CN114319501A - Discharging method, controller, excavator, discharging system and storage medium - Google Patents
Discharging method, controller, excavator, discharging system and storage medium Download PDFInfo
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- CN114319501A CN114319501A CN202210236794.6A CN202210236794A CN114319501A CN 114319501 A CN114319501 A CN 114319501A CN 202210236794 A CN202210236794 A CN 202210236794A CN 114319501 A CN114319501 A CN 114319501A
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Abstract
The application provides a discharging method, a controller, an excavator, a discharging system and a storage medium. The discharging method comprises the following steps: judging whether an excavator is required to unload the materials onto the conveying belt; and under the condition that the excavator is required to discharge the materials onto the conveyor belt, enabling a bucket of the excavator to discharge materials above the conveyor belt, and enabling a hinged point of a bucket rod and the bucket of the excavator to move along the extension direction of the conveyor belt in the discharging process so as to discharge the materials to different positions of the conveyor belt. Therefore, the safety and smoothness of the unloading process of the excavator can be improved.
Description
Technical Field
The application relates to the technical field of excavators, in particular to a discharging method, a controller, an excavator, a discharging system and a storage medium.
Background
The excavator is an important engineering vehicle, and it can replace the manual work to carry out some dangerous, boring or high strength's work, for example can replace the manual work to dig up the material, then unload on the conveyer belt, and the conveyer belt transports the material to other positions, whole process circulation operation to liberation manpower improves work efficiency.
In the related art, when the excavator unloads materials to the conveying belt, the materials are directly unloaded to one position of the conveying belt, and under the condition, the materials on the conveying belt are stacked together, so that the materials are easy to fall off, the conveying belt is easy to be stressed unevenly, and the problems of deformation of the conveying belt and equipment failure are caused. Therefore, in the related art, the problem of poor safety and smoothness in the unloading process of the excavator exists.
Disclosure of Invention
One technical problem to be solved by the present application is: the safety and smoothness of the unloading process of the excavator are improved.
In order to solve the above technical problem, a first aspect of the present application provides a discharging method, which includes:
judging whether an excavator is required to unload the materials onto the conveying belt; and
under the condition that the excavator is required to discharge materials onto the conveyor belt, the bucket of the excavator is enabled to discharge materials above the conveyor belt, and the hinged point of the bucket rod and the bucket of the excavator moves along the extending direction of the conveyor belt in the discharging process, so that the materials are discharged to different positions of the conveyor belt.
In some embodiments, moving the hinge point of the dipper stick and the bucket of the excavator in the direction of extension of the conveyor belt during discharging includes:
determining a motion track of the hinge point moving along the extension direction of the conveyor belt in the discharging process;
and controlling the angles of the bucket rod and a movable arm of the excavator in real time according to the determined motion track, so that a hinge point moves according to the motion track.
In some embodiments, controlling the angle of the arm and the boom of the excavator in real time according to the determined motion track, and moving the hinge point according to the motion track comprises:
determining the angle values to be rotated of the bucket rod and the movable arm in the moving process of the hinge point in real time according to the motion track;
the angle change of the bucket rod and the movable arm is controlled in real time to enable the angle value to be rotated, so that the hinged point moves in the extending direction of the conveying belt.
In some embodiments, determining, in real time, the to-be-rotated angle values of the arm and the boom during the movement of the hinge point according to the movement track includes:
detecting the current angle values of the bucket rod and the movable arm in real time, and determining the target angle values of the bucket rod and the movable arm at the next position in real time according to the motion trail;
and determining the angle value to be rotated of the arm and the movable arm based on the detected current angle values of the arm and the movable arm and the determined target angle values of the arm and the movable arm at the next position.
In some embodiments, determining the target angle value of the arm and the boom at the next position in real time according to the motion trajectory includes:
determining the three-dimensional coordinate of the hinge point at the next position in real time according to the motion track;
and determining the target angle values of the bucket rod and the movable arm at the next position in real time according to the three-dimensional coordinates of the hinge point at the next position determined in real time.
In some embodiments, the angle of the arm and the boom is controlled in a closed loop manner during the process of controlling the angle change of the arm and the boom to the turning angle value in real time.
In some embodiments, in moving the hinge point along the extending direction of the conveyor belt, the hinge point is moved at a constant speed along the extending direction of the conveyor belt, or the moving speed of the hinge point along the extending direction of the conveyor belt is changed along with the conveying speed of the conveyor belt.
In some embodiments, the height difference between the hinge point and the conveyor belt is kept constant during the movement of the hinge point in the extension direction of the conveyor belt during the discharge.
In some embodiments, discharging the bucket of the excavator above the conveyor belt comprises:
the bucket is swung up and down to discharge the material in the bucket onto the conveyor belt.
In some embodiments, the angle of the bucket is closed loop controlled during the up and down swing of the bucket.
In some embodiments, the material shaking intensity of the bucket is increased along with the increase of the viscosity of the material in the process of discharging the bucket of the excavator above the conveyor belt.
In some embodiments, determining whether an excavator is required to discharge material onto the conveyor belt comprises:
judging whether the conveying belt conveys the materials unloaded by the excavator last time or not;
and under the condition that the conveying belt conveys the materials discharged by the excavator last time, judging that the excavator is required to discharge the materials onto the conveying belt.
A second aspect of the present application provides a controller comprising a memory and a processor coupled to the memory, the processor being configured to execute the unloading method of the embodiments of the present application based on instructions stored in the memory.
A third aspect of the present application provides an excavator that includes the controller of the embodiments of the present application.
The application fourth aspect provides a discharge system, includes the conveyer belt, and still includes the excavator of this application embodiment, and the excavator is used for unloading the material to the conveyer belt.
A fifth aspect of the present application provides a computer-readable storage medium, where computer instructions are stored in the computer-readable storage medium, and the computer instructions are executed by a processor to perform the unloading method in the embodiments of the present application.
Based on the unloading method provided by the embodiment of the application, the excavator can unload materials to different positions of the conveyor belt, so that the falling risk of the materials can be reduced, the deformation of the conveyor belt and the equipment failure risk can be reduced, and the safety and the smoothness of the unloading process of the excavator can be improved.
Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a discharging system in the embodiment of the application.
Fig. 2 is a logic block diagram of a control system in an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a controller in an embodiment of the present application.
Fig. 4 is a schematic flow chart of a discharging method in the embodiment of the present application.
Description of reference numerals:
10. an excavator; 20. a conveyor belt;
1. a vehicle body;
2. an actuator; 21. a turntable; 22. a movable arm; 23. a bucket rod; 24. a bucket; 25. a boom cylinder; 26. a bucket rod cylinder; 27. a bucket cylinder; 28. a hinge point; 29. a shovel tip;
3. an angle detection device;
4. a controller; 41. a memory; 42. a processor; 43. a communication interface; 44. a bus;
5. a pilot valve;
6. an encoder;
7. and (4) switching.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present disclosure.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In the description of the present application, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for the convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present application.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
At present, the excavator is widely applied to the scenes of building engineering, mine exploitation, refuse landfill, irrigation and water conservancy construction and the like.
Fig. 1 generally shows the basic structure of an excavator.
Referring to fig. 1, an excavator 10 includes a vehicle body 1 and an actuator 2. The actuating mechanism 2 is arranged on the vehicle body 1 and driven by the vehicle body 1 to travel. The actuator 2 includes a turn table 21, a boom 22, an arm 23, a bucket 24, a boom cylinder 25, an arm cylinder 26, and a bucket cylinder 27. The turntable 21 is rotatably provided on the vehicle body 1. The boom 22 is hinged to the turn table 21 and is driven to rotate by a boom cylinder 25. Both ends of the boom cylinder 25 are connected to the vehicle body 1 and the boom 22, respectively, to drive the boom 22 to rotate about the hinge shaft when telescopic. The arm 23 is hinged between the boom 22 and the bucket 24, and is driven to rotate by an arm cylinder 26. Both ends of the arm cylinder 26 are connected to the boom 22 and the bucket 24, respectively, to drive the arm 23 to rotate about the hinge shaft when telescoping. The bucket 24 is hinged to the end of the arm 23, and is rotated by a bucket cylinder 27. Both ends of the bucket cylinder 27 are connected to the arm 23 and the bucket 24, respectively, to drive the bucket 24 to rotate about the hinge shaft when telescoping. The hinge point between the bucket 24 and the stick 23 is referred to as the hinge point 28.
In operation, boom 22 and stick 23 are actuated to cause bucket 24 to excavate material (e.g., soil, coal, silt, or rock) or dump material. The operation of the boom 22 and the arm 23 is controlled by a hydraulic system. The hydraulic system includes a main circuit and a pilot circuit. The pilot loop is provided with a pilot valve 5. A main valve (not shown) is provided on the main circuit. The pilot valve 5 controls the main valve to control the operation of the actuator 2. The pilot valve 5 operates to control the operation of the main valve, so that the hydraulic oil of the main circuit is controlled to flow into the boom cylinder 25 and the arm cylinder 26, the angle of the boom 22 and the arm 23 is controlled, and the posture of the bucket 24 is controlled. In some embodiments, the pilot valve 5 is an electromagnetic valve, and in this case, by controlling the current of the pilot valve 5, the control of the action of the pilot valve 5 can be realized. The angle between the boom 22 and the arm 23 affects the position of the hinge point 28 between the bucket 24 and the arm 23, and thus the position of the bucket 24. It can be understood that the angle of the boom 22 refers to an included angle between a connecting line of hinge points at two ends of the boom 22 (i.e. a hinge point between the boom 22 and the turntable 21 and a hinge point between the boom 22 and the arm 23) and a horizontal plane; the angle of the arm 23 is an angle between the arm 23 and the boom 22.
To save labor and improve efficiency, the excavator 10 may work in conjunction with the conveyor 20 in some cases. Referring to fig. 1, an excavator 10 discharges dug materials onto a conveyor belt 20, and the conveyor belt 20 transports the materials to other places, thereby realizing a discharging process of a circular operation.
In the related art, when the excavator 10 and the conveyor belt 20 are matched to discharge, the excavator 10 directly discharges materials at one position of the conveyor belt 20, and in this case, the materials on the conveyor belt 20 are stacked together, and are easy to fall off, and the conveyor belt 20 is prone to uneven stress, which causes deformation of the conveyor belt 20 and even equipment failure.
In addition, in the related art, when the excavator 10 discharges the material onto the conveyor belt 20, the discharge motion is not adjusted according to the viscosity characteristics of the material, and in this case, the remaining material in the bucket 24 is easily discharged unclean, which affects the accuracy of controlling the discharge amount.
In view of the above, the present application provides a discharging method, a controller, an excavator, a discharging system, and a computer-readable storage medium.
Fig. 1-4 schematically illustrate the discharge system, discharge method, and controller of the present application.
Referring to fig. 1, the discharge system includes an excavator 10 and a conveyor 20, the excavator 10 being adapted to discharge material onto the conveyor 20.
Referring to fig. 4, based on the cooperation of the excavator 10 and the conveyor belt 20, the discharging method provided by the present application includes:
s100, judging whether the excavator 10 needs to unload the materials onto the conveyor belt 20 or not; and
s200, in a case that the excavator 10 is required to discharge the material onto the conveyor belt 20, the bucket 24 of the excavator 10 is discharged above the conveyor belt 20, and the hinge point 28 between the arm 23 of the excavator 10 and the bucket 24 is moved along the extending direction X of the conveyor belt 20 during the discharging process, so as to discharge the material to different positions of the conveyor belt 20.
Because based on steps S100 and S200, the bucket 24 can move relative to the conveyor belt 20 in the extending direction X of the conveyor belt 20 while discharging, and the materials are sprinkled at different positions of the conveyor belt 20, so that the materials are prevented from being concentrated at the same position of the conveyor belt 20, and therefore, the problems of falling of the materials caused by accumulation of the materials at the same position, uneven stress on the conveyor belt, deformation of the conveyor belt and equipment failure can be prevented, and the safety and smoothness of the discharging process of the excavator can be effectively improved.
In some embodiments, the step S100 of determining whether the excavator 10 is required to unload the material onto the conveyor belt 20 includes:
judging whether the conveyor belt 20 has carried away the material unloaded last time by the excavator 10;
in the case where the conveyor 20 has carried away the last discharged material of the excavator 10, it is determined that the excavator 10 is required to discharge the material onto the conveyor 20.
In the above manner, the excavator 10 only carries out the next unloading when the last unloaded material is carried away by the conveyor belt 20, so that the materials can be prevented from being stacked on the last unloaded material and affecting the safety and smoothness of the unloading process. If the speed of the conveyor belt 20 is slow and the last discharged material is not carried away, the excavator 10 may wait, and the conveyor belt 20 may carry the last discharged material of the excavator 10 away and then discharge the material, in which case, whether waiting is needed before the excavator 10 discharges the material and the time length needed to wait may be determined according to the conveying speed of the conveyor belt 20. Wherein the conveying speed of the conveyor belt 20 can be detected. For example, referring to fig. 2, in some embodiments, the discharging system includes an encoder 6, and the encoder 6 is disposed on a motor (not shown) of the conveyor belt 20, and detects the conveying speed of the conveyor belt 20 by detecting the rotation speed of the motor.
Additionally, in some embodiments, discharging the bucket 24 of the excavator 10 above the conveyor belt 20 in step S200 includes:
the bucket 24 is swung up and down to discharge the material in the bucket 24 onto the conveyor belt 20.
Through making the scraper bowl 24 carry out reciprocating motion in certain extent along the upper and lower direction, can pour the material in the scraper bowl 24 to the conveyer belt 20 on, realize unloading, like this, scraper bowl 24 removes, and the while luffing motion can be spilt the material in the different positions of extension direction X of conveyer belt 20, realizes unloading at the different positions of conveyer belt 20.
In the process of swinging the bucket 24 up and down, the angle of the bucket 24 can be closed-loop controlled. It will be understood that the angle of the bucket 24 (or called the absolute angle of the bucket 24) is the angle between the horizontal plane and the line connecting the hinge point 28 of the bucket 24 with the arm 23 and the cutting edge 29 of the bucket 24. The angle of the bucket 24 changes as the bucket 24 swings up and down. Carry out closed-loop control to the angle of scraper bowl 24, that is to correct the deviation between the actual angle of each high department and the target angle in 24 luffing motion processes of scraper bowl, can control the luffing motion of scraper bowl 24 like this more accurately, realize more accurate process of unloading. For example, in some embodiments, the angle of the bucket 24 is PID controlled. PID control is a common closed-loop control method, and PID is an abbreviation of proportionality, Integral, and Differential. By adopting a PID control mode, the angle of the bucket 24 is tracked, closed-loop control of the bucket angle is realized, and the angle deviation of the bucket 24 can be corrected more accurately.
Generally, during the unloading process, the conveyor belt 20 and the excavator 10 are normally placed on the ground, the extending direction X of the conveyor belt 20 (i.e. the length direction of the conveyor belt 20) is along the horizontal direction, and at this time, the movement of the hinge point 28 of the bucket 24 and the arm 23 in the extending direction X is the movement of the hinge point 28 in the horizontal direction.
When the hinge point 28 moves in the extending direction X, the moving direction of the hinge point 28 may be the same as the conveying direction of the conveyor belt 20 or opposite to the conveying direction of the conveyor belt 20. When the moving direction of the hinge point 28 is opposite to the conveying direction of the conveyor belt 20, the material conveying efficiency is improved. It will be appreciated that the direction of travel of the conveyor 20 is the direction in which material is conveyed to other locations while the conveyor 20 is in operation.
During discharge of the excavator 10, the conveyor belt 20 may or may not be operated, and in both cases, movement of the bucket 24 relative to the conveyor belt 20 in the extension direction X, and thus discharge at different positions of the conveyor belt 20, may be achieved by moving the hinge point 28 in the extension direction X. In some embodiments, the conveyor belt 20 runs during the unloading process of the excavator 10, but the conveying speed is slower, so that the auxiliary treatment of the material can be more sufficiently performed during the material conveying process of the conveyor belt 20, for example, the material is dried or burned, so that the material is drier, and the use requirement of the material in the next link can be met.
In addition, during the movement of the hinge point 28 along the extending direction X of the conveyor belt 20, the hinge point 28 can move at a constant speed or at a variable speed. For example, in some embodiments, the hinge point 28 moves at a constant speed along the extending direction X of the conveyor belt 20, which is particularly suitable for the case that the conveyor belt 20 transports materials at a constant speed, so that the materials can be discharged to different positions of the conveyor belt 20 more uniformly, thereby further improving the safety and smoothness of the discharging process. For another example, in other embodiments, the moving speed of the hinge point 28 along the extending direction X of the conveyor belt 20 varies with the conveying speed of the conveyor belt 20, so that matching of the moving speed of the hinge point 28 (corresponding to the moving speed of the bucket 24) with the conveying speed of the conveyor belt 20 is facilitated, and the moving speed of the hinge point 28 can be increased with the increasing conveying speed, so that the materials can be more uniformly discharged to different positions of the conveyor belt 20 with variable-speed conveying.
Furthermore, in some embodiments, the height difference between the hinge point 28 and the conveyor belt 20 is kept constant during the movement of the hinge point 28 along the extension direction X of the conveyor belt 20 during the discharge. In this way, it is convenient to reduce the height difference between the materials discharged to different positions of the conveyor belt 20, and a more uniform discharge process is achieved.
In the foregoing embodiments, the moving the hinge point 28 of the arm 23 and the bucket 24 of the excavator 10 along the extending direction X of the conveyor belt 20 during the discharging process in step S200 may further include:
determining the motion trajectory of the hinge point 28 moving along the extension direction X of the conveyor belt 20 during the discharge process;
and controlling the angles of the arm 23 and the movable arm 22 of the excavator 10 in real time according to the determined motion track, so that the hinge point 28 moves according to the motion track.
Because the angles of the arm 23 and the movable arm 22 directly affect the position of the hinge point 28, the angles of the arm 23 and the movable arm 22 of the excavator 10 are controlled in real time according to the determined motion track, the hinge point 28 can be controlled to move according to the required motion track conveniently and accurately, and the moving and discharging process meeting the requirements is realized.
The angle between the arm 23 and the boom 22 can be detected. For example, in some embodiments, excavator 10 includes angle detection device 3, which detects the angles of boom 23 and arm 22 so that hinge point 28 moves according to a desired movement path by controlling the angles of boom 23 and arm 22. As an example, the angle detection device 3 includes an angle sensor. For example, in some embodiments, the angle detection device 3 includes angle sensors provided on the boom 22, the arm 23, the bucket 24, and the turn table 21, respectively. An angle sensor provided on the boom 22 detects the angle of the boom 22. An angle sensor provided on the arm 23 detects the angle of the arm 23. An angle sensor provided on the bucket 24 detects the angle of the bucket 24. An angle sensor provided on the turntable 21 detects the angle of the turntable 21. Based on the detection result of the angle detection device 3, the three-dimensional coordinates of the hinge point 28 and the three-dimensional coordinates of the blade tip 29 can be determined. Specifically, based on the detected angles of the boom 22 and the arm 23, the three-dimensional space attitude is calculated with the rotation center of the turntable 21 as the origin of the cartesian coordinate system, and the three-dimensional coordinates of the hinge point 28 can be obtained. Based on the detected angles of the boom 22, arm 23, bucket 24, and turn table 21, the three-dimensional space attitude is calculated using the rotation center of the turn table 21 as the origin of the cartesian coordinate system, and the three-dimensional coordinates of the cutting edge 29 can be obtained.
In some embodiments, controlling the angle of the boom 23 and the boom 22 of the excavator 10 in real time according to the determined motion trajectory, and moving the hinge point 28 according to the motion trajectory includes:
according to the motion track, the angle values to be turned of the arm 23 and the movable arm 22 in the moving process of the hinge point 28 are determined in real time;
the angle of the arm 23 and the boom 22 is controlled in real time to change the waiting angle value so that the hinge point 28 moves in the extending direction X of the conveyor belt 20.
Since the angle value to be rotated is determined according to the motion track, the angle value to be rotated corresponding to the angle change of the arm 23 and the boom 22 is controlled in real time, that is, the angle value to be rotated required by the process that the arm 23 and the boom 22 move from the current position to the next position of the hinge point 28 is controlled in real time, so that the hinge point 28 can be controlled to move along the motion track, and the movement of the hinge point 28 along the extension direction X is realized.
In some embodiments, determining, in real time, the value of the angle to be rotated of the arm 23 and the boom 22 during the movement of the hinge point 28 according to the motion trajectory further includes:
detecting the current angle values of the arm 23 and the movable arm 22 in real time, and determining the target angle values of the arm 23 and the movable arm 22 at the next position in real time according to the motion track;
based on the detected current angle value of the arm 23 and the boom 22 and the determined target angle value of the arm 23 and the boom 22 at the next position, the angle value to be turned of the arm 23 and the boom 22 is determined.
The angle values to be turned of the arm 23 and the boom 22 are equal to the difference between the target angle value at a lower position and the current angle value at the current position. Therefore, based on the above steps, the value of the angle to be turned of the arm 23 and the boom 22 may be determined so as to control the movement of the hinge point 28 by controlling the rotation of the arm 23 and the boom 22. As described above, the current angle values of the boom 23 and the arm 22 may be detected by the angle detection device 3; the target angle values of the boom 23 and the arm 22 at the next position may be calculated based on the determined movement locus.
Specifically, in some embodiments, determining the target angle value of the boom 22 and the arm 23 at the next position in real time according to the motion trajectory includes:
according to the motion track, determining the three-dimensional coordinates of the hinge point 28 at the next position in real time;
and determining a target angle value of the arm 23 and the movable arm 22 at the next position in real time according to the three-dimensional coordinates of the hinge point 28 at the next position determined in real time.
The three-dimensional coordinate of the hinge point 28 corresponds to the angle of the arm 23 and the boom 22, and thus, a target angle value of the arm 23 and the boom 22 at a next position can be determined by determining the three-dimensional coordinate of the hinge point 28 at the next position.
In order to improve the control accuracy of the movement process of the hinge point 28, in some embodiments, the angle of the arm 23 and the boom 22 is controlled in a closed loop manner during the real-time control of the angle change waiting angle value of the arm 23 and the boom 22, for example, in some embodiments, the angle of the arm 23 and the boom 22 is controlled in a PID manner. After the angle of the bucket rod 23 and the angle of the movable arm 22 are controlled to change to-be-rotated angle values, the actual angle of the changed bucket rod 23 and the changed movable arm 22 is correspondingly detected, and compared with the target angle of the bucket rod 23 and the target angle of the movable arm 22 at the corresponding position determined according to the motion track, the deviation between the actual angle and the target angle is corrected, the movement of the hinge point 28 can be controlled more accurately, and the more accurate discharging process is realized.
Based on the above steps, the excavator 10 can unload the material to different positions of the conveyor belt 20, which not only can reduce the falling risk of the material, but also can reduce the deformation of the conveyor belt 20 and the equipment failure risk, thereby being beneficial to improving the safety and smoothness of the unloading process and improving the unloading efficiency and the equipment structure reliability.
In addition, in response to the problem of unclean discharge of the excavator 10 in the related art, in some embodiments, the material shaking intensity of the bucket 24 is increased along with the increase of the viscosity of the material in the process of discharging the bucket 24 of the excavator 10 above the conveyor belt 20. Based on this, the discharge action can be adjusted according to the material viscosity. Because the scraper bowl 24 trembles the material more acutely, and the material drops more easily, consequently, trembles the material intensity through shaking the scraper bowl, makes scraper bowl 24 tremble the material acutely degree and increase along with material viscidity increase, can effectively reduce the risk that the clout unloaded unclean in scraper bowl 24 for even the great material of viscidity, also can unload comparatively cleanly, improve the control accuracy nature of the volume of unloading. The intensity of the material shaking of the bucket 24 is related to the impact on the bucket 24, and the greater the impact on the bucket 24, the more intense the material shaking of the bucket 24, so that the impact on the bucket 24 can be increased along with the increase of the viscosity of the material, so that the intensity of the material shaking of the bucket 24 can be increased along with the increase of the viscosity of the material. Specifically, the adjustment of the impact magnitude of the bucket 24 can be realized by adjusting the PID parameters and the current during the PID control of the angle of the bucket 24.
The discharging method of the foregoing embodiments can be controlled by the controller 4.
Fig. 3 exemplarily shows the structure of the controller 4. Referring to fig. 3, the controller 4 includes a memory 41 and a processor 42 coupled to the memory, the processor 42 being configured to execute the unloading method of the embodiment of the present application based on instructions stored in the memory 41.
Specifically, referring to fig. 3, in some embodiments, controller 4 includes a memory 41, a processor 42, a communication interface 43, and a bus 44. The memory 41 is used to store instructions. The processor 42 is coupled to the memory 41 and is configured to execute a discharging method implementing the foregoing embodiments based on instructions stored by the memory 41. The memory 41, the processor 42, and the communication interface 43 are connected by a bus 44.
The memory 41 may be a high-speed RAM memory or a non-volatile memory (non-volatile memory) or the like. The memory 41 may also be a memory array. The storage 41 may also be partitioned, and the blocks may be combined into virtual volumes according to certain rules. The processor 42 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement the present discharge method.
In some embodiments, controller 4 is the main controller of excavator 10. Referring to fig. 2, in some embodiments, the controller 4 is in signal connection with the aforementioned angle detection device 3, the encoder 6 and the pilot valve 5, and specifically, the angle detection device 3 is connected with the controller 4 through a bus 44; the encoder 6 is connected with the controller 4 through an analog quantity port; each pilot valve 5 is connected to the controller 4 via a signal line. The angle value detected by the angle detection device 3 and the rotation speed value of the motor detected by the encoder 6 are transmitted to the controller 4. The controller 4 controls each pilot valve 5 according to the detection results of the angle detection device 3 and the encoder 6, thereby realizing the control of the unloading process of the excavator 10. The controller 4 determines the attitude and the motion plan of the excavator 10 according to the angle value detected by the angle detection device 3, and obtains the angles of the arm 23, the boom 22 and the bucket 24 and the three-dimensional coordinates of the hinge point 28, so as to accurately control the hinge point 28 to move in the extension direction X during the unloading process. In addition, the controller 4 determines the conveying speed of the conveyor belt 20 according to the value of the rotation speed of the motor detected by the encoder 6, so as to determine whether and how long it is required to wait before discharging, or adjusts the moving speed of the hinge point 28 so that the discharging speed matches the conveying speed.
With continued reference to fig. 2, in some embodiments, the controller 4 is also in signal communication with an automatic work switch 7 of the excavator 10. The automatic work switch 7 is a switch for controlling the excavator 10 to enter an automatic work mode. When the automatic work switch 7 is turned on, the excavator 10 enters the automatic work mode, and the controller 4 controls the execution of the steps in the above-described embodiments.
In addition, the application also provides a computer readable storage medium. The computer readable storage medium stores computer instructions, and the computer instructions are executed by the processor to execute the unloading method of the embodiment of the application.
The above description is only exemplary of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (16)
1. A method of discharging, comprising:
judging whether the excavator (10) is required to unload the material onto the conveyor belt (20); and
in the case that the excavator (10) is required to discharge materials onto the conveyor belt (20), the bucket (24) of the excavator (10) is discharged above the conveyor belt (20), and the hinged point (28) of the bucket (24) and the arm (23) of the excavator (10) moves along the extension direction (X) of the conveyor belt (20) during the discharging process so as to discharge the materials to different positions of the conveyor belt (20).
2. The method of discharging according to claim 1, wherein moving the articulation point (28) of the boom (23) of the excavator (10) with the bucket (24) in the direction of extension (X) of the conveyor belt (20) during discharging comprises:
determining a trajectory of movement of the articulation point (28) along the extension direction (X) of the conveyor belt (20) during the discharge;
and controlling the angles of the arm (23) and a movable arm (22) of the excavator (10) in real time according to the determined motion track, so that the hinge point (28) moves according to the motion track.
3. The discharging method according to claim 2, wherein the real-time control of the angles of the boom (23) and the movable arm (22) of the excavator (10) according to the determined motion track to move the hinge point (28) according to the motion track comprises:
according to the motion track, determining the angle value to be rotated of the arm (23) and the movable arm (22) in the moving process of the hinge point (28) in real time;
controlling the angle of the bucket rod (23) and the movable arm (22) in real time to change the angle value to be turned, so that the hinge point (28) moves along the extension direction (X) of the conveyor belt (20).
4. The discharging method according to claim 3, wherein the real-time determination of the to-be-rotated angle values of the boom (22) and the arm (23) during the movement of the hinge point (28) according to the motion trajectory comprises:
detecting current angle values of the bucket rod (23) and the movable arm (22) in real time, and determining target angle values of the bucket rod (23) and the movable arm (22) at the next position in real time according to the motion track;
determining a value of an angle to be turned of the arm (23) and the boom (22) based on the detected current angle values of the arm (23) and the boom (22) and the determined target angle values of the arm (23) and the boom (22) at a next position.
5. The discharging method according to claim 4, wherein determining the target angle values of the boom (22) and the arm (23) at the next position in real time according to the motion trajectory comprises:
determining the three-dimensional coordinates of the hinge point (28) at the next position in real time according to the motion track;
and determining a target angle value of the arm (23) and the movable arm (22) at the next position in real time according to the three-dimensional coordinate of the hinge point (28) at the next position determined in real time.
6. The discharging method according to claim 3, wherein the angle of the arm (23) and the boom (22) is controlled in a closed loop manner during the process of controlling the angle of the arm (23) and the boom (22) to change the value of the angle to be turned in real time.
7. Method for discharging according to claim 1, characterized in that during moving the hinge point (28) in the extension direction (X) of the conveyor belt (20), the hinge point (28) is moved at a constant speed in the extension direction (X) of the conveyor belt (20), or the speed of movement of the hinge point (28) in the extension direction (X) of the conveyor belt (20) is varied with the conveying speed of the conveyor belt (20).
8. Method for discharging according to claim 1, characterized in that the height difference between the hinge point (28) and the conveyor belt (20) is kept constant during the movement of the hinge point (28) in the extension direction (X) of the conveyor belt (20) during the discharging.
9. The method of discharging according to any one of claims 1-8, wherein discharging the bucket (24) of the excavator (10) above the conveyor (20) comprises:
swinging the bucket (24) up and down to discharge material in the bucket (24) onto the conveyor belt (20).
10. A method of discharging according to claim 9, characterized in that the angle of the bucket (24) is closed-loop controlled during the swinging up and down of the bucket (24).
11. The method of discharging according to any one of claims 1 to 8, wherein during discharging of the bucket (24) of the excavator (10) above the conveyor (20), the material shaking intensity of the bucket (24) is also increased as the viscosity of the material increases.
12. The discharge method according to any one of claims 1 to 8, wherein determining whether the excavator (10) is required to discharge material onto the conveyor (20) comprises:
judging whether the conveyor belt (20) transports the materials unloaded by the excavator (10) last time;
and when the conveyor belt (20) carries away the material unloaded last time by the excavator (10), judging that the excavator (10) is required to unload the material onto the conveyor belt (20).
13. A controller (4) comprising a memory (41) and a processor (42) coupled to the memory (41), the processor (42) being configured to perform the unloading method according to any of claims 1-12 based on instructions stored in the memory (41).
14. An excavator (10) comprising the controller (4) of claim 13.
15. A discharge system comprising a conveyor belt (20), characterized by further comprising an excavator (10) according to claim 14, said excavator (10) being adapted to discharge material onto said conveyor belt (20).
16. A computer-readable storage medium having stored thereon computer instructions for execution by a processor of the discharge method of any one of claims 1-12.
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| CN202210236794.6A CN114319501A (en) | 2022-03-11 | 2022-03-11 | Discharging method, controller, excavator, discharging system and storage medium |
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| CN202210236794.6A CN114319501A (en) | 2022-03-11 | 2022-03-11 | Discharging method, controller, excavator, discharging system and storage medium |
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