CN113377102A - Control method, processor and device for excavator and excavator - Google Patents
Control method, processor and device for excavator and excavator Download PDFInfo
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Abstract
The invention relates to the field of engineering machinery and discloses a control method, a processor, a device and an excavator for the excavator. The control method comprises the following steps: determining a target position of the excavator; planning a driving path of the excavator according to the target position, wherein the driving path comprises a plurality of reference points, and the plurality of reference points comprise the target position; determining a first course angle according to first position information and second position information, wherein the first position information is information of the current position of the excavator, and the second position information is position information of a next reference point relative to the current position in the multiple reference points; and controlling the excavator to travel to the next reference point according to the first course angle until the next reference point is the target position. Therefore, the excavator can automatically run to a target position under the unmanned condition, the working efficiency is improved, the labor cost is reduced, and the life safety of operators is guaranteed under the complex working environment.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a control method, a processor, a device and an excavator for the excavator.
Background
Excavators, also known as excavating machines or excavators, are earth moving machines that excavate material above or below a load bearing surface with a bucket and load it into a transport vehicle or unload it to a stockyard. The materials excavated by the excavator mainly comprise soil, coal, silt, soil subjected to pre-loosening and rocks.
At present, operators mainly rely on experience of the operators to drive the excavator manually, so that the working efficiency is low and the safety is low.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a control method, a processor, a control device and an excavator for the excavator.
In order to achieve the above object, a first aspect of the present invention provides a control method for an excavator, including:
determining a target position of the excavator;
planning a driving path of the excavator according to the target position, wherein the driving path comprises a plurality of reference points, and the plurality of reference points comprise the target position;
determining a first course angle according to first position information and second position information, wherein the first position information is information of the current position of the excavator, and the second position information is position information of a next reference point relative to the current position in the multiple reference points;
and controlling the excavator to travel to the next reference point according to the first course angle until the next reference point is the target position.
In the embodiment of the present invention, the control method further includes:
in the event that the excavator reaches one of the reference points, an identification associated with the reference point reached is sent.
In an embodiment of the present invention, controlling the excavator to travel to the next reference point according to the first heading angle comprises:
and controlling the excavator to linearly travel to the next reference point according to the first course angle.
In this embodiment of the present invention, the first location information includes a first longitude and latitude, and the longitude and latitude of the target location is a target longitude and latitude, and the control method further includes:
acquiring a first longitude and latitude and a target longitude and latitude;
calculating a first difference value according to the first longitude and latitude and the target longitude and latitude;
and confirming that the excavator reaches the target position and controlling the excavator to stop running under the condition that the first difference value does not exceed a preset difference value, wherein the preset difference value is determined according to the signal strength and the precision of a positioning device of the excavator.
In the embodiment of the present invention, the control method further includes:
detecting the working environment of the excavator in the running process of the excavator;
under the condition that the obstacle exists in the work environment, determining the position and the outline of the obstacle;
determining an obstacle avoidance path according to the position and the outline; and
and controlling the excavator to travel according to the obstacle avoidance path so as to bypass the obstacle.
In the embodiment of the invention, the determining the obstacle avoidance path according to the position and the contour comprises the following steps:
under the condition that the number of the detected obstacles is 1, determining a first correction point according to the position and the contour of the obstacle and the first course angle;
and determining an obstacle avoidance path according to the first correction point, wherein the obstacle avoidance path is a path passing through the current position of the excavator, the first correction point and a next reference point relative to the current position.
In the embodiment of the invention, the direction of the straight line passing through the positions of the first correction point and the obstacle is orthogonal to the direction of the first heading angle.
In the embodiment of the invention, the minimum distance between the starting point of the obstacle avoidance path and the outline of the obstacle is 3 meters.
In the embodiment of the invention, the determining the obstacle avoidance path according to the position and the contour comprises the following steps:
determining a grid map according to the positions and the outlines of the plurality of obstacles and the target position under the condition that the number of the detected obstacles is multiple;
determining a plurality of continuous grids in the grid map to form an obstacle avoidance path, wherein the plurality of continuous grids do not contain the positions and the outlines of the plurality of obstacles.
In the implementation of the present invention, determining a plurality of continuous grids in the grid map to form an obstacle avoidance path includes:
determining a first plurality of continuous grids in the grid map as a first route;
determining a second plurality of continuous grids in the grid map as a second route;
a shorter route is determined from the first route and the second route to form an obstacle avoidance path.
In an embodiment of the present invention, determining the grid map according to the positions and contours of the plurality of obstacles and the target position includes:
determining the size of the grid according to the size and the turning radius of the excavator;
and determining a grid map according to the positions and the outlines of the plurality of obstacles, the target position and the size of the grid.
A second aspect of the present invention provides a processor configured to execute the control method for an excavator described above.
A third aspect of the present invention provides a control apparatus for an excavator, comprising:
a positioning device for determining first location information and second location information; and
the processor described above.
A fourth aspect of the present invention provides an excavator including the control device for an excavator described above.
A fifth aspect of the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the control method for an excavator described above.
A sixth aspect of the present invention provides a computer program product comprising a computer program which, when executed by a processor, implements the control method for an excavator described above.
In the technical scheme, the target position of the excavator is determined; planning a driving path of the excavator according to the target position, wherein the driving path comprises a plurality of reference points, and the plurality of reference points comprise the target position; determining a first course angle according to first position information and second position information, wherein the first position information is information of the current position of the excavator, and the second position information is position information of a next reference point relative to the current position in the multiple reference points; and controlling the excavator to travel to the next reference point according to the first course angle until the next reference point is the target position, so that the automatic travel of the excavator is realized, and the working efficiency of the excavator can be improved by the automatic travel. The excavator can travel to the target position under the unmanned condition, so that the labor cost is reduced, and the life safety of operators is guaranteed under the complex operation environment of the excavator. The plurality of reference points are arranged in the running path, and the running of the excavator is regularly controlled by the plurality of reference points, so that abnormal running (such as yaw) of the excavator can be timely controlled, the excavator is ensured to run according to the specified running path, and the reliability and the safety of automatic running of the excavator are 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 flowchart of a control method for an excavator according to an embodiment of the present invention;
FIG. 2 schematically illustrates a flow diagram of automatic driving according to an embodiment of the invention;
FIG. 3 schematically shows a flow diagram of signal processing of an obstacle according to an embodiment of the invention;
fig. 4 schematically illustrates a schematic diagram of an obstacle avoidance path according to an embodiment of the present invention;
fig. 5 schematically shows a schematic diagram of an obstacle avoidance path according to another embodiment of the present invention;
FIG. 6 schematically illustrates a flow diagram of control signals for an excavator according to an embodiment of the present invention;
fig. 7 schematically shows a line connection diagram of an apparatus of an excavator according to an embodiment of the present 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 flowchart of a control method for an excavator according to an embodiment of the present invention. As shown in fig. 1, in an embodiment of the present invention, there is provided a control method for an excavator, including the steps of:
103, determining a first course angle according to first position information and second position information, wherein the first position information is information of the current position of the excavator, and the second position information is position information of a next reference point relative to the current position in the multiple reference points;
and 104, controlling the excavator to travel to the next reference point according to the first course angle until the next reference point is the target position.
Excavators, also known as excavating machines or excavators, are earth moving machines that excavate material above or below a load bearing surface with a bucket and load it into a transport vehicle or unload it to a stockyard. The materials excavated by the excavator mainly comprise soil, coal, silt, soil subjected to pre-loosening and rocks.
In the automatic driving method provided by the embodiment of the invention, the excavator firstly determines the current position and the target position through the positioning device 300, and then plans the driving path of the excavator according to the current position and the target position, wherein the driving path comprises a plurality of reference points, and the excavator sequentially drives from the current position to each reference point until the excavator drives to the target position.
Specifically, the automatic travel means: and according to the preset target position, the excavator automatically plans the running path of the operation and automatically runs according to the running path. During the automatic driving process, the human-computer interaction device 200, the positioning device 300 and the control module 100 are required to work in a combined manner.
Before the automatic driving starts, an operator determines a target position through an input device (such as a mouse and a keyboard) in the human-computer interaction device 200, the operator can acquire longitude and latitude of the target position through a working drawing, and in a driving path, the operator can set a plurality of reference points, for example, a current position is marked as a position 0, a first reference point is marked as a position 1, and a second reference point is marked as a position 2. It should be noted that the number and the position of the reference points may be determined according to the length of the driving path, the road condition of the driving path, the operation requirement, and the like, which is not limited herein. After the reference point is set, the control logic of automatic driving can be compiled.
Specifically, position 0 is the initial position of the excavator. The longitude and latitude of the position 1 are acquired, the longitude and latitude of the position 1 are sent to the control module 100, the control module 100 calculates a driving course angle through the longitude and latitude of the position 0 and the longitude and latitude of the position 1, and a difference value of the course angle is calculated through the current course angle and the driving course angle. And determining the speed and angle information of the crawler belt of the excavator according to the difference value of the driving course angle and the course angle, forming a control strategy of the crawler belt, and starting to drive. After the excavator reaches the position 1, the control module 100 determines that the longitude and latitude of the position 1 is coincident with the current longitude and latitude, which indicates that the excavator reaches the position 1 from the position 0, and sends a mark of the position 1 to the human-computer interaction device 200. After receiving the mark of the position 1, the human-computer interaction device 200 determines that the first reference point has been reached, and then starts an automatic driving process from the position 1 to the position 2, so that the driving task is executed in a circulating manner until the excavator automatically drives to the target position. After the excavator automatically travels to the target position, the human machine interaction device 200 transmits the end flag to the control module 100, and the control module 100 stops operating. Referring now to fig. 2, fig. 2 schematically illustrates a flow chart for automatic driving, in accordance with an embodiment of the present invention.
In one embodiment, the control method further comprises:
in the event that the excavator reaches one of the reference points, an identification associated with the reference point reached is sent.
Every time the excavator reaches one reference point, the identification related to the reached reference point is sent, a plurality of reference points are arranged in the driving path, and the driving of the excavator is controlled regularly by utilizing the reference points, so that abnormal driving (such as yaw) of the excavator can be controlled timely, the excavator is ensured to drive according to the specified driving path, and the reliability and the safety of automatic driving of the excavator are improved.
In one embodiment, controlling the excavator to travel to the next reference point based on the first heading angle comprises:
and controlling the excavator to linearly travel to the next reference point according to the first course angle.
In the operation of the excavator, the excavator automatically travels from the initial position to the first reference point and automatically travels from the previous reference point to the next reference point, and the excavator travels straight, so that the energy consumption of the excavator is reduced, and the working efficiency of the excavator is improved.
After receiving the latitude and longitude of the target position from the human-computer interaction device 200 and the current latitude and longitude information from the positioning device 300, the control module 100 executes the control steps of automatic driving, and the specific flow is as follows:
(1) the current heading angle int _ head _ current, the latitude value int _ lat _ current of the current position and the longitude value int _ lon _ current of the current position of the excavator are read from the serial port 1 of the control module 100.
(2) The latitude value int _ lat _ direct and the longitude value int _ lon _ direct of the next reference point relative to the current position are read from the serial port 2 of the control module 100.
(3) Calculating the difference value of the longitude and latitude: int _ lat _ relative is int _ lat _ direct-int _ lat _ current;
calculating the difference of the longitudes: int _ lon _ relative is int _ lon _ direct-int _ lon _ current;
calculating the absolute value of the current course angle: y ═ atan (int _ lon _ relative cos (int _ lat _ direct × 2 pi/3600000000))/int _ lat _ relative);
Angel＝1800000*Y/pi；
and (3) giving course angle quadrant compensation:
If(int_lat_relative>0&&int_lon_relative>0)then int_head_direct＝Angel；
If(int_lat_relative>0&&int_lon_relative<0)then int_head_direct＝Angel+3600000；
If(int_lat_relative<0)then int_head_direct＝Angel+1800000；
calculating the difference between the current course angle and the first course angle:
int_head_relative＝int_head_direct-int_head_current；
(4) calculating the output value of the crawler belt of the excavator:
if the difference between the current heading angle and the first heading angle is large, for example, fabs (int _ head _ relative) >4500000, a large current is applied to the crawler, and fast steering is realized: if the difference between the current heading angle and the first heading angle is greater than 45 degrees, i.e. int _ head _ relative > 4500000: the control value pedal _ left of the left crawler is-K1, and the control value pedal _ right of the right crawler is K1; where K1 is a constant that controls the speed of the track. The left track may be understood as a first track of the excavator and the right track may be understood as a second track of the excavator. If the difference between the current heading angle and the first heading angle is less than-45 degrees, i.e. int _ head _ relative < -4500000: the control value for the left track, pedal _ left, K1, and the control value for the right track, pedal _ right, K1.
If the difference between the current heading angle and the first heading angle is small, such as fabs (int _ head _ relative) <4500000, the current value related to the difference is given to the track of the excavator: if the difference between the current heading angle and the first heading angle is greater than 0 degree, namely int _ head _ relative > 0: the control value pedal _ left of the left track is-K1, and the control value pedal _ right of the right track is int _ head _ relative/K2-K1; wherein K2 is a calculation constant for controlling the track running differential speed. If the difference between the current heading angle and the first heading angle is less than 0 degree, namely int _ head _ relative < 0: the control value pedal _ left of the left crawler is — (K1+ int _ head _ relative/K2), and the control value pedal _ right of the right crawler is — (K1).
The cadel _ left and cadel _ right are sent to the control module 100 as crawler control values.
(5) Judging whether the excavator reaches the target position
Setting a parameter T, wherein T is SQRT (int _ lat _ relative + int _ lon _ relative int _ lon _ relative), when T is less than T1, determining that the excavator reaches the target position, and then sending corresponding arrival information to the human-computer interaction device 200. The T1 may be set to 40cm, and when the T1 is set to 40cm, if the sum of the differences between the current position and the target position of the excavator is within 40cm when T <40, it is determined that the excavator has reached the target position. It should be noted that the value of T1 can be adjusted according to the signal strength and accuracy of the positioning apparatus 300.
(6) After the walking control value is calculated through the algorithm, the control module 100 outputs the PWM current to control the crawler walking solenoid valve. After reaching the target position, the control module 100 sends the reached signal, and the signal is sent to the human-computer interaction device 200 through the serial port. And then ending the flow of the automatic driving, and waiting for a job task ending instruction and the information of the next job task.
In one embodiment, the first location information includes a first longitude and latitude, and the longitude and latitude of the target location is a target longitude and latitude, and the control method further includes:
acquiring a first longitude and latitude and a target longitude and latitude;
calculating a first difference value according to the first longitude and latitude and the target longitude and latitude;
and confirming that the excavator reaches the target position and controlling the excavator to stop running under the condition that the first difference value does not exceed a preset difference value, wherein the preset difference value is determined according to the signal strength and the precision of a positioning device of the excavator.
The first difference may be referred to as T and the preset difference may be referred to as T1. The first longitude and latitude is the longitude and latitude in the first position information, that is, the first longitude and latitude is the longitude and latitude of the current position of the excavator. Whether the excavator reaches the target position is judged by calculating the difference value between the longitude and the latitude of the current position of the excavator and the longitude and the latitude of the target position, so that the accuracy and the reliability of automatic driving of the excavator are improved. In addition, the preset difference value can be adjusted according to the signal intensity and the precision of the positioning device 300 of the excavator, and the operability and the practicability are improved.
By applying the control method for the excavator provided by the embodiment of the invention, the automatic obstacle avoidance of the excavator can be realized.
In one embodiment, the control method further comprises:
detecting the working environment of the excavator in the running process of the excavator;
under the condition that the obstacle exists in the work environment, determining the position and the outline of the obstacle;
determining an obstacle avoidance path according to the position and the outline; and
and controlling the excavator to travel according to the obstacle avoidance path so as to bypass the obstacle.
In one embodiment, determining the obstacle avoidance path according to the position and the contour comprises:
under the condition that the number of the detected obstacles is 1, determining a first correction point according to the position and the contour of the obstacle and the first course angle;
and determining an obstacle avoidance path according to the first correction point, wherein the obstacle avoidance path is a path passing through the current position of the excavator, the first correction point and a next reference point relative to the current position.
In one embodiment, a direction of a line passing through the first correction point and the position of the obstacle is orthogonal to a direction of the first heading angle.
In one embodiment, the minimum distance between the starting point of the obstacle avoidance path and the outline of the obstacle is 3 meters.
In one embodiment, determining the obstacle avoidance path according to the position and the contour comprises:
determining a grid map according to the positions and the outlines of the plurality of obstacles and the target position under the condition that the number of the detected obstacles is multiple;
determining a plurality of continuous grids in the grid map to form an obstacle avoidance path, wherein the plurality of continuous grids do not contain the positions and the outlines of the plurality of obstacles.
In one embodiment, determining a plurality of continuous meshes in a mesh map to form an obstacle avoidance path includes:
determining a first plurality of continuous grids in the grid map as a first route;
determining a second plurality of continuous grids in the grid map as a second route;
a shorter route is determined from the first route and the second route to form an obstacle avoidance path.
In the automatic obstacle avoidance process of the excavator, the excavator can optimize the obstacle avoidance path according to the position and the contour information of the obstacle, the current position and the position of the next reference point, determine the optimal obstacle avoidance path, improve the scientificity of automatic obstacle avoidance of the excavator, reduce the energy consumption of the excavator and improve the working efficiency of the excavator.
In one embodiment, determining a grid map based on the positions and contours of the plurality of obstacles and the target position comprises:
determining the size of the grid according to the size and the turning radius of the excavator;
and determining a grid map according to the positions and the outlines of the plurality of obstacles, the target position and the size of the grid.
The following describes a method for automatic obstacle avoidance according to an embodiment of the present invention.
Automatic obstacle avoidance: the distance between the excavator and the obstacle is measured by adopting a radar ranging technology, the obstacle avoidance strategy under a single obstacle and a plurality of obstacles is analyzed, the obstacle avoidance path is planned, and the obstacle is effectively avoided under the condition that the excavator automatically runs and meets the obstacle. The specific process is as follows:
(1) in the process of automatic driving, 360-degree scanning is carried out on the surrounding environment of the excavator. After the obstacle is scanned, the shape of the obstacle is analyzed, the position, the size and the shape of the obstacle can be obtained, and an automatic obstacle avoidance program of the excavator starts to intervene automatic driving.
The main functions of the lidar 401 on an excavator are: the shape of a surrounding object of the excavator (such as a pedestrian) and the relative position and distance to the excavator are determined with high accuracy. Compared with the traditional camera-based distance detection precision, the laser radar 401 has higher precision and stronger anti-interference capability.
Fig. 3 schematically shows a flow chart of signal processing according to an embodiment of the present invention, and as shown in fig. 3, radar signals are sampled and processed in a point cloud manner. Step 301, preprocessing point cloud data; step 302, point cloud clustering; step 303, dividing the ground and the obstacles; and step 304, obtaining the relative distance between the obstacle and the excavator. The relative position, contour, and three-dimensional data of the obstacle can be determined using the environment sensing device 400 such as the laser radar 401.
(2) When the excavator is in an automatic traveling state, the values of the profile and the distance of the obstacle are transmitted to the control module 100. When the excavator enters a range of 3m from the obstacle, the transmission of the current position information is interrupted, and the excavator starts to enter an obstacle avoidance program, namely, the minimum distance between the starting point of the obstacle avoidance path and the outline of the obstacle can be 3 meters.
(3) Fig. 4 schematically illustrates a schematic diagram of an obstacle avoidance path according to an embodiment of the present invention, and as shown in fig. 4, when there are only 1 detected obstacle, the control module 100 calculates a longitude and latitude value of the obstacle according to the received outline and position information of the obstacle. Corresponding longitude and latitude are added in the direction perpendicular to the advancing direction of the original traveling path of the excavator to determine a correction point, and the obstacle is ensured to be avoided when turning when entering the obstacle avoidance path and when traveling linearly along the obstacle avoidance path, so that the obstacle is prevented from colliding with the edge of the obstacle. When the excavator touches an obstacle, the excavator changes the driving direction and drives to the correction point, and when the excavator drives to the correction point, the excavator automatically drives to the next reference point, so that an obstacle avoidance strategy is formed.
(4) Fig. 5 schematically shows a schematic diagram of an obstacle avoidance path according to another embodiment of the present invention. As shown in fig. 5, when there are a plurality of obstacles, the control module 100 calculates the positions of all the obstacles, establishes a coordinate system, and incorporates the obstacles into the coordinate system according to the respective position information. And gridding the whole coordinate system according to certain precision, and calculating the coordinates of the central point of each grid. And performing path optimization by using an Astar optimization algorithm, changing the center of each grid in the result of the optimization algorithm into a plurality of new correction points 1, 2, 3 and … …, forming an obstacle avoidance path according to the sequence of the correction points, and controlling the excavator to automatically run according to the obstacle avoidance path so as to avoid obstacles. In the obstacle avoidance strategy, the establishing precision of the grid can be adjusted according to the size and the turning radius of the excavator, the size of the grid is selected to be a proper value, the grid cannot be too large or too small, and otherwise the excavator can collide with the obstacle.
The method for automatically driving and automatically avoiding the obstacle of the excavator does not need an accurate map of a target working place, so that the time and the cost are saved; the method is more suitable for the actual working scene of the excavator, does not need to manually plan a specific path for the excavator to drive, and is simple and efficient; the problem that the path cannot be planned due to the fact that a plurality of obstacles occupy the path in the traditional method is also solved.
Automatic driving: and determining an initial position and a target position, automatically planning a driving path by the equipment according to a specific algorithm, and automatically driving according to the driving path. Automatic obstacle avoidance: when the device automatically runs, the device detects the obstacle, automatically plans an obstacle avoidance path, and automatically runs according to the obstacle avoidance path to avoid the obstacle.
In the invention, when a plurality of excavators automatically run on a construction site, the plurality of excavators can be networked, so that an optimal running path can be planned for each of the plurality of excavators according to the initial positions and the target positions of the plurality of excavators, and the collision among the plurality of excavators can be avoided. Therefore, the cooperation of the machine group of the excavator is realized, the unified scheduling of a plurality of excavators is realized, the machine group can realize the optimized collocation of the operation tasks and time similar to the automatic production line, and the production and working efficiency is improved.
In order to realize automatic driving and automatic obstacle avoidance, the excavator needs to be equipped with corresponding hardware facilities, and the hardware facilities of the excavator in the invention are briefly described below.
The excavator may include: a positioning device 300, an environment sensing device 400, a control module 100 and a human-computer interaction device 200.
An excavator: the vehicle main body is a vehicle body having a multi-joint working device, an upper revolving structure and a lower traveling device, and the excavator may be a hydraulic drive type excavator based on electrical control.
The positioning device 300: the positioning System can be a Satellite positioning device, is a Global positioning Navigation System integrating three positioning modes of a GNSS (Global Navigation Satellite System), an inertial Navigation System (inertial Navigation for short) and a mobile network, and provides accurate positioning for the excavator in any environment.
The environment sensing apparatus 400: the environment in front of the excavator is sensed, the appearance and three-dimensional information of the obstacle are digitized, the data communication capacity is integrated, and data interaction is carried out with the control module 100 or the man-machine interaction device 200.
The control module 100: the control module 100 is a core module for automatic driving and automatic obstacle avoidance, and the control module 100 integrates all environment perception information, machine positioning information and position information of a working point, plans a driving path by using an algorithm, controls the crawler of the excavator to travel, and displays information such as alarm and the like through the human-computer interaction device 200.
The human-computer interaction device 200: the platform is a man-machine interaction platform and can set the position of a working point of the excavator.
Specifically, the excavator has the functions of getting on and turning and getting off and walking, and is an electric control excavator with a multi-joint working device consisting of a movable arm, an arm and a bucket. A360-degree scanning radar 401 is installed on the top of the excavator, and the radar 401 can be used as a part of the environment sensing device 400. A computer is installed in the cab of the excavator and may be a part of the human-computer interaction device 200. A construction machine controller 101 or an industrial personal computer is installed inside the excavator, and the controller 101 or the industrial personal computer is included as a part of the control module 100. A differential global positioning device 300 is installed on an excavator, the positioning device 300 integrates the positioning functions of inertial navigation and moving signals, a positioning antenna and a course antenna are installed at the tail part of the excavator, and a positioning signal receiving device is placed in a cab.
Fig. 7 schematically shows a line connection diagram of an apparatus of an excavator according to an embodiment of the present invention. As shown in fig. 7, the computer of the human-computer interaction device 200 is connected to the industrial controller 101 through an RS232 port. The laser radar 401 is connected with a CAN port of the controller 101 through a TCP/IP-to-CAN module. The positioning device 300 is connected with another serial port of the controller 101 through an RS232 port. The industrial controller 101 provides a control signal to the traveling electro proportional valve 500 on the excavator through the CAN port to realize automatic traveling and steering. An industrial controller may be referred to simply as a controller.
In the technical scheme, the target position of the excavator is determined; planning a driving path of the excavator according to the target position, wherein the driving path comprises a plurality of reference points, and the plurality of reference points comprise the target position; determining a first course angle according to first position information and second position information, wherein the first position information is information of the current position of the excavator, and the second position information is position information of a next reference point relative to the current position in the multiple reference points; and controlling the excavator to travel to the next reference point according to the first course angle until the next reference point is the target position, so that the automatic travel of the excavator is realized, and the working efficiency of the excavator can be improved by the automatic travel. The excavator can automatically travel to the target position under the unmanned condition, so that the labor cost is reduced, and the life safety of operators is guaranteed under the complex operation environment of the excavator. The plurality of reference points are arranged in the running path, and the running of the excavator is regularly controlled by the plurality of reference points, so that abnormal running (such as yaw) of the excavator can be timely grasped, the excavator is ensured to run according to the specified running path, and the reliability and safety of automatic running of the excavator are improved.
An embodiment of the present invention provides a processor configured to execute any one of the control methods for an excavator in the above embodiments.
In particular, the processor may be configured to:
determining a target position of the excavator;
planning a driving path of the excavator according to the target position, wherein the driving path comprises a plurality of reference points, and the plurality of reference points comprise the target position;
determining a first course angle according to first position information and second position information, wherein the first position information is information of the current position of the excavator, and the second position information is position information of a next reference point relative to the current position in the multiple reference points;
and controlling the excavator to travel to the next reference point according to the first course angle until the next reference point is the target position.
In an embodiment of the invention, the processor is further configured to:
in the event that the excavator reaches one of the reference points, an identification associated with the reference point reached is sent.
In an embodiment of the invention, the processor is configured to:
controlling the excavator to travel to the next reference point according to the first heading angle comprises:
and controlling the excavator to linearly travel to the next reference point according to the first course angle.
In an embodiment of the invention, the processor is further configured to:
the first location information includes a first longitude and latitude, the longitude and latitude of the target location is a target longitude and latitude,
acquiring a first longitude and latitude and a target longitude and latitude;
calculating a first difference value according to the first longitude and latitude and the target longitude and latitude;
and confirming that the excavator reaches the target position and controlling the excavator to stop running under the condition that the first difference value does not exceed a preset difference value, wherein the preset difference value is determined according to the signal strength and the precision of a positioning device of the excavator.
In an embodiment of the invention, the processor is further configured to:
detecting the working environment of the excavator in the running process of the excavator;
under the condition that the obstacle exists in the work environment, determining the position and the outline of the obstacle;
determining an obstacle avoidance path according to the position and the outline; and
and controlling the excavator to travel according to the obstacle avoidance path so as to bypass the obstacle.
In an embodiment of the invention, the processor is configured to:
determining an obstacle avoidance path according to the position and the contour comprises:
under the condition that the number of the detected obstacles is 1, determining a first correction point according to the position and the contour of the obstacle and the first course angle;
and determining an obstacle avoidance path according to the first correction point, wherein the obstacle avoidance path is a path passing through the current position of the excavator, the first correction point and a next reference point relative to the current position.
In an embodiment of the invention, the processor is configured to:
the direction of the straight line passing through the first correction point and the position of the obstacle is orthogonal to the direction of the first heading angle.
In an embodiment of the invention, the processor is configured to:
the minimum distance between the starting point of the obstacle avoidance path and the outline of the obstacle is 3 meters.
In an embodiment of the invention, the processor is configured to:
determining an obstacle avoidance path according to the position and the contour comprises:
determining a grid map according to the positions and the outlines of the plurality of obstacles and the target position under the condition that the number of the detected obstacles is multiple;
determining a plurality of continuous grids in the grid map to form an obstacle avoidance path, wherein the plurality of continuous grids do not contain the positions and the outlines of the plurality of obstacles.
In an embodiment of the invention, the processor is configured to:
determining a plurality of continuous meshes in the mesh map to form an obstacle avoidance path includes:
determining a first plurality of continuous grids in the grid map as a first route;
determining a second plurality of continuous grids in the grid map as a second route;
a shorter route is determined from the first route and the second route to form an obstacle avoidance path.
In an embodiment of the invention, the processor is configured to:
determining a grid map according to the positions and contours of the plurality of obstacles and the target position comprises:
determining the size of the grid according to the size and the turning radius of the excavator;
and determining a grid map according to the positions and the outlines of the plurality of obstacles, the target position and the size of the grid.
The embodiment of the invention provides a control device for an excavator, the control device comprises a positioning device 300, the positioning device 300 is used for determining first position information and second position information, and the control device further comprises the processor.
An embodiment of the invention provides an excavator, which comprises the control device for the excavator.
An embodiment of the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-described control method for an excavator.
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 an excavator 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 (14)
1. A control method for an excavator, comprising:
determining a target position of the excavator;
planning a driving path of the excavator according to the target position, wherein the driving path comprises a plurality of reference points, and the plurality of reference points comprise the target position;
determining a first course angle according to first position information and second position information, wherein the first position information is information of the current position of the excavator, and the second position information is position information of a next reference point relative to the current position in the multiple reference points;
and controlling the excavator to travel to the next reference point according to the first course angle until the next reference point is the target position.
2. The control method according to claim 1, characterized by further comprising:
in the event that the excavator reaches one of the plurality of reference points, transmitting an identification associated with the reached reference point.
3. The control method of claim 1, wherein controlling the excavator to travel to the next reference point according to the first heading angle comprises:
and controlling the excavator to linearly travel to the next reference point according to the first course angle.
4. The control method according to claim 1, wherein the first location information includes a first longitude latitude, and the longitude and latitude of the target location is a target longitude and latitude, the control method further comprising:
acquiring the first longitude and latitude and the target longitude and latitude;
calculating a first difference value according to the first longitude and latitude and the target longitude and latitude;
and confirming that the excavator reaches the target position and controlling the excavator to stop running under the condition that the first difference value does not exceed a preset difference value, wherein the preset difference value is determined according to the signal strength and the precision of a positioning device of the excavator.
5. The control method according to claim 1, characterized by further comprising:
detecting the working environment of the excavator in the running process of the excavator;
in the case that the working environment is detected to have an obstacle, determining the position and the outline of the obstacle;
determining an obstacle avoidance path according to the position and the outline; and
and controlling the excavator to travel according to the obstacle avoidance path so as to bypass the obstacle.
6. The control method of claim 5, wherein the determining an obstacle avoidance path from the position and the contour comprises:
under the condition that the number of the detected obstacles is 1, determining a first correction point according to the position and the contour of the obstacle and the first course angle;
and determining the obstacle avoidance path according to the first correction point, wherein the obstacle avoidance path is a path passing through the current position of the excavator, the first correction point and a next reference point relative to the current position.
7. The control method according to claim 6, wherein a direction of a straight line passing through the positions of the first correction point and the obstacle is orthogonal to a direction of the first heading angle.
8. The control method according to claim 6, wherein a minimum distance between a starting point of the obstacle avoidance path and a contour of the obstacle is 3 meters.
9. The control method of claim 5, wherein the determining an obstacle avoidance path from the position and the contour comprises:
determining a grid map according to the positions and contours of the plurality of obstacles and the target position under the condition that the number of the detected obstacles is multiple;
determining a plurality of continuous grids in the grid map to form the obstacle avoidance path, wherein the plurality of continuous grids do not contain the positions and the outlines of a plurality of obstacles.
10. The control method according to claim 9, wherein the determining a plurality of continuous meshes in the mesh map to form the obstacle avoidance path includes:
determining a first plurality of continuous grids in the grid map as a first route;
determining a second plurality of continuous grids in the grid map as a second route;
determining a shorter route in the first route and the second route to form the obstacle avoidance path.
11. The control method according to claim 9, wherein the determining a grid map based on the positions and contours of the plurality of obstacles and the target position includes:
determining the size of the grid according to the size and the turning radius of the excavator;
and determining a grid map according to the positions and the outlines of the plurality of obstacles, the target position and the size of the grid.
12. A processor characterized by being configured to execute the control method for an excavator according to any one of claims 1 to 11.
13. A control apparatus for an excavator, comprising:
a positioning device for determining first location information and second location information; and
the processor of claim 12.
14. An excavator characterized by comprising the control device for an excavator according to claim 13.
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Application publication date: 20210910 |