taking a perpendicular line from an intersection point of the first straight line and a contour line of the construction area to an extension line of the second straight line as a first perpendicular line and a second perpendicular line;
step S33, starting from the coordinate of the midpoint of the first vertical line, generating the coordinate of the construction position at intervals of a second distance on the vertical line from the midpoint of the first vertical line to the second vertical line,
wherein, when the vertical distance between the tail end of the bucket rod of the engineering machine and the rotating shaft of the movable arm of the engineering machine is fixed, the first distance and the second distance are obtained by the following modes:
step S5, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm according to the operability threshold value of the engineering machinery and the related parameters of the movable arm and the bucket rod;
and S6, determining the first distance and the second distance according to the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
2. The construction method according to claim 1, wherein the relevant parameters of the boom and the arm include:
The length of the movable arm, the length of the bucket rod and the vertical distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
3. The construction method according to claim 1, wherein the step S6 includes:
step S61, determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body according to the horizontal distance between the revolving shaft of the movable arm and the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the movable arm;
and step S62, determining the first distance and the second distance according to the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the vehicle body.
4. A construction method according to claim 3, wherein the step S62 comprises:
the second distance is calculated by the following formula:
wherein->For a second distance, +>Is the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body,/>Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body; and
the first distance is calculated by the following formula:
Wherein->For a second distance, +>Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body,/>Is the first distance.
5. The construction method according to claim 1, wherein the step S1 includes:
step S11, determining a three-dimensional model of a target construction state of a construction object;
and step S12, determining coordinates of a contour line of projection of the target construction surface of the three-dimensional model on a plane as coordinates of a contour line of a construction area of the engineering machine.
6. A construction device for a construction machine, the construction device comprising:
a construction area determining unit, a construction position determining unit and a control unit, wherein,
the construction area determining unit is used for determining coordinates of an outline of a construction area of the engineering machine;
the construction position determining unit is used for:
dividing the construction area into a plurality of parts according to a first distance based on coordinates of a contour line of the construction area;
generating coordinates of a plurality of construction positions according to the second distance for each of the plurality of parts;
the control unit is used for controlling the engineering machinery to perform construction on the coordinates of each construction position in each part in a manner of moving to the adjacent construction position every time the construction position is replaced,
Wherein the construction position determining unit is further configured to:
determining two coordinates with the farthest distance in coordinates of a contour line of the construction area, and taking the two coordinates as a first coordinate point and a second coordinate point;
generating straight lines at intervals of the first distances from the connecting line of the first coordinate point and the second coordinate point until the number of intersection points of the straight lines and the contour line of the construction area is less than or equal to 1 to complete the segmentation of the construction area, wherein the straight lines are parallel to the connecting line of the first coordinate point and the second coordinate point,
wherein the construction position determining unit is further configured to:
comparing a first intersection distance between a first straight line and at least one intersection point of a contour line of the construction area with a second intersection point distance between a second straight line and at least one intersection point of a contour line of the construction area, wherein the first straight line is adjacent to the second straight line;
when the first intersection point distance is larger than or equal to the second intersection point distance, taking a perpendicular line from an intersection point of the first straight line and the contour line of the construction area to an extension line of the second straight line as a first perpendicular line and a second perpendicular line;
generating coordinates of a construction position at intervals of a second distance on a vertical line from the midpoint of the first vertical line to the second vertical line from the coordinates of the midpoint of the first vertical line,
Wherein the apparatus further comprises a distance determination unit for:
determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm according to the operability threshold value of the engineering machine and the related parameters of the movable arm and the bucket rod of the engineering machine;
and determining the first distance and the second distance according to the horizontal distance from the rotating shaft of the movable arm to the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
7. The construction device according to claim 6, wherein the parameters related to the boom and the arm include:
the length of the movable arm, the length of the bucket rod and the vertical distance between the tail end of the bucket rod and the rotating shaft of the movable arm.
8. The construction device according to claim 6, wherein the distance determining unit is further configured to:
determining the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body according to the horizontal distance between the revolving shaft of the movable arm and the midpoint of the vehicle body of the engineering machine and the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the movable arm;
And determining the first distance and the second distance according to the maximum value and the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the vehicle body.
9. The construction device according to claim 8, wherein the distance determining unit is further configured to:
the second distance is calculated by the following formula:
wherein->For a second distance, +>Is the minimum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body,/>Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body; and
the first distance is calculated by the following formula:
wherein->For a second distance, +>Is the maximum value of the horizontal distance between the tail end of the bucket rod and the revolving shaft of the car body,/>Is the first distance.
10. The construction device according to claim 6, wherein the construction area determination unit is further configured to:
determining a three-dimensional model of a target construction state of a construction object;
and determining the coordinates of the contour line of the projection of the target construction surface of the three-dimensional model on the plane as the coordinates of the contour line of the construction area of the engineering machine.
11. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of any of claims 1-5.
12. A processor configured to run a program, wherein the program is configured to perform the method of any one of claims 1-5 when run.
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