CN113296465A - Work control method, equipment and storage medium for earth moving machine - Google Patents
Work control method, equipment and storage medium for earth moving machine Download PDFInfo
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Abstract
The application provides an operation control method, equipment and a storage medium of an earth moving machine, wherein the method comprises the following steps: the terminal equipment receives a first control instruction sent by the server, confirms a current driving target point according to the real-time position of the earthmoving machine and a target route, controls the earthmoving machine to move to the current driving target point according to the target route, the real-time position of the earthmoving machine and the real-time driving direction of the earthmoving machine, controls the earthmoving machine to work according to operation parameters, and sends environment parameters and earthmoving machine parameters of the working current driving target point to the server. In the technical scheme, the terminal equipment executes the first control instruction sent by the server, so that the control difficulty of the earthwork machine is effectively reduced, the control accuracy of the earthwork machine is further improved, and the working efficiency of the earthwork machine is improved.
Description
Technical Field
The present disclosure relates to the field of machine control technologies, and in particular, to a method, a device, and a storage medium for controlling an operation of an earth moving machine.
Background
The earthwork machine refers to a machine for excavating, shoveling, pushing or leveling soil and gravel, and is mainly used in the fields of national defense construction engineering, transportation construction, energy industry, industrial construction, water conservancy construction, urban construction, environmental protection and the like. The construction efficiency can be improved by accurately controlling the earthwork machinery, the construction quality is guaranteed, and the safety of operators can be guaranteed in the construction process. Therefore, how to control the earth moving machine is critical.
At present, an operator sits in a cab of the earth moving machine, confirms that no person is present near the front of the earth moving machine and no other object is present on a crawler or a tire, starts the earth moving machine, and controls the earth moving machine to move to a working position by operating a steering wheel or the like in the cab to perform work such as earth digging or earth moving.
However, the above method requires an operator to control the earth moving machine, and is difficult to control, and the work completion condition of the earth moving machine cannot be checked in real time, resulting in low control accuracy of the earth moving machine.
Disclosure of Invention
The application provides an operation control method, equipment and a storage medium of an earth moving machine, which are used for solving the problems that in the prior art, an operator is required to control the earth moving machine, the control difficulty is high, the work completion condition of the earth moving machine cannot be checked in real time, and the control accuracy of the earth moving machine is low.
In a first aspect, an embodiment of the present application provides an operation control method for an earth moving machine, which is applied to a terminal device, and includes:
receiving a first control instruction sent by a server, wherein the first control instruction comprises a target route and operation parameters, and the target route comprises a plurality of walking target points and walking speeds;
confirming a current driving target point according to the real-time position of the earthmoving machine and the target route;
controlling the earthmoving machine to move to the current driving target point according to the target route, the real-time position of the earthmoving machine and the real-time driving direction of the earthmoving machine;
controlling the earthwork machine to work according to the operation parameters;
and sending the environmental parameters and the parameters of the earthmoving machinery of the current driving target point after working to a server, wherein the parameters of the earthmoving machinery comprise the real-time position, the real-time coordinate and the real-time speed of the earthmoving machinery.
In one possible design of the first aspect, the controlling the earth moving machine to move to the current travel target point according to the target route, the real-time position of the earth moving machine, and the real-time traveling direction of the earth moving machine includes:
determining a current yaw angle and a current yaw distance according to the target route, the real-time position of the earthmoving machine and the real-time driving direction of the earthmoving machine;
and controlling the earthmoving machine to move to the current driving target point according to the yaw angle and the yaw distance.
In another possible design of the first aspect, the method further includes:
receiving a second control instruction sent by the server, wherein the second control instruction is used for instructing the earthmoving machine to continue to work at the current driving target point or move to a next driving target point for working, and the next driving target point is a driving target point which is closest to the current driving target point;
and controlling the earthwork machine to work according to the second control instruction.
In yet another possible design of the first aspect, the method further includes:
judging whether obstacles exist around the earthmoving machine or not;
if the obstacles exist around the earthmoving machine, controlling the earthmoving machine to stop moving;
acquiring obstacle information around the earthmoving machine;
and sending the obstacle information to a display device for display.
In a second aspect, an embodiment of the present application provides an operation control method for an earth moving machine, which is applied to a server, and includes:
the method comprises the steps of obtaining a request instruction sent by a user, wherein the request instruction comprises the type information of the earthmoving machine, target parameters, a starting position point of the earthmoving machine starting to work in a working area, and an ending position point of the earthmoving machine stopping to work in the working area;
generating a first control instruction according to the request instruction, a pre-acquired three-dimensional model and the current position of the earth moving machine, wherein the first control instruction comprises a target route and operation parameters, the target route comprises a plurality of walking target points and walking speeds, and the three-dimensional model comprises coordinate information of each position point in the operation area;
and sending the first control instruction to terminal equipment.
In one possible design of the second aspect, the generating a first control instruction according to the request instruction, the three-dimensional model acquired in advance, and the current position of the earth moving machine includes:
acquiring the target route according to the pre-acquired three-dimensional model, the starting position point of the earthwork machine starting to work and the ending position point of the earthwork machine stopping to work;
acquiring the operation parameters according to the working environment conditions of the multiple walking target points in the three-dimensional model, the type information of the earthmoving machine and the target parameters;
and generating the first control instruction according to the target route and the operation parameters.
In another possible design of the second aspect, the method further includes:
acquiring environmental parameters and earthwork mechanical parameters of a current driving target point sent by the terminal equipment;
generating a second control instruction according to the environmental parameters, the earthmoving machine parameters, the target route and preset conditions of the current driving target point, wherein the second control instruction is used for indicating the earthmoving machine to continue working at the current driving target point or move to a next driving target point for working, and the next driving target point is a driving target point which is closest to the current driving target point;
and sending the second control instruction to the terminal equipment.
In yet another possible design of the second aspect, the method further includes:
acquiring at least one scanning photo of the operation area sent by the unmanned aerial vehicle;
and establishing the three-dimensional model according to the at least one scanning photo, wherein the three-dimensional model comprises coordinate information of each position point in the operation area.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and computer program instructions stored on the memory and executable on the processor for implementing the methods provided by the first aspect, the second aspect and each possible design when the processor executes the computer program instructions.
In a fourth aspect, embodiments of the present application may provide a computer-readable storage medium having stored therein computer-executable instructions for implementing the methods provided by the first aspect, the second aspect, and various possible designs when executed by a processor.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program that, when executed by a processor, is configured to implement the methods provided in the first aspect, the second aspect, and the various possible designs.
The embodiment of the application provides a method, equipment and a storage medium for controlling the operation of an earth moving machine, wherein the method comprises the following steps: the server acquires a request instruction sent by a user, the request instruction and the three-dimensional model acquired in advance generate a first control instruction, and then the first control instruction is sent to the terminal equipment. The terminal equipment receives a first control instruction sent by the server, confirms a current driving target point according to the real-time position of the earthwork machine and a target route, then controls the earthwork machine to move to the current driving target point according to the target route, the real-time position of the earthwork machine and the real-time driving direction of the earthwork machine, controls the earthwork machine to work according to operation parameters, and sends environment parameters and earthwork machine parameters of the current driving target point after working to the server. In the method, the terminal equipment executes the first control instruction sent by the server, so that the control difficulty of the earthmoving machine is effectively reduced, the control accuracy of the earthmoving machine is further improved, and the working efficiency of the earthmoving machine is improved. In addition, functions such as Augmented Reality (AR) and fatigue detection may be further added to further enhance the control of the earth moving machinery. On the basis, the terminal equipment and the server can carry out data transmission through the 5G network, and the timeliness of data transmission is effectively improved.
Drawings
Fig. 1 is a schematic view of an application scenario of a method for controlling operation of an earth moving machine according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a first embodiment of a method for controlling an operation of an earth moving machine according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a second embodiment of a method for controlling an operation of an earth moving machine according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a third embodiment of a method for controlling an operation of an earth moving machine according to an embodiment of the present application;
FIG. 5 is a schematic view of a scanned photograph provided in the third embodiment of the present application;
fig. 6 is a schematic diagram of a three-dimensional reconstruction interface of modeling software provided in the third embodiment of the present application;
FIG. 7 is a schematic diagram of a coordinate display interface of modeling software provided in the third embodiment of the present application;
fig. 8 is a schematic structural view of a first embodiment of an operation control device for an earth moving machine according to an embodiment of the present application;
fig. 9 is a schematic structural view of a second embodiment of a work control apparatus for an earth moving machine according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
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
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Before introducing the embodiments of the present application, an application scenario of the embodiments of the present application is explained first:
earthwork machinery refers to machinery for excavating, shoveling, pushing or leveling soil and gravel, including bulldozers, land levelers, road rollers, pavers, and the like, and is widely used in the fields of national defense construction engineering, traffic transportation construction, energy industry, industrial construction, water conservancy construction, urban construction, environmental protection, and the like. Through carrying out accurate control to the earthmoving machinery, can guarantee the efficiency and the quality of construction to further ensure the personal safety and the property safety of operating personnel in the work progress. Therefore, how to control the earth moving machine is critical.
At present, an operator sits in a cab of the earth moving machine, confirms that no person is present near the front of the earth moving machine and no other object is present on a crawler or a tire, starts the earth moving machine, and controls the earth moving machine to move to a working position by operating a steering wheel or the like in the cab to perform work such as earth digging or earth moving.
However, the operator needs to be trained for a long time before formal work, and after training, the operator may not be skilled in operating the corresponding earth moving machinery, and the general working environment of the earth moving machinery is severe, so that the earth moving machinery has high operation risk and high control difficulty. Moreover, the operator cannot check the work completion condition of the earth moving machine in real time, and cannot adjust the work of the earth moving machine according to the work completion condition of the earth moving machine, which results in lower control accuracy of the earth moving machine.
In view of the above problems, the inventive concept of the present application is as follows: in the process of controlling the operation of the earthmoving machine, the control difficulty of an operator in manually controlling the earthmoving machine is high due to the high complexity of the earthmoving machine. Based on this, the inventor finds that, if a terminal device can be obtained, the terminal device can receive a control instruction sent by a server, so that the terminal device can replace manpower to control the earthmoving machinery according to the control instruction, the problem of high control difficulty in the prior art can be solved, and the control accuracy is further improved.
For example, the operation control method of the earth moving machine provided by the embodiment of the present application may be applied to an application scenario diagram shown in fig. 1. Fig. 1 is a schematic view of an application scenario of a method for controlling operation of an earth moving machine according to an embodiment of the present application, so as to solve the above technical problem. As shown in fig. 1, the application scenario may include: the system comprises terminal equipment, a server, a millimeter wave radar, an ultrasonic radar, a depth camera and a laser radar, and can also comprise a Vehicle Control Unit (VCU) or an Electronic Control Unit (ECU).
For example, in the application scenario shown in fig. 1, the terminal device may receive the control command sent by the server through a fifth-Generation Mobile Communication Technology (5th-Generation Mobile Communication Technology, 5G) so as to process the control command subsequently, thereby implementing the control of the earth moving machinery. The terminal equipment can also send the environmental parameters and the earthwork mechanical parameters of the current driving target point to the server through the 5G, so that the server can process the environmental parameters and the earthwork mechanical parameters conveniently.
It should be understood that the display device may be a display device externally connected to the terminal device, or may also be a display device built in the terminal device, and the display device may be set according to an actual situation, which is specifically limited in the embodiment of the present application.
In this embodiment, after the terminal device obtains the control instruction, the VCU or the ECU is controlled according to the control instruction, so as to control the movement and the operation of the earth moving machine. Similarly, the terminal device may also receive the environmental parameters and the parameters of the earthmoving machine, which are acquired by the VCU or the ECU through the corresponding sensors, and may also receive the real-time position and the real-time driving direction of the earthmoving machine, which are transmitted by the VCU or the ECU.
For example, the terminal device may communicate with the VCU or the ECU through a Controller Area Network (CAN), or may communicate with the VCU or the ECU through a gigabit ethernet, a Universal Serial Bus (USB), or the like, and the specific communication manner may be set according to an actual situation, which is not limited in this embodiment.
Besides, the terminal equipment can be connected with the millimeter wave radar, the ultrasonic radar, the depth camera and the laser radar so as to receive data sent by the millimeter wave radar, the ultrasonic radar, the depth camera and the laser radar when obstacles exist around the earth moving machinery, and therefore obstacle information can be obtained.
Optionally, for the manned earth moving machinery, the manned earth moving machinery is connected with an accelerometer and a Real Time Kinematic (RTK) sensor through a CAN.
The terminal equipment displays the initialization interface and the functional interface to a user through the display device, and can acquire the target type of the earthmoving machine and also can acquire the baud rate of the communication between the terminal equipment and the VCU or the ECU by responding to the clicking operation of the user on the initialization interface. For example, the baud rate may be 250Kbps, 500Kbps, 750Kbps, and the like, and may be set according to practical situations, which is specifically limited in the embodiment of the present application. The terminal equipment can display the working information sent by the VCU or the ECU, and can also display the data sent by the millimeter wave radar, the ultrasonic radar, the depth camera and the laser radar.
In the embodiments of the present application, the server and the terminal device may be collectively referred to as an electronic device.
Optionally, a cloud platform may be deployed in the server, and a planning subsystem and a control subsystem are deployed in the terminal device, so as to implement corresponding functions.
The technical solution of the present application will be described in detail below with reference to specific examples.
It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 2 is a schematic flowchart of a first embodiment of a method for controlling an operation of an earth moving machine according to an embodiment of the present application. As shown in fig. 2, the work control method of the earth moving machine may include the steps of:
s101: and acquiring a request instruction sent by a user.
Wherein the request command includes type information of the earthmoving machine, a target parameter, a start position point at which the earthmoving machine starts to operate in the work area, and an end position point at which the earthmoving machine stops operating in the work area.
In this step, when the earth moving machine needs to be controlled to work in the work area, the server needs to obtain the request command sent by the user, so as to process the type information of the earth moving machine, the target parameter, the start position point of the earth moving machine starting to work in the work area, and the end position point of the earth moving machine stopping to work in the work area in the request command.
In a specific embodiment, a computer, a notebook computer, a smart phone, or other devices may display a graphical user interface to a user, so that the user can click the graphical user interface as desired. The equipment responds to the click operation of the user to generate a request instruction, the request instruction is sent to the server, and the server receives the request instruction sent by the equipment.
The graphical user interface can provide a type control for a user so that the user can select the type of the earthmoving machine to be controlled, can provide a three-dimensional model or map for the user, is convenient for the user to select a starting position point where the earthmoving machine starts to work in a working area and an ending position point where the earthmoving machine stops working in the working area from the three-dimensional model or map, and can also provide a parameter control for the user so as to obtain target parameters by responding to the operation of the user.
The type information of the earth moving machine may be, for example, a bulldozer, a grader, a road roller, and a paver, and other types of information may be included according to practical situations, which is not limited in the embodiments of the present application.
For example, for a roller, the target parameters may be rolled 3 times on the ground; for an excavator, the target parameter can be excavation for 3 times and downward excavation for 1 m; for a bulldozer, the target parameters may be pushed for 3 times, and the target parameters may be determined according to actual needs and the type of the earthmoving machine, which is not specifically limited by the present solution.
S102: and generating a first control instruction according to the request instruction, the three-dimensional model acquired in advance and the current position of the earth moving machinery.
In this step, the server may obtain a three-dimensional model in advance, where the three-dimensional model includes coordinate information of each location point in the work area, and may further include a working environment condition in the work area, so that the obtained request instruction sent by the user may be processed, and the first control instruction may be generated.
The first control instruction comprises a target route and operation parameters, and the target route comprises a plurality of walking target points and walking speeds.
In a specific embodiment, the server acquires the target route based on a three-dimensional model acquired in advance, a start position point at which the earth moving machine starts operating, an end position point at which the earth moving machine stops operating, and a current position of the earth moving machine. And then the server acquires operation parameters according to the working environment conditions of a plurality of walking target points in the three-dimensional model, the type information of the earthmoving machine and the target parameters. And finally, the server generates a first control instruction according to the target route and the operation parameters.
Optionally, the server may receive the current position of the earthmoving machine sent by the terminal device, and may also receive the current position of the earthmoving machine sent by the device that sends the request instruction, which may be limited according to an actual situation, and this embodiment of the present disclosure does not specifically limit this.
Wherein, the operational environment condition can include the distribution condition of barrier in the operation region, the condition is put to the object, ground roughness etc to the server can obtain the target route according to the operational environment condition in operation region, the operational environment condition can also include other actual environmental conditions, and this application embodiment does not carry out specific restriction to this.
For example, in the excavator, if the target parameter is excavation downward 1m, the operation parameter may be excavation downward 0.2m, or may be excavation downward 0.5m, 1m, or the like, and may be set according to the actual situation, which is not limited in the embodiment of the present application.
Alternatively, the first control execution may further include type information of the earth moving machine.
Optionally, a manner of acquiring the three-dimensional model by the electronic device is specifically given in the third embodiment, and is not described herein again.
S103: and sending the first control instruction to the terminal equipment.
In this step, after the server obtains the first control instruction, the server needs to send the first control instruction to the terminal device, so that the terminal device can control the earth moving machine according to the first control instruction.
Illustratively, the server may perform Hypertext Transfer Protocol (HTTP) communication with the terminal device through 5G, and a specific HTTP communication process may include the following steps:
step one, a terminal device establishes a Transmission Control Protocol (TCP) Protocol, and a port number may be 80;
secondly, the terminal equipment sends a connection establishment request instruction and a request header message to the server;
and secondly, the server receives the connection establishment request instruction and the request header message sent by the terminal equipment, and responds to the connection establishment request instruction and the request header message to generate response header information.
Wherein the first part of the reply header information is a version number of the protocol and a reply status code. Illustratively, the first part of the response header information may be HTTP/1.1200 OK, 1.1200 is the version number of the protocol, and OK is the response status code;
thirdly, the server sends response header information to the terminal equipment;
further, the server can also send a blank line to the terminal device to indicate that the sending of the response header information is finished;
fourthly, the terminal equipment receives the response head information sent by the server and establishes TCP connection with the server;
the terminal equipment can also receive blank lines sent by the server;
fifthly, the server sends a first control instruction to the terminal equipment;
wherein, the first control instruction conforms to the format (English: Content-Type) described by the response header information.
On the basis, after the first control instruction is sent, the server can also close the TCP connection.
S104: and receiving a first control instruction sent by the server.
In this embodiment, a planning subsystem and a control subsystem may be deployed in the terminal device, so as to implement corresponding functions.
In this step, after the server sends the first control instruction to the terminal device, the terminal device needs to acquire the first control instruction, so as to subsequently control the earth moving machine according to the first control instruction.
The first control instruction comprises a target route and operation parameters, and the target route comprises a plurality of walking target points and walking speeds.
For example, the terminal device may receive the first control instruction sent by the server through 5G, or may obtain the first control instruction through other manners, which is not limited in this embodiment of the application.
Optionally, the first control instruction may further include type information of the earth moving machine.
Optionally, the terminal device may further verify the first control instruction. The terminal equipment responds to the clicking operation of the user on the initialization interface, obtains the target type of the earthmoving machine, and compares the target type of the earthmoving machine with the type information of the earthmoving machine in the first control execution. If the target type is consistent with the type information, the first control instruction passes the verification, and if the target type is inconsistent with the type information, the first control instruction does not pass the verification and the first control instruction is not subjected to subsequent processing.
S105: and confirming the current driving target point according to the real-time position and the target route of the earth moving machine.
In this step, since the target route includes a plurality of travel target points, it is necessary to determine one of the travel target points as a current travel target point in order to control the earth moving machine to move to the current travel target point.
In a specific implementation manner, the terminal device needs to acquire a real-time position of the earthmoving machine, and selects a walking target point closest to the real-time position as a current driving target point.
S106: and controlling the earthmoving machine to move to the current driving target point according to the target route, the real-time position of the earthmoving machine and the real-time driving direction of the earthmoving machine.
In this step, after the terminal device determines the current driving target point, the earth moving machine needs to be controlled to move to the current driving target point, so as to facilitate subsequent work.
The control subsystem can navigate according to the target route and control the earthmoving machine to move to the current driving target point according to the traveling speed and the route track in the target route.
In a specific implementation, a planning subsystem deployed in the terminal device may obtain a real-time position of the earth moving machine, a target route, a real-time position of the earth moving machine, and a real-time traveling direction of the earth moving machine, and determine a current yaw angle and a current yaw distance.
On the basis of the implementation mode, the terminal equipment needs to control the earthmoving machine to move to the current driving target point according to the yaw angle and the yaw distance.
For example, a yaw angle and a yaw distance may be obtained by a Proportional Integral (PI) controller in the terminal device, and a walking trajectory of the earth moving machine may be interpolated according to the yaw angle and the yaw distance, so as to control the track motion system, so that the earth moving machine may move according to a target route.
On the basis of the above example, in order to improve the stability of the movement of the earth moving machine, the terminal device may acquire the real-time speed of the earth moving machine sent by the VCU or the ECU, and acquire the gain parameter of the movement of the earth moving machine. The PI controller further interpolates the travel locus of the earth moving machine by the gain parameter.
Further, the terminal device may also determine whether an obstacle exists around the earthmoving machine.
In a possible implementation manner, the terminal device receives data sent by the millimeter wave radar, the ultrasonic radar, the depth camera and the laser radar, and judges whether obstacles exist around the earth moving machinery or not according to the data.
And if the obstacles exist around the earthmoving machine, the terminal equipment controls the earthmoving machine to stop moving.
Furthermore, the terminal equipment analyzes data sent by the millimeter wave radar, the ultrasonic radar, the depth camera and the laser radar, obtains obstacle information around the earth moving machinery and sends the obstacle information to the display equipment so as to be displayed on a functional interface of the display equipment.
Optionally, the terminal device may further obtain work information sent by the VCU or the ECU, send the work information to the display device, and display the work information on a functional interface of the display device, so as to monitor the state of the earth moving machine.
The working information comprises walking motion parameters of the earthmoving machinery, oil, gas, electricity, water and liquid parameters and hydraulic system parameters. The walking motion parameters comprise the braking state, the advancing and retreating state and the real-time speed of the earthwork machine, the oil-gas-electricity-water-liquid parameters comprise engine oil pressure and air inlet temperature-voltage state, and the hydraulic system parameters mainly comprise the stroke of an oil cylinder.
For an unmanned earth moving machine, a functional interface of the display device can display vehicle information such as engine oil temperature, hydraulic oil temperature, oil pressure state, voltage state, working time, vehicle faults, engine faults and the like; the display device can display vehicle information such as engine intake manifold temperature, engine working time, engine rotating speed, fault codes, fuel consumption and the like for the earthmoving machine.
S107: and controlling the earthwork machine to work according to the operation parameters.
In this step, after the control subsystem controls the earthmoving machine to move to the current driving target point, the control subsystem can control the earthmoving machine to work according to the operation parameters.
For example, for an excavator, if the operation parameter is 0.2m for downward excavation, after the terminal device controls the bulldozer to move to the current driving target point, the excavator can be controlled to excavate 0.2m downward according to the operation parameter.
S108: and sending the environmental parameters and the earthwork mechanical parameters of the current driving target point after working to a server.
In this step, the terminal device may further obtain the environmental parameters and the earthwork mechanical parameters of the current driving target point through the VCU or the ECU, and send the environmental parameters and the earthwork mechanical parameters to the server.
The parameters of the earthmoving machine include a real-time position, a real-time coordinate and a real-time speed of the earthmoving machine, and may further include other parameter information for indicating a working state of the earthmoving machine, which may be set according to the actual situation, and this is not specifically limited in the application examples.
For example, for an excavator, the environmental parameter may be the depth of the excavation down. The VCU or the ECU can acquire the downward excavation depth of the excavator through a corresponding sensor and send the depth as an environmental parameter to the terminal equipment. And the terminal equipment acquires the environmental parameters sent by the VCU or the ECU and sends the environmental parameters to the terminal equipment.
In the work control method of the earth moving machine provided by the embodiment of the application, the server acquires the request command sent by the user, generates the first control command by the request command and the three-dimensional model acquired in advance, and then sends the first control command to the terminal device. The terminal equipment receives a first control instruction sent by the server, confirms a current driving target point according to the real-time position of the earthwork machine and a target route, then controls the earthwork machine to move to the current driving target point according to the target route, the real-time position of the earthwork machine and the real-time driving direction of the earthwork machine, controls the earthwork machine to work according to operation parameters, and sends environment parameters and earthwork machine parameters of the current driving target point after working to the server. In the method, the terminal equipment executes the first control instruction sent by the server, so that the control difficulty of the earthmoving machine is effectively reduced, the control accuracy of the earthmoving machine is further improved, and the working efficiency of the earthmoving machine is improved. Further, functions such as AR, fatigue detection, and the like may be further added to further enhance the control of the earth moving machine. On the basis, the terminal equipment and the server can carry out data transmission through the 5G network, and the timeliness of communication is effectively improved.
Fig. 3 is a schematic flowchart of a second embodiment of a method for controlling an operation of an earth moving machine according to an embodiment of the present application. As shown in fig. 3, the work control method of the earth moving machine may include the steps of:
s201: and acquiring the environmental parameters and the earthwork mechanical parameters of the current driving target point sent by the terminal equipment.
In this step, the server obtains the environmental parameters and the earthmoving mechanical parameters of the current driving target point sent by the terminal device, so as to analyze the environmental parameters and the earthmoving mechanical parameters in the following process.
For example, the server may receive the environmental parameters and the earth moving machinery parameters of the current driving target point, which are sent by the terminal device, through the 5G network.
S202: and generating a second control instruction according to the environmental parameters, the earthwork mechanical parameters, the target route and the preset conditions of the current driving target point.
In this step, the server may analyze the environmental parameter and the earth mechanical parameter after receiving the environmental parameter and the earth mechanical parameter of the current driving target point, thereby generating a second control instruction.
The second control instruction is used for instructing the earthmoving machine to continue working at the current driving target point or move to the next driving target point for working, and the next driving target point is the driving target point which is closest to the current driving target point.
In a specific embodiment, the preset condition may be that when the environmental parameter is consistent with the target parameter and the walking target point is not operated by the earth moving machine, a second control instruction for instructing the earth moving machine to move to a next driving target point for operation is generated; and when the environmental parameter is inconsistent with the target parameter, generating a second control instruction for continuing working at the current driving target point.
S203: and sending the second control instruction to the terminal equipment.
S204: and receiving a second control instruction sent by the server.
S205: and controlling the earthwork machine to work according to the second control instruction.
In this step, after the terminal device receives the second control instruction sent by the server, the control subsystem needs to control the earth moving machinery to work according to the second control instruction.
In a specific implementation manner, when the second control instruction received by the terminal device is used for instructing the earth moving machine to continue to work at the current driving target point, the terminal device is not moved, and the earth moving machine continues to work according to the received working parameters. And when the second control instruction received by the terminal equipment is used for indicating to move to the next driving target point for working, the control subsystem controls the earthmoving machine to move to the driving target point which is closest to the current driving target point for working according to the operation parameters.
In the operation control method of the earth moving machine provided in the embodiment of the application, the server obtains the environmental parameter and the earth moving machine parameter of the current driving target point sent by the terminal device, generates the second control instruction according to the environmental parameter, the earth moving machine parameter, the target route and the preset condition of the current driving target point, and sends the second control instruction to the terminal device. And the terminal equipment receives a second control instruction sent by the server and controls the earthwork machine to work according to the second control instruction. In the method, the server can process the environmental parameters and the earthwork machine parameters fed back by the terminal equipment so as to generate a second control instruction, so that the terminal equipment can control the earthwork machine according to the second control instruction, the effect of timely feedback is achieved, and the control accuracy of the earthwork machine is further improved.
Fig. 4 is a schematic flowchart of a third embodiment of a method for controlling an operation of an earth moving machine according to an embodiment of the present application. As shown in fig. 4, before S102, the work control method of the earth moving machine may include the steps of:
s301: and acquiring at least one scanning photo of the operation area sent by the unmanned aerial vehicle.
In this step, in order to enable the terminal device to control the earth moving machine to move to the work area, it is necessary to acquire a three-dimensional model of the work area so that the server generates a target route from the three-dimensional model, a start position point at which to start work, an end position point at which to stop work, and the current position. The server therefore needs to acquire at least one scanned photograph of the work area in order to subsequently generate the three-dimensional model.
Fig. 5 is a schematic view of a scanned photograph provided in the third embodiment of the present application. As shown in fig. 5, the scanning photograph is generated by performing flight scanning on a target field (playground) around which a large number of trees are distributed by an unmanned aerial vehicle with a tilt photography function and an RTK function.
S302: and establishing a three-dimensional model according to the at least one scanning picture.
In this step, after the server obtains at least one scanned photo, a three-dimensional model needs to be established according to the scanned photo, so that a target route can be generated according to the three-dimensional model subsequently.
The three-dimensional model comprises coordinate information of each position point in the operation area.
In a particular implementation, the server may model the at least one scanned photograph using modeling software running on the server. Fig. 6 is a schematic diagram of a three-dimensional reconstruction interface of modeling software provided in the third embodiment of the present application. As shown in fig. 6, the modeling software may obtain at least one scanned photo by responding to a user object picture input operation, perform modeling processing on the at least one scanned photo to generate a three-dimensional model by responding to a user related operation, display the generation process in a process input box, and store the generated three-dimensional model in a preset result output directory location.
The three-dimensional model comprises coordinate information of each position point in the operation area, and the coordinate information can provide support for the server to obtain the target route. Fig. 7 is a schematic coordinate display interface diagram of modeling software provided in the third embodiment of the present application. As shown in fig. 7, the modeling software obtains the coordinates of the clicked location in the three-dimensional model by responding to the click operation of the user on the three-dimensional model displayed on the coordinate display interface, and displays the coordinates on the coordinate display interface. The coordinate information includes model coordinates, such as (538496.562500, 3377322.5000000, 13.757170), and may also include screen coordinates of the clicked point, such as (574.000000, 498.000000).
For example, on the basis of any of the above embodiments, the terminal device may receive the relevant data sent by the VCU/ECU by using the CAN interface through the following steps:
step one, opening a CAN interface;
wherein the communication rate of the CAN interface CAN be 125000;
secondly, sending 20 bytes of data through a CAN interface;
and secondly, receiving related data sent by the VCU/ECU from the CAN interface.
Through the steps, the terminal equipment CAN be compatible with various types of earthwork machinery data formats, and supports the communication connection and data receiving and sending of the bulldozer, the grader, the road roller and the paver by utilizing the CAN interfaces.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
Fig. 8 is a schematic structural diagram of a first embodiment of a work control device for an earth moving machine according to an embodiment of the present application. As shown in fig. 8, the work control device for an earth moving machine includes:
the communication module 41 is configured to receive a first control instruction sent by the server, where the first control instruction includes a target route and an operation parameter, and the target route includes a plurality of walking target points and walking speeds;
the calculation module 42 is used for confirming a current driving target point according to the real-time position and the target route of the earthwork machine;
a control module 43 for controlling the earthmoving machine to move to a current driving target point according to the target route, the real-time position of the earthmoving machine, and the real-time driving direction of the earthmoving machine;
the control module 43 is also used for controlling the earthwork machine to work according to the operation parameters;
the communication module 41 is further configured to send the environmental parameters of the current driving target point and the parameters of the earthmoving machine after the operation to the server, where the parameters of the earthmoving machine include a real-time position, a real-time coordinate, and a real-time speed of the earthmoving machine.
In one possible design of the embodiment of the present application, the control module 43 is specifically configured to:
determining a current yaw angle and a current yaw distance according to the target route, the real-time position of the earthmoving machine and the real-time driving direction of the earthmoving machine;
and controlling the earthmoving machine to move to the current driving target point according to the yaw angle and the yaw distance.
In another possible design of the embodiment of the present application, the communication module 41 is further configured to receive a second control instruction sent by the server, where the second control instruction is used to instruct the earthmoving machine to continue to work at the current driving target point or move to a next driving target point for work, where the next driving target point is a driving target point closest to the current driving target point;
and the control module 43 is further used for controlling the earthwork machine to work according to the second control instruction.
In another possible design of the embodiment of the present application, the work control device of the earth moving machine further includes:
a judging module 44 for judging whether there is an obstacle around the earth moving machinery;
a control module 43, further configured to control the earthmoving machine to stop moving if there are obstacles around the earthmoving machine;
the communication module 41 is further configured to acquire information of obstacles around the earthmoving machine;
the communication module 41 is further configured to send the obstacle information to a display device for displaying.
In another possible design of the embodiment of the present application, the work control device of the earth moving machine further includes:
and the power supply module 45 is used for continuously supplying power to the control terminal, wherein the output voltage can be 12V.
The operation control device for the earth moving machine provided in the embodiment of the present application can be used to execute the operation control method for the earth moving machine on the side of the terminal device in any one of the above embodiments, and its implementation principle and technical effect are similar, and are not described herein again.
Fig. 9 is a schematic structural view of a second embodiment of a work control device for an earth moving machine according to an embodiment of the present application. As shown in fig. 9, the work control device for an earth moving machine includes:
the communication module 51 is configured to obtain a request instruction sent by a user, where the request instruction includes type information of the earthmoving machine, a target parameter, a start position point at which the earthmoving machine starts to work in a working area, an end position point at which the earthmoving machine stops working in the working area, and a current position of the earthmoving machine;
the processing module 52 is configured to generate a first control instruction according to the request instruction and a pre-acquired three-dimensional model, where the first control instruction includes a target route and operation parameters, the target route includes a plurality of walking target points and walking speeds, and the three-dimensional model includes coordinate information of each position point in the operation area;
the communication module 51 is further configured to send the first control instruction to the terminal device.
In one possible design of this embodiment of the present application, the processing module 52 is specifically configured to:
acquiring a target route according to a pre-acquired three-dimensional model, an initial position point at which the earthmoving machine starts to work and an end position point at which the earthmoving machine stops working;
acquiring operation parameters according to the working environment conditions of a plurality of walking target points in the three-dimensional model, the type information of the earthmoving machine and the target parameters;
and generating a first control instruction according to the target route and the operation parameters.
In a possible design of the embodiment of the present application, the communication module 51 is further configured to obtain an environmental parameter and an earth moving mechanical parameter of a current driving target point sent by the terminal device;
the processing module 52 is further configured to generate a second control instruction according to the environmental parameter, the earth moving machine parameter, the target route, and the preset condition of the current driving target point, where the second control instruction is used to instruct the earth moving machine to continue to work at the current driving target point or move to a next driving target point for work, and the next driving target point is a driving target point closest to the current driving target point;
the communication module 51 is further configured to send the second control instruction to the terminal device.
In another possible design of the embodiment of the present application, the communication module 51 is further configured to obtain at least one scanned photograph of the operation area sent by the unmanned aerial vehicle;
and the processing module 52 is further configured to build a three-dimensional model according to the at least one scanned photo, where the three-dimensional model includes coordinate information of each position point in the working area.
The operation control device for an earth moving machine according to the embodiment of the present application may be configured to execute the operation control method for an earth moving machine on a server side according to any one of the embodiments described above, and its implementation principle and technical effect are similar, and are not described herein again.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 10, the electronic device may include: a processor 61, a memory 62 and computer program instructions stored on the memory 62 and operable on the processor 61, the processor 61 implementing the method of operation control of an earth moving machine as provided in any of the preceding embodiments when executing the computer program instructions.
Optionally, the electronic device may further include an interface for interacting with other devices.
Optionally, the electronic device may further comprise a display.
Optionally, the above devices of the electronic device may be connected by a system bus.
The memory 62 may be a separate memory unit or a memory unit integrated into the processor. The number of processors is one or more.
It should be understood that the Processor 61 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor, or in a combination of the hardware and software modules in the processor.
The system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The memory may comprise Random Access Memory (RAM) and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
All or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The aforementioned program may be stored in a readable memory. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned memory (storage medium) includes: read-only memory (ROM), RAM, flash memory, hard disk, solid state disk, magnetic tape, floppy disk, optical disk, and any combination thereof.
The electronic device provided in the embodiment of the present application may be implemented as a terminal device or a server, and may be configured to execute the operation control method of the earth moving machine provided in any method embodiment.
An embodiment of the present application provides a computer-readable storage medium, in which computer instructions are stored, and when the computer instructions are run on a computer, the computer is caused to execute the work control method of the earth moving machine.
The computer-readable storage medium may be implemented by any type of volatile or non-volatile memory device or combination thereof, 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 disk. Readable storage media can be any available media that can be accessed by a general purpose or special purpose computer.
Alternatively, a readable storage medium may be coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium may also reside as discrete components in the apparatus.
An embodiment of the present application further provides a computer program product, which includes a computer program, the computer program being stored in a computer-readable storage medium, the computer program being readable from the computer-readable storage medium by at least one processor, and the at least one processor, when executing the computer program, may implement the operation control method of the earth moving machine.
It will be understood that the present disclosure 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 present disclosure is limited only by the appended claims.
Claims (10)
1. An operation control method for an earth moving machine, applied to a terminal device, includes:
receiving a first control instruction sent by a server, wherein the first control instruction comprises a target route and operation parameters, and the target route comprises a plurality of walking target points and walking speeds;
confirming a current driving target point according to the real-time position of the earthmoving machine and the target route;
controlling the earthmoving machine to move to the current driving target point according to the target route, the real-time position of the earthmoving machine and the real-time driving direction of the earthmoving machine;
controlling the earthwork machine to work according to the operation parameters;
and sending the environmental parameters and the parameters of the earthmoving machinery of the current driving target point after working to a server, wherein the parameters of the earthmoving machinery comprise the real-time position, the real-time coordinate and the real-time speed of the earthmoving machinery.
2. The method of claim 1, wherein said controlling the earthmoving machine to move to the current driving target point according to the target route, the real-time location of the earthmoving machine, and the real-time direction of travel of the earthmoving machine comprises:
determining a current yaw angle and a current yaw distance according to the target route, the real-time position of the earthmoving machine and the real-time driving direction of the earthmoving machine;
and controlling the earthmoving machine to move to the current driving target point according to the yaw angle and the yaw distance.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
receiving a second control instruction sent by the server, wherein the second control instruction is used for instructing the earthmoving machine to continue to work at the current driving target point or move to a next driving target point for working, and the next driving target point is a driving target point which is closest to the current driving target point;
and controlling the earthwork machine to work according to the second control instruction.
4. The method according to claim 1 or 2, characterized in that the method further comprises:
judging whether obstacles exist around the earthmoving machine or not;
if the obstacles exist around the earthmoving machine, controlling the earthmoving machine to stop moving;
acquiring obstacle information around the earthmoving machine;
and sending the obstacle information to a display device for display.
5. An operation control method for an earth moving machine, applied to a server, includes:
the method comprises the steps of obtaining a request instruction sent by a user, wherein the request instruction comprises the type information of the earthmoving machine, target parameters, a starting position point of the earthmoving machine starting to work in a working area, and an ending position point of the earthmoving machine stopping to work in the working area;
generating a first control instruction according to the request instruction, a pre-acquired three-dimensional model and the current position of the earth moving machine, wherein the first control instruction comprises a target route and operation parameters, the target route comprises a plurality of walking target points and walking speeds, and the three-dimensional model comprises coordinate information of each position point in the operation area;
and sending the first control instruction to terminal equipment.
6. The method of claim 5, wherein generating a first control command based on the request command, a pre-acquired three-dimensional model, and a current position of the earthmoving machine comprises:
acquiring the target route according to the pre-acquired three-dimensional model, the starting position point of the earthwork machine starting to work and the ending position point of the earthwork machine stopping to work;
acquiring the operation parameters according to the working environment conditions of the multiple walking target points in the three-dimensional model, the type information of the earthmoving machine and the target parameters;
and generating the first control instruction according to the target route and the operation parameters.
7. The method according to claim 6 or 5, characterized in that the method further comprises:
acquiring environmental parameters and earthwork mechanical parameters of a current driving target point sent by the terminal equipment;
generating a second control instruction according to the environmental parameters, the earthmoving machine parameters, the target route and preset conditions of the current driving target point, wherein the second control instruction is used for indicating the earthmoving machine to continue working at the current driving target point or move to a next driving target point for working, and the next driving target point is a driving target point which is closest to the current driving target point;
and sending the second control instruction to the terminal equipment.
8. The method according to claim 6 or 5, characterized in that the method further comprises:
acquiring at least one scanning photo of the operation area sent by the unmanned aerial vehicle;
and establishing the three-dimensional model according to the at least one scanning photo, wherein the three-dimensional model comprises coordinate information of each position point in the operation area.
9. An electronic device, comprising: a processor, a memory, and computer program instructions stored on and executable on the memory, wherein the processor, when executing the computer program instructions, is configured to implement the method of operation control for an earthmoving machine according to any of claims 1 to 8.
10. A computer-readable storage medium having stored therein computer-executable instructions for implementing the work control method of an earth moving machine as claimed in any one of claims 1 to 8 when executed by a processor.
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