CN113323068A - Control method for engineering machinery, processor and engineering machinery - Google Patents
Control method for engineering machinery, processor and engineering machinery Download PDFInfo
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- CN113323068A CN113323068A CN202110476767.1A CN202110476767A CN113323068A CN 113323068 A CN113323068 A CN 113323068A CN 202110476767 A CN202110476767 A CN 202110476767A CN 113323068 A CN113323068 A CN 113323068A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the field of engineering machinery, and discloses a control method for engineering machinery, a processor and the engineering machinery. The control method comprises the following steps: receiving operation site information; receiving positioning information; controlling the engineering machinery to move to a target operation site according to the positioning information and the operation site information; determining first job data associated with a first job task; and controlling the engineering machinery to work according to the first work data. By the technical scheme, the unmanned driving of the engineering machinery can be realized, the engineering machinery can finish operation tasks such as driving and excavation under the unmanned condition, and the labor cost is reduced; the life safety of operating personnel is guaranteed under the complex working environment of the engineering machinery; the influence of artificial subjective factors is reduced, and the working precision is improved.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a control method, a processor, a control device, engineering machinery and a machine readable storage medium for the engineering machinery.
Background
An excavator is an important engineering machine, and is also called as a digging machine or an excavator, and is an earthwork machine which digs materials higher or lower than a bearing surface by using a bucket and loads the materials into a transport vehicle or unloads the materials to a stockyard. The materials excavated by the excavator mainly comprise soil, coal, silt, soil subjected to pre-loosening and rocks.
At present, engineering machinery such as an excavator and the like is controlled mainly by manual driving, so that the labor cost is high, and the working precision is low.
Disclosure of Invention
In order to overcome the defects in the prior art, embodiments of the present invention provide a control method, a processor, a control device, a construction machine, and a machine-readable storage medium for a construction machine.
In order to achieve the above object, a first aspect of the present invention provides a control method for a construction machine, including:
receiving operation place information and positioning information;
controlling the engineering machinery to move to a target operation place according to the positioning information and the operation place information;
determining first job data associated with a first job task;
and controlling the engineering machinery to work according to the first work data.
In the embodiment of the invention, the positioning information comprises a satellite positioning signal and a reference signal sent by a carrier phase differential technology RTK base station, and the engineering machinery comprises a first proportional valve used for adjusting a course angle of the engineering machinery;
controlling the construction machine to travel to the target operation site according to the positioning information and the operation site information includes:
determining a first coordinate of the current positioning of the engineering machinery, a target coordinate of a target operation place and a first course angle of the current posture of the engineering machinery according to the satellite positioning signal and a reference signal sent by an RTK base station;
calculating a target course angle according to the first coordinate and the target coordinate;
determining a current value of the first proportional valve according to the first course angle and the target course angle so as to adjust the first course angle to the target course angle;
and controlling the engineering machinery to move to the target operation place based on the adjusted first course angle, the positioning information and the operation place information.
In an embodiment of the present invention, the work machine includes an excavator, and the first operation data includes at least one of: the work data of the swing, the work data of the travel, the work data of the boom, the work data of the arm, and the work data of the bucket.
In an embodiment of the present invention, a construction machine includes: the control method of the radar and video monitoring device further comprises the following steps:
detecting an obstacle object of the construction machine by using a radar or a video monitoring device;
determining state information of the obstacle object, wherein the state information comprises the position and the outline of the obstacle object;
and controlling the engineering machinery to avoid the obstacle based on the state information of the obstacle.
In an embodiment of the present invention, determining first job data associated with the first job task comprises:
receiving a first job task;
converting the first job task into first job data; or calling a database connected with the engineering machinery, and matching corresponding first operation data in the database based on the first operation task.
In an embodiment of the present invention, a construction machine includes: fuselage gesture monitoring device and alarm device in advance, fuselage gesture monitoring device includes: radar, video monitoring device, rotary encoder and hydro-cylinder stay wire displacement sensor, the control method still includes:
detecting the body attitude of the engineering machinery by using a body attitude monitoring device;
and under the condition that the attitude of the machine body is in a risk state, alarming by using a pre-alarming device and controlling the engineering machinery to stop working.
In the embodiment of the present invention, the control method further includes:
acquiring an image of a target operation site after controlling the engineering machinery to operate according to the first operation data;
processing the image to generate a processing result;
controlling the engineering machinery to stop working under the condition that the processing result indicates that the first working task is completed;
receiving second job data in the case that the processing result indicates that the first job task is not completed;
and controlling the engineering machinery to work according to the second work data.
In the embodiment of the invention, the engineering machinery comprises an upper computer, and the control method further comprises the following steps:
after the engineering machinery is controlled to work according to the second work data, storing the first work task, the first work data and the second work data by using the upper computer, and associating the first work data and the second work data with the first work task;
receiving a second job task;
and controlling the engineering machinery to work according to the first work data and the second work data under the condition that the difference between the first work task and the second work task is smaller than a first preset range.
A second aspect of the present invention provides a processor configured to execute the above-described control method for a construction machine.
A third aspect of the present invention provides a control apparatus for a construction machine, the control apparatus comprising the above processor, and a local control device and/or a remote control device, the local control device being configured to locally control the construction machine, and the remote control device being configured to remotely control the construction machine.
A fourth aspect of the present invention provides a construction machine including the control apparatus for a construction machine described above.
In an embodiment of the invention, the work machine comprises an excavator.
A fifth aspect of the present disclosure provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-described control method for a construction machine.
A sixth aspect of the invention provides a computer program product comprising a computer program which, when executed by a processor, implements the above-described control method for a construction machine.
In the technical scheme, operation place information is received; receiving positioning information; controlling the engineering machinery to move to a target operation site according to the positioning information and the operation site information; determining first job data associated with a first job task; the engineering machine is controlled to operate according to the first operation data, so that unmanned driving of the engineering machine can be realized, the engineering machine can complete operation tasks such as driving and excavation under the unmanned condition, and labor cost is reduced; the life safety of operating personnel is guaranteed under the complex working environment of the engineering machinery; the influence of artificial subjective factors is reduced, and the working precision is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 schematically shows a flow chart of a control method for a working machine according to an embodiment of the invention;
FIG. 2 schematically shows a block diagram of a work machine according to an embodiment of the invention;
fig. 3 schematically shows a control signal flow diagram of a work machine according to an embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Fig. 1 schematically shows a flow chart of a control method for a working machine according to an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, there is provided a control method for a construction machine, including the steps of:
and 104, controlling the engineering machinery to work according to the first work data.
The work machine may include an excavator, and may also include other types of machinery, and is not limited thereto. The work machine is exemplified as an excavator. An excavator is an important engineering machine, and is also called as a digging machine or an excavator, and is an earthwork machine which digs materials higher or lower than a bearing surface by using a bucket and loads the materials into a transport vehicle or unloads the materials to a stockyard. The materials excavated by the excavator mainly comprise soil, coal, silt, soil subjected to pre-loosening and rocks. Excavators may also be used to perform work tasks such as grading.
The work site information may include latitude and longitude information of the target work site, and the positioning information may include latitude and longitude information where the excavator is currently positioned. The first work task may be excavation, and specifically, when the first work task is excavation, a place of excavation, a depth of excavation, a height of excavation, a width of excavation, a time of excavation, and the like may be included in the first work task. It should be noted that the first work task may be another type of task, such as a flat ground, but is not limited thereto.
In the scheme of the application, the operation place information is received; receiving positioning information; controlling the engineering machinery to move to a target operation site according to the positioning information and the operation site information; determining first job data associated with a first job task; the engineering machine is controlled to operate according to the first operation data, so that unmanned driving of the engineering machine can be realized, the engineering machine can complete operation tasks such as driving and excavation under the unmanned condition, and labor cost is reduced; the life safety of operating personnel is guaranteed under the complex working environment of the engineering machinery; the influence of artificial subjective factors is reduced, and the working precision is improved.
In an embodiment, the first job data includes at least one of: the work data of the swing, the work data of the travel, the work data of the boom, the work data of the arm, and the work data of the bucket.
In step 104, the construction machine is controlled to perform work based on the first work data, and specifically, the controller of the construction machine controls the operations of the excavator, such as the traveling, the swing, the boom, the arm, and the bucket, by controlling the output of a PWM (Pulse width modulation) current, thereby completing the first work task of the excavator.
In an embodiment, determining the first job data associated with the first job task comprises:
receiving a first job task;
converting the first job task into first job data; or calling a database connected with the engineering machinery, and matching corresponding first operation data in the database based on the first operation task.
After receiving the first work task, the database connected with the engineering machine may be called first, the corresponding first work data is matched in the database based on the first work task, and if the matching is successful, the first work task and the first work data associated with the first work task are stored in the database in advance, so that the first work data may be directly obtained from the database, and then the engineering machine may be controlled to operate according to the first work data.
And matching corresponding first operation data in the database based on the first operation task, if the matching is not successful, indicating that the first operation task or the first operation data is not stored in the database, and at this time, converting the first operation task into the first operation data and then controlling the engineering machinery to operate according to the first operation data.
In one embodiment, the control method further comprises:
acquiring an image of a target operation site after controlling the engineering machinery to operate according to the first operation data;
processing the image to generate a processing result;
controlling the engineering machinery to stop working under the condition that the processing result indicates that the first working task is completed;
receiving second job data in the case that the processing result indicates that the first job task is not completed;
and controlling the engineering machinery to work according to the second work data.
After the work of the construction machine is completed, the construction machine takes a picture of the completion of the work at the target work site using the video monitoring apparatus 1700, and then processes the picture to generate a processing result. And controlling the engineering machinery to stop working when the processing result indicates that the first working task is completed. And when the processing result indicates that the first work task is not completed, the excavator can be continuously controlled to perform work through manual local operation or remote control operation until the first work task is completed.
In the embodiment of the invention, the excavator not only can realize unmanned driving and unmanned operation, but also can adapt to manual local operation or remote control operation. After the excavator works, the work result is checked through the video monitoring device 1700 and the like, if the work result is not expected, unmanned operation and unmanned operation can be continued, manual intervention can also be carried out, and manual local operation or remote control operation is added. The control method for the engineering machinery provided by the embodiment of the invention can receive the second operation data, so that the reliability of the method is improved, and the adaptability of the method is improved.
In an embodiment, the engineering machine includes an upper computer 600, and the control method further includes:
after controlling the construction machine to perform work according to the second work data, storing the first work task, the first work data, and the second work data by using the upper computer 600, and associating both the first work data and the second work data with the first work task;
receiving a second job task;
and controlling the engineering machinery to work according to the first work data and the second work data under the condition that the difference between the first work task and the second work task is smaller than a first preset range. .
After the engineering machine is controlled to operate according to the second operation data, the upper computer 600 of the engineering machine can store the first operation task, the first operation data and the second operation data, and the first operation data and the second operation data are both associated with the first operation task, so that the first operation data and the second operation data can be conveniently and directly called.
Similarly, the work machine may send the first work task, the first work data, and the second work data to a database, which stores the first work task, the first work data, and the second work data, and associates each of the first work data and the second work data with the first work task. When the engineering machinery receives the second operation task and the difference between the first operation task and the second operation task is smaller than the first preset range, the first operation data and the second operation data in the database can be directly called to control the engineering machinery to operate, the second operation task is completed, and the operation efficiency of the engineering machinery is improved. The second job data may be data determined under manual intervention, and the upper computer may add the data into a database, which has self-learning capability.
In one embodiment, the positioning information includes a satellite positioning signal and a reference signal transmitted by a carrier phase differential technology RTK base station, the work machine includes a first proportional valve 2100 for adjusting a heading angle of the work machine;
controlling the construction machine to travel to the target operation site according to the positioning information and the operation site information includes:
determining a first coordinate of the current positioning of the engineering machinery, a target coordinate of a target operation place and a first course angle of the current posture of the engineering machinery according to the satellite positioning signal and a reference signal sent by an RTK base station;
calculating a target course angle according to the first coordinate and the target coordinate;
determining a current value of the first proportional valve 2100 according to the first course angle and the target course angle to adjust the first course angle to the target course angle;
and controlling the engineering machinery to move to the target operation place based on the adjusted first course angle, the positioning information and the operation place information.
The first coordinate may include a first longitude and latitude, and may also include other coordinate information. The target coordinates of the target operation site may include the latitude and longitude of the target operation site, and may also include other coordinate information. The first longitude and latitude is the longitude and latitude of the current location of the engineering machinery, and can also be understood as the actual longitude and latitude of the engineering machinery at that time. The first heading angle is a heading angle of the current attitude of the engineering machinery, and can also be understood as the first heading angle is an actual heading angle of the engineering machinery at that time.
When the controller 100 of the engineering machine receives a signal for starting working sent by the upper computer 600, the first longitude and latitude and the longitude and latitude of the target operation place are compared, the difference between the first longitude and latitude and the longitude and latitude of the target operation place is calculated, and the target course angle is calculated by using an algorithm according to the first longitude and latitude and the longitude and latitude of the target operation place. The target course angle is compared with the first course angle, the compared value is converted into a current value of a first proportional valve 2100, the first course angle can be adjusted by the first proportional valve 2100, and the first proportional valve 2100 is also called a walking proportional valve. And continuously adjusting the current value of the first proportional valve 2100 to adjust the first course angle to the target course angle to form closed-loop control.
In one embodiment, a work machine includes: radar 1600 and video monitoring apparatus 1700, the control method further includes:
detecting an obstacle object of the construction machine by using a radar 1600 or a video monitoring device 1700;
determining state information of the obstacle object, wherein the state information comprises the position and the outline of the obstacle object;
and controlling the engineering machinery to avoid the obstacle based on the state information of the obstacle.
The engineering machinery is provided with a three-dimensional imaging camera, and when the engineering machinery walks, the front view is monitored. When an obstacle appears in the process of moving the engineering machinery, the camera can carry out digital processing on information such as the shape, the volume and the position of the obstacle and feed back the information to the upper computer 600. The upper computer 600 can readjust the walking route for the controller 100, so that the engineering machinery bypasses the obstacle and continues to walk to the target working place. The stereo imaging camera may be understood as the video monitoring apparatus 1700, and besides the camera to detect the obstacle, the engineering machine may also detect the obstacle by using the radar 1600, or the engineering machine may also detect the obstacle by using other types of sensors, which is not limited to this.
In one embodiment, a work machine includes: fuselage gesture monitoring device and early warning device, fuselage gesture monitoring device 1500 includes: radar 1600, video monitoring device 1700, rotary encoder 1800 and hydro-cylinder stay wire displacement sensor 1900, the control method further comprises:
detecting the body attitude of the construction machine by using the body attitude monitoring device 1500;
when the attitude of the machine body is in a risk state, the pre-warning device 2000 is used for warning and controlling the engineering machinery to stop working.
When the body posture monitoring device 1500 of the engineering machine detects that the engineering machine is abnormal, the engineering machine automatically stops working and gives an alarm by using the pre-alarm device 2000, so that the safety of unmanned driving and unmanned operation of the engineering machine is improved.
The engineering machinery can also be provided with two remote control keys, and the pilot oil source of the engineering machinery can be directly cut off by utilizing the two remote control keys. When the engineering machinery local machine is out of control, the control oil circuit of the engineering machinery local machine can be remotely cut off, and the machine action is forcibly stopped. The pilot switch is directly connected in series in a pilot loop of the engineering machine, and the pilot switch can directly close the pilot without being associated with other components.
Fig. 2 schematically shows a block diagram of a working machine according to an embodiment of the invention. As shown in fig. 2, the working machine 2300 may include a control device 1300, a pre-warning device 2000, a first proportional valve 2100, an upper computer 600, and a body attitude monitoring device 1500. The control apparatus 1300 includes a processor 1000, a local control device 400, and a remote control device 500. The body attitude monitoring device 1500 includes a radar 1600, a video monitoring device 1700, a rotary encoder 1800, and a cylinder stay wire displacement sensor 1900.
The control method for a construction machine according to the present invention will be specifically described below with reference to an embodiment.
In the embodiment of the present invention, unmanned operation of the excavator can be realized, and specifically, unmanned operation can be understood as: the excavator can be controlled to run according to a planned route under the condition of unmanned operation, or certain corresponding actions can be performed.
This technical scheme provides an unmanned system for excavator. The system CAN comprise an electric control excavator, an upper computer 600, an RS232 and CAN conversion module, a special controller for engineering machinery, an RTK global positioning system and the like. Fig. 3 schematically shows a control signal flow diagram of a work machine according to an embodiment of the invention. The conversion module 700 in fig. 3 CAN be understood as an RS232 and CAN conversion module. The controller 100 in fig. 3 may be understood as a controller dedicated to the construction machine. The RTK positioning system 900 in fig. 3 may be understood as an RTK global positioning system.
In one example, the upper computer is a computer provided with a Linux system, self-made software is installed on the computer, the software can convert a construction drawing into a digital map, and the place where the excavator needs to work is displayed on the map and the longitude and latitude information is marked. After the user selects a construction site and a job task (such as digging or leveling) and determines the construction site, positioning information of the construction site, job task selection information, action and time sequence information are formed on software, and the data form downlink information and are transmitted to the controller 100 from an upper computer through an RS232 and CAN conversion module. The construction drawing may be understood as the received first job task or the second job task. The construction site can be understood as a target work site. A job task may be understood as a first job task or a second job task.
The excavator can be operated by a skilled driver in advance, numerical values and time sequence information of proportional electromagnetic valves of the excavator, such as rotation, walking, a movable arm, an arm or a bucket, can be generated when the skilled driver operates work tasks with various parameters, the numerical values and the time sequence information are transmitted to the upper computer 600 by the controller 100, uplink data of the upper computer 600 are formed, and the data are stored in the database by the upper computer 600. When the user selects the corresponding job task, the upper computer 600 calls out the corresponding data and transmits the data to the controller, and the controller controls the excavator to automatically complete the job task.
When the parameters of the job task exceed the data in the database, the upper computer 600 automatically selects the closest parameters for performing the job according to the specific job task, and then evaluates the job through the bucket radar and the video monitoring device 1700 and the like. After the job task is completed, if necessary, the job is also corrected by remote control or manual operation. And then recording all the operation and the information of the proportional valve of the operation into a database to form a self-learning mode of automatic operation.
The upper computer 600 communicates by using an RS232 serial port, the controller 100 of the excavator communicates through a CAN bus, and an RS232 and CAN conversion module is arranged between the upper computer 600 and the controller 100 to realize communication between the upper computer 600 and the controller 100.
An RTK base station is erected near an excavator to position the coordinates of the center point of an object, the RTK base station can determine the longitude and latitude of the center point of the object through the accurate positioning of a satellite, and sends out signals within a certain range (usually within 3 kilometers). After a receiver installed on the excavator receives a reference signal sent by the RTK base station, the current accurate positioning of the excavator is calculated through a differential algorithm, and then the relevant positioning information is transmitted to the controller 100 through the CAN bus, so that the current longitude and latitude of the excavator is obtained, namely the first longitude and latitude is obtained.
The controller 100 dedicated to the construction machine can collect and transmit operation data of the excavator to control the excavator to perform operations. The controller utilizes the CAN bus to collect and transmit data. The uplink data includes: the first longitude and latitude measured by the RTK global positioning system, the motion and timing information of the excavator transmitted by the upper computer 600, the operation information of the operation handle of the excavator, the operation information transmitted from the display screen, and the work and data information of the engine. The downlink data includes: the working parameters of the excavator, the engine data, the current value of the proportional valve, the data transmitted to the upper computer to form a database, and the data transmitted to the display screen for field operation, the idling of the engine, the throttle control and the like.
The excavator is a fully-electric excavator, the left and right operating handles of the excavator are electronic, and the handles CAN convert analog quantity signals into CAN signals and send the CAN signals to the controller. All valves of the excavator are also electromagnetic valves, and the excavator is electrically controlled.
Next, an implementation principle of the unmanned operation of the excavator will be described.
(1) The first operation task of the excavator is set in the upper computer, and after the excavator determines a target operation site, the program of the upper computer sends operation site information and positioning information to the controller. The matching first job data is then selected from the database.
(2) The controller 100 receives a reference signal sent by the RTK base station in real time and determines a first longitude and latitude and a first heading angle of the excavator.
(3) After the controller 100 receives the signal for starting working sent by the upper computer 600, the first longitude and latitude and the longitude and latitude of the target operation place are compared, the difference between the first longitude and latitude and the longitude and latitude of the target operation place is calculated, and the target course angle is calculated by using an algorithm according to the first longitude and latitude and the longitude and latitude of the target operation place. The target course angle is compared with the first course angle, the compared value is converted into a current value of a first proportional valve 2100, the first course angle can be adjusted by the first proportional valve 2100, and the first proportional valve 2100 is also called a walking proportional valve. During walking, the program will monitor the difference between the first course angle and the target course angle, and then adjust the current value of the first proportional valve 2100 to adjust the magnitude of the first course angle to the magnitude of the target course angle, thereby forming a closed-loop control.
(4) The excavator is provided with a three-dimensional imaging camera, and when the engineering machinery walks, the front view is monitored. When an obstacle appears in the process of traveling of the engineering machinery, the camera can carry out digital processing on information such as the shape, the volume, the position and the outline of the obstacle and feed back the information to the upper computer 600. The upper computer 600 can readjust the walking route for the controller 100, so that the engineering machinery bypasses the obstacle and continues to walk to the target working place. The stereo imaging camera may be understood as the video monitoring apparatus 1700, and besides the camera to detect the obstacle, the engineering machine may also detect the obstacle by using the radar 1600, or the engineering machine may also detect the obstacle by using other types of sensors, which is not limited to this.
(5) After the excavator walks to a target operation place, the controller sends an instruction to the upper computer, the instruction indicates that the target operation place arrives, the upper computer stops sending positioning information to the controller, then the upper computer searches first operation data corresponding to a first operation task in the database, the first operation data comprises information such as corresponding operation and time sequence, and the first operation data is transmitted to the controller 100 through a serial port.
(6) The controller 100 receives the first operation data, forms a proportional valve current output in response thereto, and controls each part of the excavator to perform construction. The working effect is monitored in real time by using a bucket radar and video monitoring device 1700. After the first job task is completed, the controller 100 sends an instruction to the upper computer, the instruction indicating that the first job task is ended.
(7) And matching corresponding first job data in the database based on the first job task, and if the matching is not successful, the database enters a self-learning mode. The upper computer selects a third operation task closest to the first operation task, calls out third operation data associated with the third operation task, controls the excavator to operate according to the third operation data, and records all proportional valve current output data and time sequences generated when the excavator starts to operate. And then, the first operation task can be completed under manual intervention, and the upper computer adds all operation data into the database to complete the self-learning function of the database. Manual intervention may refer to manual driving and remote control of the excavator.
(8) After receiving the information of the end of the first job task, the upper computer 600 stops sending serial port data and enters the next job task.
In the embodiment, unmanned driving of the excavator is realized, labor cost can be reduced, working precision is improved, labor intensity is reduced, and the use threshold of the excavator is reduced. In addition, a technical foundation is provided for advanced technologies such as future unmanned sites, unmanned mines and the like.
In the embodiment, the excavator can realize the functions of automatic cruising and automatic obstacle avoidance. The excavator can establish a database with a self-learning function by using the upper computer 600, further select first operation data associated with a first operation task, and directly control the excavator to operate by using the first operation data, so that automatic operation is realized. The excavator also utilizes a machine body radar and a visual imaging technology to detect the operation effect and avoid the obstacle.
In this specific embodiment, the excavator is further configured with a local operation mode and a remote operation mode, the excavator can use the local operation mode in a safe environment, adopt the remote operation mode in a dangerous occasion with a short distance, and also select an operation mode of automatic driving and automatic operation according to the self requirement, specifically, the operation modes can be selected on the upper computer 600. Therefore, the excavator can adapt to more operation scenes, and the operation reliability of the excavator is improved.
In the technical scheme, the operation place information is received; receiving positioning information; controlling the engineering machinery to move to a target operation site according to the positioning information and the operation site information; determining first job data associated with a first job task; the engineering machine is controlled to operate according to the first operation data, so that unmanned driving of the engineering machine can be realized, the engineering machine can complete operation tasks such as driving and excavation under the unmanned condition, and labor cost is reduced; the life safety of operating personnel is guaranteed under the complex working environment of the engineering machinery; the influence of artificial subjective factors is reduced, and the working precision is improved.
An embodiment of the present invention provides a processor 1000, and the processor 1000 is configured to execute any one of the control methods for a construction machine in the above embodiments.
In particular, the processor 1000 may be configured to:
receiving operation place information and positioning information;
controlling the engineering machinery to move to a target operation site according to the positioning information and the operation site information;
determining first job data associated with a first job task;
and controlling the engineering machinery to work according to the first work data.
In an embodiment of the invention, the processor 1000 is configured to:
the positioning information comprises a satellite positioning signal and a reference signal sent by a carrier phase differential technology RTK base station, and the engineering machine comprises a first proportional valve 2100 used for adjusting the course angle of the engineering machine;
controlling the construction machine to travel to the target operation site according to the positioning information and the operation site information includes:
determining a first coordinate of the current positioning of the engineering machinery, a target coordinate of a target operation place and a first course angle of the current posture of the engineering machinery according to the satellite positioning signal and a reference signal sent by an RTK base station;
calculating a target course angle according to the first coordinate and the target coordinate;
determining a current value of the first proportional valve 2100 according to the first course angle and the target course angle to adjust the first course angle to the target course angle;
and controlling the engineering machinery to move to the target operation place based on the adjusted first course angle, the positioning information and the operation place information.
In an embodiment of the invention, the processor 1000 is configured to:
the work machine includes an excavator, and the first operation data includes at least one of: the work data of the swing, the work data of the travel, the work data of the boom, the work data of the arm, and the work data of the bucket.
In an embodiment of the invention, the processor 1000 is configured to:
the construction machine includes: a radar 1600 and a video surveillance apparatus 1700,
detecting an obstacle object of the construction machine by using a radar 1600 or a video monitoring device 1700;
determining state information of the obstacle object, wherein the state information comprises the position and the outline of the obstacle object;
and controlling the engineering machinery to avoid the obstacle based on the state information of the obstacle.
In an embodiment of the invention, the processor 1000 is configured to:
determining first job data associated with the first job task comprises:
receiving a first job task;
converting the first job task into first job data; or calling a database connected with the engineering machinery, and matching corresponding first operation data in the database based on the first operation task.
In an embodiment of the invention, the processor 1000 is configured to:
the construction machine includes: fuselage gesture monitoring device 1500 and early warning device 2000, fuselage gesture monitoring device 1500 includes: radar 1600, video monitoring device 1700, rotary encoder 1800 and cylinder stay wire displacement sensor 1900,
detecting the body attitude of the construction machine by using the body attitude monitoring device 1500;
when the attitude of the machine body is in a risk state, the pre-warning device 2000 is used for warning and controlling the engineering machinery to stop working.
In an embodiment of the invention, the processor 1000 is configured to:
acquiring an image of a target operation site after controlling the engineering machinery to operate according to the first operation data;
processing the image to generate a processing result;
controlling the engineering machinery to stop working under the condition that the processing result indicates that the first working task is completed;
receiving second job data in the case that the processing result indicates that the first job task is not completed;
and controlling the engineering machinery to work according to the second work data.
In an embodiment of the invention, the processor 1000 is configured to:
the engineering machine comprises an upper computer 600 which is provided with a plurality of wheels,
after the engineering machinery is controlled to work according to the second work data, storing the first work task, the first work data and the second work data by using the upper computer, and associating the first work data and the second work data with the first work task;
receiving a second job task;
and controlling the engineering machinery to work according to the first work data and the second work data under the condition that the difference between the first work task and the second work task is smaller than a first preset range.
The embodiment of the invention provides a control device 1300 for a construction machine, wherein the control device 1300 comprises the processor 1000, the local control equipment 400 and/or the remote control equipment 500, the local control equipment 400 is used for locally controlling the construction machine, and the remote control equipment 500 is used for remotely controlling the construction machine.
An embodiment of the present invention provides a construction machine, which includes the above control device for a construction machine. The work machine includes an excavator.
An embodiment of the present invention provides a machine-readable storage medium having instructions stored thereon for causing a machine to execute the above-described control method for a construction machine.
An embodiment of the present invention provides a computer program product, which includes a computer program, and the computer program, when executed by a processor, implements the control method for a construction machine described above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. A control method for a construction machine, comprising:
receiving operation place information and positioning information;
controlling the engineering machinery to move to a target operation place according to the positioning information and the operation place information;
determining first job data associated with a first job task;
and controlling the engineering machinery to work according to the first work data.
2. The control method for a construction machine according to claim 1, wherein the positioning information includes a satellite positioning signal and a reference signal transmitted from a carrier phase differential technology (RTK) base station, and the construction machine includes a first proportional valve for adjusting a heading angle of the construction machine;
the controlling the engineering machinery to travel to the target operation place according to the positioning information and the operation place information comprises:
determining a first coordinate of the current positioning of the engineering machinery, a target coordinate of the target operation place and a first course angle of the current attitude of the engineering machinery according to the satellite positioning signal and a reference signal sent by the RTK base station;
calculating a target course angle according to the first coordinate and the target coordinate;
determining the current value of the first proportional valve according to the first course angle and the target course angle so as to adjust the first course angle to the target course angle;
and controlling the engineering machinery to move to a target operation place based on the adjusted first course angle, the positioning information and the operation place information.
3. The control method for a working machine according to claim 1, wherein the working machine includes an excavator, and the first operation data includes at least one of: the work data of the swing, the work data of the travel, the work data of the boom, the work data of the arm, and the work data of the bucket.
4. The control method for a working machine according to claim 1, wherein the working machine comprises: radar and video monitoring apparatus, the control method further comprising:
detecting an obstacle object of the construction machine using the radar or the video monitoring apparatus;
determining state information of the obstacle object, the state information including a position and a contour of the obstacle object;
and controlling the engineering machinery to avoid the obstacle based on the state information of the obstacle.
5. The control method for a work machine of claim 1, wherein said determining first work data associated with a first work task comprises:
receiving the first job task;
converting the first job task into first job data; or calling a database connected with the engineering machinery, and matching the corresponding first operation data in the database based on the first operation task.
6. The control method for a working machine according to claim 1, wherein the working machine comprises: fuselage gesture monitoring device and early warning device, fuselage gesture monitoring device includes: radar, video monitoring device, rotary encoder and hydro-cylinder stay wire displacement sensor, the control method still includes:
detecting the body attitude of the engineering machinery by using the body attitude monitoring device;
and under the condition that the attitude of the machine body is in a risk state, alarming by using the pre-alarming device and controlling the engineering machinery to stop working.
7. The control method for a construction machine according to claim 1, further comprising:
acquiring an image of the target operation site after the engineering machine is controlled to operate according to the first operation data;
processing the image to generate a processing result;
controlling the engineering machinery to stop working under the condition that the processing result indicates that the first working task is completed;
receiving second job data when the processing result indicates that the first job task is not completed;
and controlling the engineering machinery to work according to the second work data.
8. The control method for a construction machine according to claim 7, wherein the construction machine includes an upper computer, the control method further comprising:
after the engineering machinery is controlled to work according to the second work data, storing the first work task, the first work data and the second work data by using the upper computer, and associating the first work data and the second work data with the first work task;
receiving a second job task;
and under the condition that the difference between the first work task and the second work task is smaller than a first preset range, controlling the engineering machinery to work according to the first work data and the second work data.
9. A processor, characterized by being configured to execute the control method for a working machine according to any one of claims 1 to 8.
10. A control device for a construction machine, comprising:
the processor of claim 9; and
the local control equipment is used for locally controlling the engineering machinery, and/or the remote control equipment is used for remotely controlling the engineering machinery.
11. A working machine, characterized by comprising a control device for a working machine according to claim 10.
12. The work machine of claim 11, wherein the work machine comprises an excavator.
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