CN113235682A - Bulldozer control method, device, equipment, storage medium and product - Google Patents
Bulldozer control method, device, equipment, storage medium and product Download PDFInfo
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- E—FIXED CONSTRUCTIONS
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- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
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- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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- E—FIXED CONSTRUCTIONS
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- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
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- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention provides a bulldozer control method, a bulldozer control device, bulldozer control equipment, storage media and a bulldozer control product. The method comprises the following steps: acquiring a construction task; analyzing the construction task to obtain a target route, wherein the target route comprises a plurality of driving target points; acquiring the current driving speed of the bulldozer, and determining a current preview point according to the current driving speed; determining a current driving target point according to the current preview point and the plurality of driving target points; determining the current course angle deviation according to the current coordinate point of the bulldozer and the current driving target point; determining a current control parameter according to the current course angle deviation, wherein the current control parameter comprises a running vehicle speed and a running steering value; and controlling the bulldozer to operate according to the current control parameters. The method controls the bulldozer to travel along the specified target route as much as possible, realizes the path tracking of the bulldozer, and does not need to manually operate the bulldozer.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a bulldozer control method, a bulldozer control device, bulldozer control equipment, bulldozer storage media and a bulldozer product.
Background
Engineering construction mechanization has been a long-standing development trend, in which a bulldozer is indispensable construction equipment in various building projects such as civil engineering, water conservancy, mining, agriculture and forestry, oil fields and the like, and the bulldozer is mainly applied to fine or heavy-load operations such as shallow excavation and short transportation of earth and stone materials, field cleaning, leveling and backfilling and the like.
At present, the bulldozer can be operated by remote control, and an operator can remotely control the bulldozer by wire or wireless, so that the labor intensity of the operator can be reduced. Or the operator adjusts the work task by selecting a pre-coded function menu to complete a new task.
However, the bulldozer needs human intervention during working, and cannot automatically track the target path.
Disclosure of Invention
The invention provides a bulldozer control method, a bulldozer control device, bulldozer control equipment, a storage medium and a bulldozer control product, which are used for solving the problem that an existing bulldozer cannot automatically track a target path.
In one aspect, the present invention provides a bulldozer control method, comprising:
acquiring a construction task;
analyzing the construction task to obtain a target route, wherein the target route comprises a plurality of driving target points;
acquiring the current driving speed of the bulldozer, and determining a current preview point according to the current driving speed;
determining a current driving target point according to the current preview point and the plurality of driving target points;
determining the current course angle deviation according to the current coordinate point of the bulldozer and the current driving target point;
determining a current control parameter according to the current course angle deviation, wherein the current control parameter comprises a running vehicle speed and a running steering value;
and controlling the bulldozer to operate according to the current control parameters.
In another aspect, the present invention provides a bulldozer control device including:
the first acquisition unit is used for acquiring a construction task;
the analysis unit is used for analyzing the construction task to obtain a target route, wherein the target route comprises a plurality of driving target points;
the second acquisition unit is used for acquiring the current running speed of the bulldozer and determining a current preview point according to the current running speed;
the target determining unit is used for determining a current driving target point according to the current preview point and the plurality of driving target points;
the deviation determining unit is used for determining the current course angle deviation according to the current coordinate point of the bulldozer and the current driving target point;
the deviation correcting unit is used for determining current control parameters according to the current course angle deviation, wherein the current control parameters comprise a running vehicle speed and a running steering value;
and the control unit is used for controlling the bulldozer to operate according to the current control parameters.
The method, the device, the equipment, the storage medium and the product for controlling the bulldozer provided by the invention can be used for obtaining a target route comprising a plurality of driving target points by analyzing a construction task, further obtaining the current driving speed of the bulldozer, then determining the current preview point according to the current driving speed, further determining the current driving target point according to the current preview point and the plurality of driving target points, further determining the current course angle deviation according to the current coordinate point and the current driving target point of the bulldozer, further determining the driving speed and the driving steering value according to the current course angle deviation, and finally controlling the bulldozer to operate according to the current control parameters. The bulldozer is controlled to travel along the specified target route as much as possible, so that the path tracking of the bulldozer is realized, and the bulldozer does not need to be manually operated.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic diagram of a first network architecture for a bulldozer control method according to the present invention;
FIG. 2 is a schematic flow chart of a bulldozer control method according to the first embodiment of the present invention;
FIG. 3 is a schematic view of a coordinate system in a bulldozer control method according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a control method for a bulldozer according to a fifth embodiment of the present invention;
FIG. 5 is a schematic structural view of a bulldozer control apparatus according to an embodiment of the present invention;
FIG. 6 is a first block diagram of an electronic device for implementing the bulldozer control method according to the embodiment of the present invention;
fig. 7 is a second block diagram of an electronic device for implementing the bulldozer control method according to the embodiment of the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In the prior art, engineering construction machine intellectualization is developed by combining computer automation on the basis of engineering machinery electro-hydraulic integration. One of the purposes is to simplify the operation of the driver, improve the dynamic property, the economy and the operation efficiency of the vehicle and save energy; the second purpose is to improve the operation quality. At present, the intelligent machine for engineering construction can be generally divided into the following types. The first category is teleoperated work machine machines. Teleoperation refers to the remote control of machines and systems by wire or wirelessly. The remote control unmanned technology is mainly adopted to reduce the labor intensity of engineering machinery operators and improve the construction quality of the rolling machine. The second type is programmable construction machines. Operators of such work machines are able to adjust work tasks to be performed under certain constraints by selecting preprogrammed function menus or teaching the manner in which the machine will perform the new task. Generally speaking, a software programmable construction machine can be equivalent to a traditional machine, and a part of electronic equipment on a construction site is used for controlling all or part of the machine to run, so that only a work auxiliary system is added, like the current car auxiliary driving system. At present, the bulldozer operation guide system is better applied, and the blade operation of the bulldozer is controlled by using data obtained from a 3D model and combining a satellite positioning system or a laser measurement system.
In the existing bulldozer technology, the bulldozer does not operate completely and autonomously but is controlled by people, the perception of the environment and the interpretation of data are finished manually, the bulldozer also needs people to operate, and the bulldozer cannot automatically track a target route.
Therefore, aiming at the problems that the bulldozer in the prior art depends on manual operation, the workload is large, the working efficiency is too low, and the bulldozer can not automatically track the target route, the inventor finds out in the research that the research process does not need to depend on manual operation, the workload is reduced, the working efficiency is improved, the target route comprising multi-form target points can be obtained according to the construction task, determining a current preview point according to the current driving speed of the bulldozer, further determining a current driving target point according to the preview point and a plurality of driving target points, so as to determine course angle deviation according to the driving target point and the current coordinate point of the bulldozer, then determine control parameters according to the deviation, the method can correct the driving route of the bulldozer, control the bulldozer to drive along the specified target route as much as possible, realize the path tracking of the bulldozer, and avoid the need of manually operating the bulldozer.
Therefore, the inventor proposes a technical scheme of the embodiment of the invention based on the above creative discovery. An application scenario of the bulldozer control method provided by the embodiment of the present invention is described below.
As shown in fig. 1, the application scenario corresponding to the bulldozer control method provided by the embodiment of the present invention may be: and controlling the unmanned aerial vehicle to scan scene information of the construction area, sending the scene information to the cloud platform or the external server so that the cloud platform or the external server can determine a construction task according to the scene information, and storing the construction task in the database or the external server 2 in advance. The electronic apparatus 1 can acquire a construction task. In the application scenario described above, therefore, the electronic device 1 and the database or external server 2 may be included. The electronic device 1 is pre-installed with a client corresponding to the bulldozer control method. A plurality of construction tasks are stored in advance in the server 2. Displaying a construction task list on an operation interface of a client, wherein the construction task list comprises a plurality of construction task identifiers, a construction task acquisition request can be triggered by a user selecting any construction task identifier in the list, when the construction task acquisition request is triggered by the user through the operation interface of the client, the electronic equipment 1 analyzes the construction task acquisition request to acquire identification information of the construction task, the electronic equipment 1 acquires a construction task corresponding to the identification information through an access server 2, analyzes the construction task to obtain a target route comprising a plurality of driving target points, further acquires the current driving speed of a bulldozer, determines a current pre-aiming point according to the current driving speed, further determines a current driving target point according to the current pre-aiming point and the plurality of driving target points, and further determines a current course angle deviation according to a current coordinate point of the bulldozer and the current driving target point, and further determining a driving speed and a driving steering value according to the current course angle deviation, and finally controlling the bulldozer to operate according to the current control parameters. The bulldozer is controlled to travel along the specified target route as much as possible, so that the path tracking of the bulldozer is realized, and the bulldozer does not need to be manually operated.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
First embodiment
Fig. 2 is a schematic flow chart of a bulldozer control method according to a first embodiment of the present invention, and as shown in fig. 2, an execution subject of the bulldozer control method according to the present embodiment is a bulldozer control device, and the bulldozer control device is located in an electronic device, the bulldozer control method according to the present embodiment includes the following steps:
and step 101, acquiring a construction task.
In this embodiment, the construction task includes a work path task and a travel path task, where the work path task is a path task corresponding to a blade such as a bulldozer unloading, dozing, and carrying earth when performing work, and the travel path task is a path task corresponding to a blade not performing work.
The construction task can be automatically acquired from the cloud platform, or the construction task sent by the cloud platform can be received. The cloud platform confirms the construction task according to the construction area scene, specifically, control unmanned aerial vehicle scanning construction area scene information, unmanned aerial vehicle and cloud platform communication connection, unmanned aerial vehicle sends scene information to the cloud platform. The cloud platform creates a Building Information model (Building Information Modeling, also called Building Information simulation, BIM for short) in advance according to a construction drawing, reconstructs a grid model according to scene Information, then aligns, calibrates, fuses the pre-established Building Information model and the grid model to obtain a visual scene model of a construction area, and then calculates to obtain a work path task and/or a walking path task according to the scene model of the construction area, and can be in communication connection with a plurality of bulldozer control devices and/or electronic equipment comprising the bulldozer control devices, for example, the cloud platform sends the work path task and/or the walking path task to the bulldozer control devices, and further the bulldozer control devices obtain the construction task.
And 102, analyzing the construction task to obtain a target route, wherein the target route comprises a plurality of driving target points.
In this embodiment, the construction task includes a target route, and the control device of the bulldozer may analyze the construction task to obtain the target route, where the target route is a relatively reasonable working route planned in combination with an actual construction scene, and the bulldozer is controlled to travel according to the target route, where the target route includes a plurality of travel target points, and a connection line of the plurality of travel target points forms the target route.
And 103, acquiring the current driving speed of the bulldozer, and determining the current preview point according to the current driving speed.
In this embodiment, when the bulldozer is controlled to travel according to the target route, the travel target point needs to be determined continuously, and the travel target point can be obtained according to the preview point, and further, the preview point is related to the current speed, so that the current travel speed of the bulldozer is obtained, and the current preview point can be obtained by calculation according to the current travel speed.
And 104, determining the current driving target point according to the current preview point and the plurality of driving target points.
In this embodiment, one driving target point is selected as the current driving point based on the current preview point at the plurality of driving target points of the target route, the current driving target point is used as the driving target point of the bulldozer, the driving direction includes forward or backward, and the bulldozer is controlled to approach the driving target point, so that the bulldozer drives along the specified target route.
And 105, determining the current course angle deviation according to the current coordinate point of the bulldozer and the current driving target point.
In this embodiment, the coordinate point refers to a coordinate point in an Earth-Centered Earth-Fixed coordinate system, wherein an Earth-Centered Earth-Fixed coordinate system (Earth-Centered, Earth-Fixed, ECEF for short) is simply referred to as an Earth-Centered coordinate system, which is an Earth-Fixed coordinate system (also referred to as an Earth coordinate system) with the Earth center as an origin, and is a cartesian coordinate system. The origin O (0,0,0) is the earth centroid, the z-axis and the earth axis are parallel and point to the north pole, the x-axis points to the intersection point of the meridian and the equator, and the y-axis is perpendicular to the xOz plane (namely the intersection point of the east longitude 90 degrees and the equator) to form a right-hand coordinate system. The coordinate system is not limited to the geocentric/geostationary coordinate system, and other coordinate systems may be used.
The current coordinate point of the bulldozer is a coordinate point of the bulldozer in a geocentric/geostationary coordinate system, and the current driving target point is a coordinate point in the geocentric/geostationary coordinate system. The coordinate system is not limited to the geocentric/geostationary coordinate system, and other coordinate systems may be used.
The heading angle refers to an included angle formed by the vehicle running direction and a horizontal axis of a coordinate system under the coordinate system. The course angle is an important signal parameter in vehicle running, and the calculation of the course angle can usually calculate the vehicle body course angle by determining two points in the vehicle running overweight and converting the two points into coordinate points, or estimate and track the vehicle track by utilizing a vehicle-mounted camera and wheel speed calculation, and compare the corresponding track points in the two tracks.
In the implementation, the bulldozer can adopt a double-antenna design, and can acquire two points on the bulldozer and convert the two points into coordinate points to calculate the course angle. It should be noted that the heading angle may be calculated in other manners, and is not limited to the above manners.
In the actual operation process, the bulldozer may have a yaw problem and need to correct the driving route of the bulldozer, specifically, a current coordinate point of the bulldozer is obtained, a course angle deviation is further determined according to the current coordinate point of the bulldozer and a current driving target point, the course angle deviation is further subjected to deviation rectification processing, and the bulldozer is controlled to drive along an appointed target route as far as possible.
And 106, determining current control parameters according to the current course angle deviation, wherein the current control parameters comprise a running vehicle speed and a running steering value.
And the steering value is the steering value corresponding to the steering wheel of the bulldozer. The current control parameters include a running vehicle speed and a running steering value.
In this embodiment, after the course angle deviation is determined, the course angle deviation is input into the controller to obtain an output quantity, i.e., a driving steering value, the controller may be a proportional-integral controller, i.e., a PI controller, which is a linear controller, and forms a control deviation according to a given value and an actual output value, and the proportion and the integral of the deviation are linearly combined to form a control quantity to control a controlled object.
And step 107, controlling the bulldozer to operate according to the current control parameters.
In the present embodiment, the execution body is a bulldozer control device, and the bulldozer control device is located in an electronic device. The electronic device is in communication connection with the bulldozer, or the bulldozer control device is arranged inside the bulldozer and is in wired or wireless connection with the bulldozer. For example, a bulldozer control device is communicatively coupled to the bulldozer, and the bulldozer control device controls the bulldozer to operate in accordance with the current control parameters.
Wherein, the bull-dozer sets up the degree of depth camera, still sets up a plurality of radars, including millimeter wave radar, ultrasonic radar, laser radar, wherein, millimeter wave radar and ultrasonic radar all are used for the obstacle detection of bull-dozer.
In this embodiment, the acquired construction task is analyzed to obtain a target route including a multi-form target point, a current preview point is determined according to the current driving speed of the bulldozer, and a current driving target point is further determined according to the preview point and the plurality of driving target points, so that a course angle deviation is determined according to the driving target point and a current coordinate point of the bulldozer, a control parameter is determined according to the deviation, the driving route of the bulldozer can be corrected, the bulldozer is controlled to drive along the specified target route as much as possible, and the path tracking of the bulldozer is realized.
Second embodiment
Optionally, on the basis of the bulldozer control method provided in the first embodiment of the present invention, if step 103 is further refined, step 103 includes the following steps:
and step 1031, comparing the current running vehicle speed with a preset vehicle speed, wherein the preset vehicle speed comprises a first preset vehicle speed and a second preset vehicle speed.
In the embodiment, the current target point can be determined according to the current preview point, the target point is related to the speed of the bulldozer, and when the speed of the bulldozer is too high, the selected target point is far away from the bulldozer, so that more time can be reserved for adjustment, and smooth steering of the bulldozer is facilitated. When the speed of the vehicle is too slow, the selected target point should be close to the bulldozer, so that the vehicle can quickly adjust the current advancing direction and keep the current advancing direction consistent with the path direction, and therefore, the appropriate pre-aiming point can be determined and selected by combining the speed of the vehicle when the pre-aiming point is selected.
In this embodiment, the current driving vehicle speed of the bulldozer is compared with a preset vehicle speed, and a suitable preview distance is selected according to the comparison result, so as to determine a preview point, and the purpose is to further select a target point matched with the current driving vehicle speed of the bulldozer.
And 1032, if the current running speed is less than or equal to the first preset speed, calculating to obtain a current preview point according to the first preview distance and the current coordinate point of the bulldozer.
In this embodiment, the current running vehicle speed of the bulldozer is compared with a preset vehicle speed, where the preset vehicle speed includes a first preset vehicle speed and a second preset vehicle speed, the first preset vehicle speed may be set as the minimum running vehicle speed of the bulldozer, and the second preset vehicle speed may be set as the maximum running vehicle speed of the bulldozer. It should be noted that the first preset vehicle speed and the second preset vehicle speed may also be other suitable vehicle speeds.
In this embodiment, if the current driving speed of the bulldozer is less than or equal to the first preset speed, it indicates that the current driving speed of the bulldozer is slow,a shorter preview distance, i.e., the first preview distance, may be selected. Then the first pre-aiming distance and the current coordinate point P of the bulldozern(xn，yn) Substituting into formula (1) to obtain the current preview point Ps(xs，ys) The formula (1) is as follows:
xs＝xn+L1×cosθn，
ys＝yn+L1×sinθnequation (1)
Wherein x issIs the abscissa point, x, of the current preview pointnAbscissa point, L, being the current coordinate point of the bulldozer1Is the first pre-aiming distance, thetanIs an included angle formed between the current driving direction of the bulldozer and an X axis of a coordinate system, ysIs the ordinate point, y, of the current preview pointnIs an ordinate point of the current coordinate point of the bulldozer.
And 1033, if the current running vehicle speed is less than the second preset vehicle speed and greater than the first preset vehicle speed, calculating to obtain a current preview point according to the preview coefficient, the second preview distance and the current coordinate point of the bulldozer.
In this embodiment, if the current running vehicle speed of the bulldozer is less than the second preset vehicle speed and greater than the first preset vehicle speed, it is indicated that the vehicle running vehicle speed is moderate, and the preview coefficient and the second preview distance are substituted into the formula (2) to calculate a third preview distance, where the formula (2) is as follows:
L3＝K×L2equation (2)
Wherein L is2Is the second pre-aiming distance, L3And K is a third preview distance and a preview coefficient.
Optionally, substituting the third pre-aiming distance and the current coordinate point of the bulldozer into formula (3) to calculate a current pre-aiming point, wherein formula (3) is as follows:
xs＝xn+L3×cosθn，
ys＝yn+L3×sinθnequation (3)
Wherein xs is an abscissa point of the current preview point, xn is an abscissa point of the current coordinate point of the bulldozer, L3 is a third preview distance, θ n is an included angle formed between the current driving direction of the bulldozer and an X axis of a coordinate system, ys is an ordinate point of the current preview point, and yn is an ordinate point of the current coordinate point of the bulldozer.
And 1034, if the current running vehicle speed is greater than or equal to a second preset vehicle speed, calculating to obtain a current preview point according to a second preview distance and the current coordinate point of the bulldozer, wherein the second preview distance is greater than the first preview distance.
In this embodiment, the current driving speed of the bulldozer is compared with the preset speed, and if the current driving speed of the bulldozer is greater than or equal to the second preset speed, which indicates that the driving speed of the vehicle is faster, a longer preview distance, that is, a second preview distance, may be selected, and the second preview distance and the current coordinate point of the bulldozer are substituted into formula (4) to calculate the current preview point, where formula (4) is as follows:
xs＝xn+L2×cosθn，
ys＝yn+L2×sinθnequation (4)
Wherein x issIs the abscissa point, x, of the current preview pointnAbscissa point, L, being the current coordinate point of the bulldozer2Is the second pre-aiming distance, thetanIs an included angle formed between the current driving direction of the bulldozer and an X axis of a coordinate system, ysIs the ordinate point, y, of the current preview pointnIs an ordinate point of the current coordinate point of the bulldozer.
It should be noted that the driving direction includes forward and backward, and the forward and backward can be determined by using the method of the present invention.
In this embodiment, a suitable preview distance is selected according to the current running vehicle of the bulldozer, so that a preview point is calculated, and a target point more suitable for the running vehicle speed is selected.
Third embodiment
Optionally, if step 104 is further refined on the basis of the bulldozer control method provided in the first embodiment of the present invention, then step 104 includes the following steps:
step 1041, calculating the distance between the pre-aiming point and each driving target point, and selecting the driving target point with the minimum distance as the current driving target point.
In this embodiment, the target route includes a plurality of driving target points, as shown in fig. 3, the driving target point is P0，Pk，Pk+1，PmEtc. from P0，Pk，P k+1，PmForming a target route with a pre-aiming point Ps (x)s，ys) After the preview point is determined, the distance between the preview point and each driving target point in front of the driving direction of the vehicle is calculated, and the driving target point with short distance is selected as the current driving target point, wherein the P is calculatedmAnd PsAnd the distance is the minimum, and the point is the target point to which the bulldozer is currently driving.
In this embodiment, the determination of the current driving target point is advantageous for controlling the vehicle to drive toward that point, and correcting the yaw ensures that the bulldozer follows the specified target route as much as possible.
Fourth embodiment
Optionally, if step 105 is further refined on the basis of the bulldozer control method provided in the first embodiment of the present invention, step 105 includes the following steps:
and 1051, calculating an included angle formed by the current driving direction of the bulldozer and a horizontal axis of a coordinate system to obtain a first course angle.
In this embodiment, the coordinate system is a geocentric coordinate system, an included angle formed between the current driving direction of the bulldozer and the horizontal axis of the coordinate system is calculated, as shown in fig. 3, the outside coordinate system is a geocentric coordinate system, the inside coordinate system corresponds to the bulldozer, the driving direction of the bulldozer can be more visually seen from the coordinate system corresponding to the bulldozer, the included angle formed between the current driving direction of the bulldozer and the X axis of the coordinate system is θ n, and θ n is calculated and is a first heading angle.
The coordinate system may also be other coordinate systems, and is not limited to the geocentric/geostationary coordinate system. The first heading angle can also be obtained by calculating an included angle formed by the current driving direction of the bulldozer and the longitudinal axis of the coordinate system, and is not limited to the transverse axis of the coordinate system.
Step 1052, calculating an included angle formed by a connecting line of the driving target point and the coordinate axis origin and a horizontal axis of the coordinate system to obtain a second course angle.
In this embodiment, the origin point and the origin point of the geocentric earth-fixed coordinate axis are connected to obtain a connection line, an included angle formed by the connection line and the horizontal axis of the coordinate system is calculated to obtain a second heading angle, as shown in fig. 3, where the driving target point is Pm(xm，ym) In fig. 3, a connecting line between the origin and the origin of the geocentric/geostationary axis is not shown, and only a part of the connecting line is cut outmIs a driving target point PmCalculating the angle between the connecting line of the coordinate axis origin and the transverse axis of the coordinate systemm，θmIs the second heading angle.
Optionally, the second heading angle may be obtained by calculating an angle formed by a connecting line between the driving target point and the coordinate axis origin and a longitudinal axis of the coordinate system, and is not limited to the horizontal axis of the coordinate system.
And 1053, calculating the difference value between the first course angle and the second course angle to obtain the current course angle deviation.
In this embodiment, the difference between the first course angle and the second course angle is calculated, and θ is calculated as shown in fig. 3nAnd thetamAnd the difference value is used for further obtaining the current course angle deviation.
In this embodiment, the control parameters may be further determined according to the current heading angle deviation, the travel route of the bulldozer may be corrected, the bulldozer may be controlled to travel along the specified target route as much as possible, and the path tracking of the bulldozer may be realized.
Fifth embodiment
Fig. 4 is a schematic flow chart of a control method of a bulldozer according to a fifth embodiment of the present invention, and as shown in fig. 4, in the control method of a bulldozer according to the present embodiment, step 106 is further refined on the basis of the control method of a bulldozer according to the foregoing embodiment of the present invention, then step 106 includes the following steps:
In this embodiment, the calculated current course angle deviation is compared with a preset value, wherein the preset value can be set to 30 ℃, the current course angle deviation is compared with 30 ℃, and the current control parameter value is determined according to the comparison result. It should be noted that the preset value is not limited to 30 ℃, and may be other suitable values.
And step 1062, if the deviation is less than or equal to the preset value, setting a steering gain coefficient corresponding to the running vehicle speed for the proportional parameter in the PI controller, taking the deviation as an input quantity, outputting a running steering value through the PI controller, and comparing the output steering value with the maximum running steering value, wherein the steering gain coefficient is determined according to the current running vehicle speed and the maximum running vehicle speed.
In this embodiment, if the current heading angle deviation is less than or equal to a preset value, for example, the current heading angle deviation is less than or equal to 30 ℃, the bulldozer needs to drive while steering to approach a driving target point, at this time, a correction process needs to be performed on the current heading angle deviation, specifically, a PI controller is used to set a steering gain coefficient corresponding to a driving vehicle speed for a proportional parameter in the PI controller, the current heading angle deviation is used as an input value of the PI controller, the driving steering value is output by the PI controller, and the saturation characteristic is verified on the driving steering value output by the PI controller, i.e., the output steering value is compared with the maximum driving vehicle speed.
Compared with a PID (proportion integration differentiation) controller, the PI controller reduces D (differential) parameters, the addition of the D parameters is beneficial to improving the corresponding speed of a control system and improving the oscillation phenomenon of the control system caused by inertia lag, but a certain control time is actually reserved for the control system according to the driving target point selected by the speed, the speed of the bulldozer during working is low, and the requirement of the controller system can be completely met by using the PI controller. And the addition of the I (integral) parameter is favorable for eliminating the steady-state error of the control system and improving the precision of the path tracking task of the unmanned bulldozer.
The steering gain coefficient based on the running vehicle speed is added on the basis of PI control, the steering gain coefficient is determined according to the current running vehicle speed and the maximum running vehicle speed, specifically, the steering gain coefficient is calculated by substituting the current running vehicle speed of the bulldozer and the maximum running vehicle speed of the bulldozer into a formula (5), and the formula (5) is as follows:
wherein Z is a steering gain coefficient, vmaxAnd v is the current running vehicle speed.
And substituting the steering gain coefficient and the default proportional parameter into a formula (6) to calculate to obtain a current proportional parameter, wherein the formula (6) is as follows:
P＝Z×P0equation (6)
Wherein P is the current proportional parameter, Z is the steering gain coefficient, P0A default scale parameter.
If the current vehicle speed is faster, the corresponding current proportion parameter is reduced; if the current vehicle speed is slower, the corresponding current proportional parameter is improved, and the steering gain coefficient is added, so that the PI controller is favorable for being applicable to different driving vehicle speeds, and stability is provided.
And step 1062a, if the output steering value is smaller than the maximum driving steering value, taking the specified driving speed and the output driving steering value as current control parameters.
In this embodiment, if the output steering value is smaller than the maximum driving steering value, it is determined that the output driving steering value is reasonable, and the specified vehicle speed and the output driving steering value are used as current control parameters, where the specified vehicle speed may be set according to actual needs, or the current driving vehicle speed is maintained.
And step 1062b, if the output steering value is greater than or equal to the maximum driving steering value, taking the specified driving speed and the maximum driving steering value as the current control parameters.
In this embodiment, if the output steering value is greater than or equal to the maximum driving steering value, it is determined that the output driving steering value is not reasonable, and the specified vehicle speed and the maximum driving steering value are used as the current control parameters.
Preferably, the saturation characteristic is verified to determine whether the driving steering value output by the IP controller is reasonable, specifically, the maximum driving steering value is compared with the output steering value, if the output driving steering value is less than or equal to the maximum driving steering value, the output driving steering value is reasonable, and the output steering value is operated as the current driving steering value, so that the bulldozer does not slip or rotate on the spot. If the output driving steering value is larger than the maximum driving steering value, the output driving steering value is unreasonable, and the bulldozer operates according to the maximum driving steering value, so that the situations of on-site slipping or rotation and the like of the bulldozer are avoided. By setting the saturation characteristic, the current driving steering value is verified, and the current driving steering value is controlled within a reasonable range, so that safe and reasonable operation of the bulldozer is ensured.
And 1063, if the deviation is greater than a preset value, taking the specified driving steering value and the default driving speed as current control parameters, wherein the default driving speed is less than the specified driving speed.
In this embodiment, if the current heading angle deviation is greater than a preset value, for example, the current heading angle deviation is greater than 30 ℃, and the angle is too large, the bulldozer may steer before driving, specifically, the specified driving steering value and the default driving vehicle speed are set as current control parameters, wherein the specified driving steering value is set according to actual needs, the default driving vehicle speed is 0, and after the bulldozer finishes steering, the bulldozer is controlled to drive according to the specified vehicle speed.
In this embodiment, the course angle deviation is compared with a preset value, the driving speed and the driving steering value of the bulldozer are determined according to the comparison result, and the bulldozer is controlled to approach the target driving point as much as possible, so that the bulldozer can drive along the specified target route, and the path tracking of the bulldozer is realized.
On the basis of the bulldozer control method according to the foregoing embodiment of the present invention, a sixth embodiment of the present invention is provided, wherein before step 105, the method further includes:
and 105a, calculating the difference value between the current coordinate point of the bulldozer and the driving target point, and comparing the difference value with a preset difference value.
In this embodiment, the current coordinate point of the bulldozer is a coordinate point in a geocentric coordinate system, and as shown in fig. 3, the current coordinate point of the bulldozer is Pn(xn，yn) The target point of travel is Pm(xm，ym) Calculate PnAnd PmAnd comparing the difference with a preset value, and executing corresponding operation according to the comparison result.
And 105b, if the difference value is larger than the preset difference value, executing the step of determining the current course angle deviation according to the current coordinate point and the current driving target point.
In this embodiment, if PnAnd PmThe difference value between the current coordinate point and the current driving target point is larger than a preset value, which indicates that the distance between the bulldozer and the driving target point is larger, the current driving steering value and the speed of the bulldozer need to be determined again, specifically, the current course angle deviation is determined according to the current coordinate point and the current driving target point, and therefore the driving steering value and the driving speed of the bulldozer are determined according to the deviation.
And 105c, if the difference is smaller than or equal to the preset difference, taking the last driving steering value and the specified driving speed as current control parameters.
In this embodiment, if PnAnd PmThe difference between the current steering value and the target driving value is smaller than or equal to a preset value, which indicates that the distance between the bulldozer and the target driving point is smaller, the current driving steering value of the bulldozer does not need to be determined again, and the last steering value and the specified driving vehicle speed are used as current control parameters, wherein the specified driving steering value is set according to actual needs, or the current driving vehicle speed is kept unchanged.
In this embodiment, when the distance between the bulldozer and the driving target point is too small, the vehicle is directly controlled to drive according to the previous driving steering value, and when the distance between the bulldozer and the driving target point is too large, the driving steering value needs to be reset, so that the bulldozer is controlled to approach the target driving point as much as possible and drive along the specified target route.
Fig. 5 is a schematic structural diagram of a bulldozer control apparatus 200 according to an embodiment of the present invention, and as shown in fig. 5, the bulldozer control apparatus according to the embodiment includes a first acquisition unit 201, an analysis unit 202, a second acquisition unit 203, a target determination unit 204, a deviation determination unit 205, a deviation correction unit 206, and a control unit 207.
The first acquiring unit 201 is configured to acquire a construction task. The analysis unit 202 is configured to analyze the construction task to obtain a target route, where the target route includes a plurality of driving target points. And the second obtaining unit 203 is configured to obtain a current driving vehicle speed of the bulldozer, and determine a current preview point according to the current driving vehicle speed. And a target determining unit 204, configured to determine a current driving target point according to the current preview point and the multiple driving target points. And a deviation determining unit 205 for determining a current heading angle deviation according to the current coordinate point of the bulldozer and the current driving target point. And the deviation rectifying unit 206 is configured to determine a current control parameter according to the current heading angle deviation, where the current control parameter includes a driving vehicle speed and a driving steering value. And the control unit 207 is used for controlling the bulldozer to operate according to the current control parameters.
Optionally, the second obtaining unit 203 is specifically configured to compare the current driving vehicle speed with a preset vehicle speed, where the preset vehicle speed includes a first preset vehicle speed and a second preset vehicle speed; if the current running speed is less than or equal to a first preset speed, calculating to obtain a current preview point according to the first preview distance and the current coordinate point of the bulldozer; if the current running speed is less than a second preset speed and greater than a first preset speed, calculating to obtain a current preview point according to the preview coefficient, the second preview distance and the current coordinate point of the bulldozer; and if the current running speed is greater than or equal to a second preset speed, the comparison module calculates to obtain a current preview point according to a second preview distance and the current coordinate point of the bulldozer, wherein the second preview distance is greater than the first preview distance.
Optionally, the target determining unit 204 is specifically configured to calculate a distance between the preview point and each driving target point, and select the driving target point with the smallest distance as the current driving target point.
Optionally, the deviation determining unit 205 is specifically configured to calculate an included angle formed between the current driving direction of the bulldozer and a horizontal axis of the coordinate system, so as to obtain a first heading angle; calculating an included angle formed by a connecting line of the driving target point and the coordinate axis origin and a transverse axis of the coordinate system to obtain a second course angle; and calculating the difference value between the first course angle and the second course angle to obtain the current course angle deviation.
Optionally, the deviation rectifying unit 206 is further configured to compare the heading angle deviation with a preset value; if the deviation is smaller than or equal to the preset value, the deviation is used as an input quantity, a driving steering value is output through a PI controller, and the specified driving speed and the output driving steering value are used as current control parameters; and if the deviation is greater than the preset value, taking the specified running steering value and the default running vehicle speed as the current control parameters, wherein the default running vehicle speed is less than the specified running vehicle speed.
Alternatively, the bulldozer control device 200 includes: and a comparison unit.
The comparing unit is used for comparing the course angle deviation with a preset value; if the deviation is smaller than or equal to the preset value, the deviation is used as an input quantity, a driving steering value is output through a PI controller, and the specified driving speed and the output driving steering value are used as current control parameters; and if the deviation is greater than the preset value, taking the specified running steering value and the default running vehicle speed as the current control parameters, wherein the default running vehicle speed is less than the specified running vehicle speed.
Fig. 6 is a first block diagram of an electronic apparatus for implementing the bulldozer control method according to the embodiment of the present invention, and as shown in fig. 6, the electronic apparatus 300 includes: memory 301, processor 302.
The memory 301 stores computer-executable instructions;
the at least one processor 302 executes computer-executable instructions stored by the memory to cause the at least one processor to perform a method provided by any of the embodiments described above.
Fig. 7 is a second block diagram of an electronic device, such as a computer, a digital broadcast terminal, a messaging device, a tablet device, a personal digital assistant, a server cluster, etc., for implementing the dozer control method of an embodiment of the present invention, as shown in fig. 7.
The processing component 402 generally controls overall operation of the electronic device 400, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 402 may include one or more processors 420 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 402 can include one or more modules that facilitate interaction between the processing component 402 and other components. For example, the processing component 402 can include a multimedia module to facilitate interaction between the multimedia component 408 and the processing component 402.
The memory 404 is configured to store various types of data to support operations at the electronic device 400. Examples of such data include instructions for any application or method operating on the electronic device 400, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 404 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The power supply component 406 provides power to the various components of the electronic device 400. Power components 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for electronic device 400.
The multimedia component 408 includes a screen that provides an output interface between the electronic device 400 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 408 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 400 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 410 is configured to output and/or input audio signals. For example, the audio component 410 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 400 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 404 or transmitted via the communication component 416. In some embodiments, audio component 410 also includes a speaker for outputting audio signals.
The I/O interface 412 provides an interface between the processing component 402 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor component 414 includes one or more sensors for providing various aspects of status assessment for the electronic device 400. For example, the sensor component 414 can detect an open/closed state of the electronic device 400, the relative positioning of components, such as a display and keypad of the electronic device 400, the sensor component 414 can also detect a change in the position of the electronic device 400 or a component of the electronic device 400, the presence or absence of user contact with the electronic device 400, orientation or acceleration/deceleration of the electronic device 400, and a change in the temperature of the electronic device 400. The sensor assembly 414 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 414 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 416 is configured to facilitate wired or wireless communication between the electronic device 400 and other devices. The electronic device 400 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 416 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 416 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the electronic device 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 404 comprising instructions, executable by the processor 420 of the electronic device 400 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
A non-transitory computer-readable storage medium in which instructions, when executed by a processor of an electronic device, enable a terminal device to execute a bulldozer control method of the electronic device described above.
In an exemplary embodiment, a computer program product is also provided, comprising a computer program for execution by a processor of the method in any of the above embodiments.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. A method of controlling a bulldozer, said method comprising:
acquiring a construction task;
analyzing the construction task to obtain a target route, wherein the target route comprises a plurality of driving target points;
acquiring the current driving speed of the bulldozer, and determining a current preview point according to the current driving speed;
determining a current driving target point according to the current preview point and the plurality of driving target points;
determining the current course angle deviation according to the current coordinate point of the bulldozer and the current driving target point;
determining a current control parameter according to the current course angle deviation, wherein the current control parameter comprises a running vehicle speed and a running steering value;
and controlling the bulldozer to operate according to the current control parameters.
2. The method of claim 1, wherein the obtaining a current driving speed of the bulldozer and the determining a current preview point based on the current driving speed comprises:
comparing the current running vehicle speed with a preset vehicle speed, wherein the preset vehicle speed comprises a first preset vehicle speed and a second preset vehicle speed;
if the current running speed is less than or equal to the first preset speed, calculating to obtain a current preview point according to a first preview distance and a current coordinate point of the bulldozer;
if the current running speed is less than the second preset speed and greater than the first preset speed, calculating to obtain a current preview point according to a preview coefficient, a second preview distance and the current coordinate point of the bulldozer;
and if the current running speed is greater than or equal to a second preset speed, calculating to obtain a current preview point according to a second preview distance and the current coordinate point of the bulldozer, wherein the second preview distance is greater than the first preview distance.
3. The method of claim 1, wherein determining a current destination point for travel from the current preview point and the plurality of destination points for travel comprises:
and calculating the distance between the pre-aiming point and each driving target point, and selecting the driving target point with the minimum distance as the current driving target point.
4. The method of claim 1, wherein determining a current heading angle deviation from the current coordinate point and the current trip target point comprises:
calculating an included angle formed by the current driving direction of the bulldozer and a transverse axis of a coordinate system to obtain a first course angle;
calculating an included angle formed by a connecting line of the driving target point and the coordinate axis origin and a transverse axis of the coordinate system to obtain a second course angle;
and calculating the difference value between the first course angle and the second course angle to obtain the current course angle deviation.
5. The method of claim 1, wherein determining the current control parameter based on the current heading angle deviation comprises:
comparing the course angle deviation with a preset value;
if the deviation is smaller than or equal to a preset value, setting a steering gain coefficient corresponding to the running vehicle speed for a proportional parameter in a PI controller, taking the deviation as an input quantity, outputting a running steering value through the PI controller, and comparing the output steering value with a maximum running steering value, wherein the steering gain coefficient is determined according to the current running vehicle speed and the maximum running vehicle speed;
if the output steering value is smaller than the maximum driving steering value, the specified driving speed and the output driving steering value are used as current control parameters;
and if the deviation is larger than a preset value, taking the specified running steering value and a default running vehicle speed as current control parameters, wherein the default running vehicle speed is smaller than the specified running vehicle speed.
6. The method of claim 1, wherein prior to determining a current heading angle deviation based on the current coordinate point and the current trip target point, comprising:
calculating a difference value between the current coordinate point of the bulldozer and the driving target point, and comparing the difference value with a preset difference value;
if the difference value is larger than a preset difference value, the step of determining the current course angle deviation according to the current coordinate point and the current driving target point is executed;
and if the difference is smaller than or equal to the preset difference, taking the last driving steering value and the specified driving speed as the current control parameters.
7. A bulldozer control apparatus, said apparatus comprising:
the first acquisition unit is used for acquiring a construction task;
the analysis unit is used for analyzing the construction task to obtain a target route, wherein the target route comprises a plurality of driving target points;
the second acquisition unit is used for acquiring the current running speed of the bulldozer and determining a current preview point according to the current running speed;
the target determining unit is used for determining a current driving target point according to the current preview point and the plurality of driving target points;
the deviation determining unit is used for determining the current course angle deviation according to the current coordinate point of the bulldozer and the current driving target point;
the deviation correcting unit is used for determining current control parameters according to the current course angle deviation, wherein the current control parameters comprise a running vehicle speed and a running steering value;
and the control unit is used for controlling the bulldozer to operate according to the current control parameters.
8. An electronic device, comprising: a memory, a processor;
a memory; a memory for storing the processor-executable instructions;
wherein execution of computer-executable instructions stored in the memory by the processor causes the dozer control device to perform the method of any one of claims 1-6.
9. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the method of any one of claims 1 to 6.
10. A computer program product, characterized in that the computer program realizes the method of any one of claims 1 to 6 when executed by a processor.
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