CN114396091B - GNSS-based automatic control method and device for bulldozer blade - Google Patents

GNSS-based automatic control method and device for bulldozer blade Download PDF

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Publication number
CN114396091B
CN114396091B CN202210157046.9A CN202210157046A CN114396091B CN 114396091 B CN114396091 B CN 114396091B CN 202210157046 A CN202210157046 A CN 202210157046A CN 114396091 B CN114396091 B CN 114396091B
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point
blade
hydraulic cylinder
bulldozer
current
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CN114396091A (en
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温宝军
林捷满
袁永虎
陈焕斌
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Beijing Hezhongdingxin Information Technology Co ltd
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Beijing Hezhongdingxin Information Technology Co ltd
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine

Abstract

The invention relates to the technical field of digital construction, and discloses a GNSS-based automatic control method and a GNSS-based automatic control device for a bulldozer blade.

Description

GNSS-based automatic control method and device for bulldozer blade
Technical Field
The invention belongs to the technical field of digital construction, and particularly relates to a GNSS-based automatic control method and device for a bulldozer blade.
Background
The bulldozer is an earthwork machine capable of excavating, transporting, dumping rock soil and other construction operations, and may be used in building refuse dump, leveling automobile refuse dump, piling dispersed ore rock, leveling work plate, building site, etc. In order to improve the efficiency of earth leveling, realize accurate and round-the-clock construction, the goal of one-key leveling, the automatic bulldozer based on the automatic control technology of the blade has appeared, the data such as the position of the engineering machinery, the state of the scraper knife and the mechanical arm for leveling the ground, the ground condition and the like can be mastered in real time by using a Global Positioning System (GPS) and a sensor installed on the engineering machinery, and after the operation indication data is transmitted to a control box equipped for the engineering machinery, the process of auxiliary or unmanned construction can be achieved by leading in measurement/mapping information, and the purpose of digital construction operation can be realized.
In the existing automatic bulldozer products for pushing and leveling the earth, most of the automatic bulldozer products use a laser sensor to level the earth, and have the defects that the laser sensor is troublesome and complicated to erect, the leveling precision is reduced along with the increase of the distance between a machine and a laser transmitter, the leveling operation on the earth with large area cannot be performed, the maneuvering performance is poor, and the like. Therefore, although some automatic bulldozer products can adopt a GNSS (Global Navigation Satellite System), which is a Navigation positioning System capable of providing all-weather 3-dimensional coordinates, speed and time information for users at any place on the earth surface or near-earth space, and a control technology to level the earth, so as to fill the above defects, the GNSS receiver is mounted on the dozer blade, and the conversion relationship between the elevation value of the dozer blade and the extension length value of the hydraulic cylinder (i.e., the lifting hydraulic cylinder and the tilting hydraulic cylinder of the bulldozer) cannot be quantized, so that a nonlinear factor exists in the blade position control, which leads to a control target being not clear enough, and increases the setting difficulty of control parameters.
Disclosure of Invention
The invention aims to solve the problems that the existing automatic bulldozer product for bulldozer pushing flat ground has non-linear factors and the control targets are not clear enough in blade position control, and provides a GNSS-based automatic bulldozer blade control method, a GNSS-based automatic bulldozer blade control device, a GNSS-based automatic bulldozer blade control computer device and a GNSS-based automatic bulldozer blade control computer-readable storage medium, so that a blade position control scheme can tend to be linear, each control target can be clear and definite, the setting difficulty of control parameters can be reduced, and the purposes of quick, accurate and stable control can be achieved.
In a first aspect, the invention provides a GNSS-based automatic control method for a bulldozer blade, comprising the following steps:
the method comprises the steps of obtaining positioning information from a Global Navigation Satellite System (GNSS) receiver, first attitude information from a first inertial measurement unit and second attitude information from a second inertial measurement unit, wherein the GNSS receiver is fixedly installed at the top end of a bulldozer, the positioning information comprises three-dimensional coordinates and a yaw angle of a mounting point at the top end of the bulldozer, the first inertial measurement unit is fixedly installed on the bulldozer, the first attitude information comprises a roll attitude angle and a pitch attitude angle of the bulldozer, the second inertial measurement unit is fixedly installed on a blade of the bulldozer, and the second attitude information comprises the roll attitude angle and the pitch attitude angle of the blade;
solving a three-dimensional coordinate of a first pushing beam link point according to the positioning information, the first posture information and a relative position relationship between the top mounting point of the bulldozer and the first pushing beam link point, wherein the first pushing beam link point comprises a hinge point of a left pushing beam and the bulldozer and a hinge point of a right pushing beam and the bulldozer;
according to the first attitude information and the second attitude information, calculating a roll attitude angle and a pitch attitude angle of the blade relative to the body;
calculating three-dimensional coordinates of a left blade point and a right blade point of the dozer blade according to the three-dimensional coordinates of the first pushing beam link point, a rolling attitude angle and a pitching attitude angle of the dozer blade relative to the machine body, length size information of the pushing beam, blade size information of the dozer blade and the second attitude information;
calculating to obtain the tilt target expansion amount of a tilt hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left scraper point and the right scraper point, and controlling the tilt hydraulic cylinder to complete the tilt target expansion amount;
and calculating to obtain the lifting target expansion amount of a lifting hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point and the current three-dimensional coordinates of the left side scraper point and the right side scraper point, and controlling the lifting hydraulic cylinder to complete the lifting target expansion amount, wherein the lifting hydraulic cylinder comprises a left side lifting hydraulic cylinder and a right side lifting hydraulic cylinder of the bulldozer.
Based on the content of the invention, after the GNSS receiver is fixedly installed at the top end of the bulldozer body and the inertia measurement units are respectively and fixedly installed on the bulldozer body and the dozer blade, the real-time three-dimensional coordinates of the blade points on the left side and the right side and the real-time target extension amount of the inclined hydraulic cylinder and the lifting hydraulic cylinder are calculated according to the three-dimensional coordinate information of the construction design surface and the acquired GNSS positioning information, the body attitude information and the dozer blade attitude information, and finally the inclined hydraulic cylinder and the lifting hydraulic cylinder are controlled to complete the corresponding target extension amount, so that the blade position control scheme can tend to be linearized, each control target is clearly defined, the setting difficulty of control parameters can be reduced, the fast, accurate and stable control purpose is realized, and the practical application and popularization are facilitated.
In one possible design, the method for calculating three-dimensional coordinates of a left blade point and a right blade point of the blade according to a three-dimensional coordinate of a link point of the first pushing beam, a roll attitude angle and a pitch attitude angle of the blade relative to the machine body, length and size information of the first pushing beam, blade size information of the blade, and the second attitude information includes:
calculating a three-dimensional coordinate of a second pushing beam link point according to the three-dimensional coordinate of the first pushing beam link point, the roll attitude angle, the pitch attitude angle and the pushing beam length size information of the blade relative to the machine body, wherein the pushing beam length size information comprises the length of the left pushing beam and the length of the right pushing beam, and the second pushing beam link point comprises a hinge point of the left pushing beam and the blade and a hinge point of the right pushing beam and the blade;
and calculating three-dimensional coordinates of a left blade point and a right blade point of the dozer according to the three-dimensional coordinate of the second pushing beam link point, the blade size information of the dozer blade and the second posture information, wherein the blade size information comprises the relative position relation between the second pushing beam link point and the left blade point and the right blade point.
In one possible design, calculating the tilt target expansion and contraction amount of the tilt hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left blade point and the right blade point, and the method comprises the following steps:
calculating to obtain a current inclination angle value of the current relative horizontal plane of the bottom edge of the scraper according to the current three-dimensional coordinates of the left scraper point and the right scraper point, and calculating to obtain a current movement inclination angle value of the dozer blade relative to the bulldozer by combining the current machine body inclination angle value of the bulldozer;
calculating to obtain current projection point coordinates of the left scraper point and the right scraper point on the construction design surface according to three-dimensional coordinate information of the construction design surface and current three-dimensional coordinates of the left scraper point and the right scraper point, then calculating to obtain current projection length of the bottom edge of the scraper according to the two current projection point coordinates, and finally calculating to obtain a target motion inclination angle value of the soil pushing shovel relative to the machine body by combining current elevations of the left scraper point and the right scraper point;
inputting the current movement inclination angle value into a first conversion relation to obtain a current stretching length value of a tilting hydraulic cylinder, and inputting the target movement inclination angle value into the first conversion relation to obtain a target stretching length value of the tilting hydraulic cylinder, wherein the first conversion relation is a predetermined model movement relation between the stretching length value of the tilting hydraulic cylinder and the movement inclination angle value of the dozer blade relative to the body;
and taking the difference value between the target telescopic length value of the tilting hydraulic cylinder and the current telescopic length value as the tilting target telescopic amount of the tilting hydraulic cylinder.
In one possible design, before calculating the target tilt extension and retraction amount of the tilt hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left blade point and the right blade point, the method further includes:
when the tilting hydraulic cylinder is at different stretching length values, acquiring and obtaining a relative horizontal plane inclination angle value of the bottom edge of the scraper knife and a body inclination angle value of the bulldozer relative to the horizontal plane, which correspond to the different stretching length values;
for each different stretching length value, taking the difference value between the corresponding inclination angle value of the relative horizontal plane and the corresponding inclination angle value of the machine body as the corresponding movement inclination angle value of the dozer blade relative to the machine body;
and obtaining a first conversion relation by adopting a simulation modeling mode according to the different stretching length values and the corresponding motion inclination angle values, wherein the first conversion relation refers to a model motion relation between the stretching length value of the tilting hydraulic cylinder and the motion inclination angle value of the dozer blade relative to the machine body.
In one possible design, controlling the tilt hydraulic cylinder to achieve the target tilt amount comprises:
according to the open-loop transfer function of the tilting hydraulic cylinder, a proportional-integral-derivative PID control algorithm is applied to generate a continuous control signal;
and transmitting the continuous control signal to the tilting hydraulic cylinder so that the tilting hydraulic cylinder can perform telescopic adjustment according to the continuous control signal until the tilting target telescopic amount is finished.
In one possible design, calculating a lifting target expansion amount of the lifting hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point, and the current three-dimensional coordinates of the left scraper point and the right scraper point, and the method comprises the following steps:
calculating to obtain a current elevation of a first key point according to the current three-dimensional coordinate of the first pushing beam link point, and calculating to obtain a current elevation of a second key point according to the current three-dimensional coordinates of the left scraper point and the right scraper point, wherein the first key point is a point between a left scraper point and a right scraper point in the first pushing beam link point, and the second key point is a point between the left scraper point and the right scraper point;
calculating to obtain a current included angle value of the key point line segment relative to a horizontal plane according to the current elevation of the first key point, the current elevation of the second key point and the length of the key point line segment, and calculating to obtain a current pitch angle value of the dozer blade relative to the dozer body by combining the current body pitch angle of the dozer, wherein the key point line segment is a line segment connecting the first key point and the second key point;
acquiring the design elevation of the construction design surface according to the three-dimensional coordinate information of the construction design surface, calculating to obtain a target included angle value of the key point line segment relative to the horizontal plane by combining the current elevation of the first key point and the length of the key point line segment, and calculating to obtain a target pitch angle value of the dozer blade relative to the dozer body by combining the current body pitch angle of the dozer;
inputting the current pitch angle value into a second conversion relation to obtain a current telescopic length value of a lifting hydraulic cylinder, and inputting the target pitch angle value into the second conversion relation to obtain a target telescopic length value of the lifting hydraulic cylinder, wherein the second conversion relation is a predetermined model motion relation between the telescopic length value of the lifting hydraulic cylinder and the pitch angle value of the dozer blade relative to the body, and the lifting hydraulic cylinder comprises a left lifting hydraulic cylinder and a right lifting hydraulic cylinder of the bulldozer;
and taking the difference value between the target telescopic length value of the lifting hydraulic cylinder and the current telescopic length value as the lifting target telescopic amount of the lifting hydraulic cylinder.
In a possible design, before calculating the lifting target expansion amount of the lifting hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point, and the current three-dimensional coordinates of the left blade point and the right blade point, the method further includes:
when a lifting hydraulic cylinder is in different stretching length values, acquiring included angle values which correspond to the different stretching length values and correspond to a horizontal plane of a key point line segment and a body pitch angle of the bulldozer, wherein the lifting hydraulic cylinder is a left lifting hydraulic cylinder or a right lifting hydraulic cylinder of the bulldozer, the key point line segment is a line segment connecting a first key point and a second key point, the first key point is a point between a left linking point and a right linking point in the first pushing beam linking point, and the second key point is a point between the left cutting edge and the right cutting edge;
aiming at each different stretching length value, calculating to obtain a corresponding pitch angle value of the dozer blade relative to the bulldozer according to a corresponding included angle value of the key point line segment relative to the horizontal plane and a body pitch angle of the bulldozer;
and obtaining a second conversion relation in a simulation modeling mode according to the different stretching length values and the corresponding pitching angle values, wherein the second conversion relation refers to a model motion relation between the stretching length value of the lifting hydraulic cylinder and the pitching angle value of the dozer blade relative to the body.
In a second aspect, the invention provides a GNSS-based automatic control device for a bulldozer blade, which comprises an information acquisition and processing module, a three-dimensional coordinate calculating module, a relative attitude calculating module, a three-dimensional coordinate calculating module, a blade inclination control module and a blade lifting control module;
the information acquisition processing module is used for acquiring positioning information from a Global Navigation Satellite System (GNSS) receiver, first attitude information from a first inertial measurement unit and second attitude information from a second inertial measurement unit, wherein the GNSS receiver is fixedly installed at the top end of a bulldozer, the positioning information comprises three-dimensional coordinates and a yaw angle of an installation point at the top end of the bulldozer, the first inertial measurement unit is fixedly installed on the bulldozer, the first attitude information comprises a roll attitude angle and a pitch attitude angle of the bulldozer, the second inertial measurement unit is fixedly installed on a blade of the bulldozer, and the second attitude information comprises a roll attitude angle and a pitch attitude angle of the blade;
the three-dimensional coordinate calculation module is in communication connection with the information acquisition and processing module and is used for calculating a three-dimensional coordinate of a first pushing beam link point according to the positioning information, the first posture information and the relative position relationship between the top end mounting point of the bulldozer and the first pushing beam link point, wherein the first pushing beam link point comprises a hinge point between a left pushing beam and the bulldozer and a hinge point between a right pushing beam and the bulldozer;
the relative attitude calculation module is in communication connection with the information acquisition and processing module and is used for calculating a roll attitude angle and a pitch attitude angle of the blade relative to the machine body according to the first attitude information and the second attitude information;
the three-dimensional coordinate calculation module is respectively in communication connection with the three-dimensional coordinate calculation module and the relative attitude calculation module, and is used for calculating three-dimensional coordinates of a left blade point and a right blade point of the dozer blade according to the three-dimensional coordinates of the first pushing beam link point, a roll attitude angle and a pitch attitude angle of the dozer blade relative to the machine body, length and size information of the pushing beam, blade size information of the dozer blade and the second attitude information;
the dozer blade inclination control module is in communication connection with the three-dimensional coordinate calculation module and is used for calculating the inclination target expansion amount of the inclination hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left side blade point and the right side blade point and controlling the inclination hydraulic cylinder to finish the inclination target expansion amount;
the dozer blade lifting control module is in communication connection with the three-dimensional coordinate calculation module and is used for calculating a lifting target stretching amount of a lifting hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point, the current three-dimensional coordinate of the left blade point and the current three-dimensional coordinate of the right blade point and controlling the lifting hydraulic cylinder to complete the lifting target stretching amount, wherein the lifting hydraulic cylinder comprises a left lifting hydraulic cylinder and a right lifting hydraulic cylinder of the bulldozer.
In a third aspect, the present invention provides a computer device, comprising a memory, a processor and a transceiver, wherein the memory is used for storing a computer program and a configuration-related file, the transceiver is used for transmitting and receiving information, and the processor is used for reading the computer program and executing the automatic control method for the bulldozer blade according to the first aspect or any possible design of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon instructions which, when executed on a computer, carry out a method of automatically controlling a dozer blade as described in the first aspect above or any possible design thereof.
In a fifth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of automatically controlling a bulldozer blade as described in the first aspect above or in any of the possible designs of the first aspect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an automatic control method for a dozer blade of a bulldozer according to the present invention.
Fig. 2 is a schematic structural view of an automatic control system for a dozer blade of a bulldozer according to the present invention.
Fig. 3 is a schematic perspective view of a bulldozer according to the present invention.
FIG. 4 is a schematic side view of the bulldozer according to the present invention.
FIG. 5 is a schematic view showing the positional relationship between the bulldozer according to the present invention and a construction design surface.
Fig. 6 is a schematic flow chart of a continuous control signal generation method provided by the present invention.
FIG. 7 is a schematic diagram of a closed loop delivery system structure based on a PID control algorithm provided by the invention.
FIG. 8 is a schematic representation of the good stability region provided by the present invention in the complex plane.
FIG. 9 is a schematic diagram of a control loop of a PID control algorithm based on feed forward gain compensation provided by the invention.
FIG. 10 is a schematic diagram of the key dotted segment identification of the lifting motion in the three-dimensional motion simulation model of the bulldozer provided by the present invention.
FIG. 11 is a schematic view showing the structure of an automatic control device for a dozer blade according to the present invention.
Fig. 12 is a schematic structural diagram of a computer device provided by the present invention.
In the above drawings: 1-organism; 101-a cab; 2-a dozer blade; 31-left pushing beam; 32-right-side pushing beam; 4-tilting the hydraulic cylinder; 51-left lifting hydraulic cylinder; 52-right side lift cylinders.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely representative for purposes of describing example embodiments of the present invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that, although the terms first, second, etc. may be used herein to describe various objects, these objects should not be limited by these terms. These terms are only used to distinguish one object from another. For example, a first object may be referred to as a second object, and a second object may similarly be referred to as a first object, without departing from the scope of example embodiments of the invention.
It should be understood that, for the term "and/or" as may appear herein, it is merely an associative relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, B exists alone or A and B exist at the same time; for the term "/and" as may appear herein, which describes another associative object relationship, it means that two relationships may exist, e.g., a/and B, may mean: a exists singly or A and B exist simultaneously; in addition, with respect to the character "/" which may appear herein, it generally means that the former and latter associated objects are in an "or" relationship.
As shown in fig. 1 to 10, the method for automatically controlling a soil pushing blade of a GNSS-based bulldozer according to the first aspect of the present embodiment relates to techniques such as three-dimensional coordinate estimation and hydraulic control, and may be but is not limited to be implemented by a Computer device having certain computing resources, for example, a bulldozer control box, a Personal Computer (PC, which refers to a multipurpose Computer with a size, price and performance suitable for Personal use, and an electronic device such as a desktop Computer, a laptop Computer, a small-sized laptop Computer, a tablet Computer, and a super Computer, which belong to a Personal Computer), a smart phone, a Personal digital assistant (PAD), or a wearable device, so as to fixedly mount a GNSS receiver on a top end of a bulldozer body, and fixedly mount inertia measurement units on the bulldozer body and the soil pushing blade, respectively, and then, according to three-dimensional coordinate information of a construction design plane and acquired positioning information, body posture information, and soil pushing blade posture information, calculate real-time three-dimensional coordinates of blade points on left and right sides and tilt hydraulic cylinders and finally control the hydraulic cylinders and the lift amount are controlled, and the tilt hydraulic cylinders are controlled accordingly, and the lifting amount is controlled, so that a linear control scheme of the GNSS blade is clearly reduced, and a target control is achieved. As shown in fig. 1, the automatic control method for the dozer blade of the bulldozer may include, but is not limited to, the following steps S1 to S6.
The method includes the steps of S1, obtaining positioning information from a Global Navigation Satellite System (GNSS) receiver, first attitude information from a first inertial measurement unit and second attitude information from a second inertial measurement unit, wherein the GNSS receiver is fixedly installed at the top end (such as the top end of a cab) of a bulldozer, the positioning information includes, but is not limited to, three-dimensional coordinates of an installation point of the top end of the bulldozer, a yaw angle and the like, the first inertial measurement unit is fixedly installed on the body (such as the cab) of the bulldozer, the first attitude information includes, but is not limited to, a roll attitude angle, a pitch attitude angle and the like of the body, the second inertial measurement unit is fixedly installed on a blade of the bulldozer, and the second attitude information includes, but is not limited to, a roll attitude angle, a pitch attitude angle and the like of the blade.
In step S1, the GNSS receiver is an existing device, and is configured to receive satellite signals through a positioning antenna and a directional antenna, and determine, according to the satellite signals, three-dimensional coordinates (i.e., a plane coordinate and an elevation value) of the top mounting point of the bulldozer in an absolute coordinate system (which is a coordinate system in which all coordinates are described based on a position of an origin of a fixed coordinate system, and an absolute coordinate of the coordinate system is a fixed coordinate position, and point coordinates input using the coordinate system are not different from each other due to a reference object, and all subsequent three-dimensional coordinates are absolute coordinates in the absolute coordinate system), and a yaw angle (i.e., an included angle between a projection of the axis of the bulldozer on the horizontal plane and a geographical north direction, and may be used as a body yaw angle of the bulldozer). The first inertial measurement unit and the second inertial measurement unit are both conventional devices for measuring the three-axis attitude angle (or angular rate) and acceleration of an object, and are generally configured with three single-axis accelerometers and three single-axis gyroscopes, wherein the accelerometers detect acceleration signals of the object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, measure the angular velocity and acceleration of the object in a three-dimensional space, and solve the attitude of the object, so that the roll attitude angle and the pitch attitude angle of the corresponding carrier (i.e., the body or the blade) can be acquired. Further, the body refers to a body portion of the bulldozer which is stationary with respect to the blade or the like, including but not limited to a cab or the like; the computer equipment can acquire the positioning information, the first attitude information and the second attitude information in real time in a conventional communication connection mode; for example, in the automatic control system for the dozer blade shown in fig. 2, since a dozer control box (i.e. as a specific computer device) is respectively in communication connection with the GNSS receiver, the first inertial measurement unit and the second inertial measurement unit, the positioning information, the first attitude information and the second attitude information can be obtained in real time, so as to perform real-time control on the tilt hydraulic cylinder and the lift hydraulic cylinder which are in communication connection.
S2, solving a three-dimensional coordinate of a first pushing beam link point according to the positioning information, the first posture information and a relative position relation between the top end mounting point of the engine body and the first pushing beam link point, wherein the first pushing beam link point comprises but is not limited to a hinge point between a left pushing beam of the bulldozer and the engine body and a hinge point between a right pushing beam and the engine body.
In the step S2, for example, the top end mounting point of the machine body is the point S shown in fig. 3 and 4, the hinge point between the right pushing beam and the machine body is the point C shown in fig. 3 and 4, and the hinge point between the left pushing beam and the machine body is the point D shown in fig. 10. The relative position relationship between the top end mounting point of the machine body and the first pushing beam linking point is known machine body size information, so that the three-dimensional coordinate of the first pushing beam linking point under the absolute coordinate system can be calculated through conventional geometric knowledge.
And S3, calculating a rolling attitude angle and a pitching attitude angle of the blade relative to the machine body according to the first attitude information and the second attitude information.
In step S3, the roll attitude angle and the pitch attitude angle of the blade with respect to the body can be derived by conventional geometric knowledge as well.
And S4, calculating three-dimensional coordinates of a left blade point and a right blade point of the dozer blade according to the three-dimensional coordinates of the first pushing beam link point, a rolling attitude angle and a pitching attitude angle of the dozer blade relative to the machine body, length and size information of the pushing beam, blade size information of the dozer blade and the second attitude information.
In step S4, for example, the left blade point is an L point shown in fig. 3 to 5, and the right blade point is an R point shown in fig. 3 to 5. Specifically, the three-dimensional coordinate of a second pushing beam link point may be calculated according to the three-dimensional coordinate of the first pushing beam link point, the roll attitude angle, the pitch attitude angle and the pushing beam length dimension information of the blade relative to the machine body, where the pushing beam length dimension information includes, but is not limited to, the length of the left pushing beam and the length of the right pushing beam, and the second pushing beam link point includes, but is not limited to, a hinge point between the left pushing beam and the blade and a hinge point between the right pushing beam and the blade; and then, calculating three-dimensional coordinates of a left blade point and a right blade point of the dozer according to the three-dimensional coordinate of the second pushing beam link point, the blade size information of the dozer blade and the second posture information, wherein the blade size information includes but is not limited to the relative position relationship between the second pushing beam link point and the left blade point and the right blade point. For example, a hinge point between the right pushing beam and the blade is a point a shown in fig. 4, a hinge point between the left pushing beam and the blade is a point B shown in fig. 10, a three-dimensional coordinate of a link point of the second pushing beam is calculated through conventional geometric knowledge, and a three-dimensional coordinate of the left blade point and the right blade point is calculated through conventional geometric knowledge by combining the second posture information because a relative position relationship between the link point of the second pushing beam and the left blade point and the right blade point is known blade size information.
As shown in fig. 3 and 4, it is considered that during the tilting motion of the blade, the driving member is a tilting hydraulic cylinder, which can change the angle value of the HGA triangle in fig. 4 (where, point H represents the hinge point between the right tilting hydraulic cylinder and the blade, and point G represents the hinge point between the right tilting hydraulic cylinder and the right pusher beam) by adjusting the length value of the extension and contraction (i.e., the length value of extension or contraction), so that the blade tilts left and right with the angle change of the HGA triangle, and during the tilting, the length change of the lifting hydraulic cylinders (including the left lifting hydraulic cylinder and the right lifting hydraulic cylinder of the bulldozer) can be matched to drive the blade to generate different roll motions relative to the horizontal plane (because the hydraulic oil inside the lifting hydraulic cylinder itself is constant, the extension and contraction lengths of the left lifting hydraulic cylinder and the right lifting hydraulic cylinder are equal, if the left lifting hydraulic cylinder extends 5 cm, the right lifting hydraulic cylinder also extends 5 cm). Meanwhile, in the lifting motion process of the dozer blade, the driving piece is a lifting hydraulic cylinder, the lifting hydraulic cylinder can change the lifting height of a cross rod (namely, a rod body fixedly connected with the left side pushing beam and the right side pushing beam in front of the machine body) by adjusting the telescopic length value, and then the lifting motion of the dozer blade is realized. Although the lifting process is not affected by the tilting process, it is certain that the dozer blade is lifted at a certain tilting angle relative to the machine body. Therefore, based on the above motion analysis, it can be seen that the blade tilting motion is not affected by the lifting control motion, and the lifting control motion is affected by the tilting motion, so that the more precise the tilting motion control is, the smaller the deviation of the lifting motion control is, therefore, in the blade automatic control process, it is preferable to calculate and control the tilting hydraulic cylinder to be raised and retracted to the target value, and then calculate and control the lifting hydraulic cylinder to be raised and retracted to the target value, that is, the subsequent step S5 is performed first, and then the subsequent step S6 is performed.
And S5, calculating to obtain the tilt target expansion amount of the tilt hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left scraper point and the right scraper point, and controlling the tilt hydraulic cylinder to finish the tilt target expansion amount.
In step S5, the construction design surface may be a plane as shown in fig. 5 (in this case, the three-dimensional coordinate information of the construction design surface has only an elevation value), or may be a slope surface (in this case, the three-dimensional coordinate information of the construction design surface is a slope function). Specifically, the target expansion and contraction amount of the tilt hydraulic cylinder is calculated according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left blade point and the right blade point, including but not limited to the following steps S51 to S54.
And S51, calculating to obtain a current relative horizontal plane inclination angle value of the bottom edge of the scraper according to the current three-dimensional coordinates of the left scraper point and the right scraper point, and calculating to obtain a current motion inclination angle value of the dozer blade relative to the bulldozer by combining the current machine body inclination angle value of the bulldozer.
In step S51, the current three-dimensional coordinates of the left blade point and the right blade point are the corresponding three-dimensional coordinates obtained in real time according to steps S1 to S4. As shown in fig. 5, the bottom edge of the blade is a line segment LR connecting the left blade point L and the right blade point R, and the current body inclination angle value of the bulldozer is the body roll attitude angle in the first attitude information obtained in real time, so that the current motion inclination angle value of the blade relative to the body can be calculated by conventional geometric knowledge.
S52, calculating to obtain current projection point coordinates of the left scraper point and the right scraper point on the construction design surface according to three-dimensional coordinate information of the construction design surface and current three-dimensional coordinates of the left scraper point and the right scraper point, then calculating to obtain current projection length of the bottom edge of the scraper according to the two current projection point coordinates, and finally calculating to obtain a target motion inclination angle value of the dozer blade relative to the machine body by combining current elevations of the left scraper point and the right scraper point.
In step S52, the target motion inclination angle value of the blade with respect to the body is "γ" in fig. 5, and can be derived by conventional geometric knowledge.
And S53, inputting the current movement inclination angle value into a first conversion relation to obtain a current stretching length value of a tilting hydraulic cylinder, and inputting the target movement inclination angle value into the first conversion relation to obtain a target stretching length value of the tilting hydraulic cylinder, wherein the first conversion relation is a predetermined model movement relation between the stretching length value of the tilting hydraulic cylinder and the movement inclination angle value of the dozer blade relative to the body.
In step 53, the first conversion relationship needs to be determined in advance, that is, before the tilt target extension/contraction amount of the tilt hydraulic cylinder is calculated according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left blade point and the right blade point, the method further includes, but is not limited to, the following steps S501 to S503.
S501, when the tilting hydraulic cylinder is at different stretching length values, acquiring a relative horizontal plane inclination angle value of the bottom edge of the scraper knife and a machine body inclination angle value of the bulldozer relative to the horizontal plane, wherein the relative horizontal plane inclination angle value corresponds to the different stretching length values.
In step S501, the inclination angle value of the bottom edge of the blade with respect to the horizontal plane may be obtained by referring to step S51, and the body inclination angle value of the bulldozer with respect to the horizontal plane is the body roll attitude angle in the first attitude information, which is not described herein again.
S502, regarding each different stretching length value, taking the difference value of the corresponding inclination angle value of the relative horizontal plane and the corresponding inclination angle value of the body as the corresponding movement inclination angle value of the dozer blade relative to the body.
S503, obtaining a first conversion relation in a simulation modeling mode according to the different stretching length values and the corresponding motion inclination angle values, wherein the first conversion relation refers to a model motion relation between the stretching length value of the tilting hydraulic cylinder and the motion inclination angle value of the dozer blade relative to the body.
In step S503, the simulation modeling is in the form of an existing relational model construction method.
And S54, taking the difference value between the target telescopic length value and the current telescopic length value of the tilting hydraulic cylinder as the tilting target telescopic quantity of the tilting hydraulic cylinder.
In the step S5, the control of the tilt cylinder to complete the target tilt amount includes, but is not limited to, the following steps S551 to S552.
S551, according to the open loop transfer function of the tilting hydraulic cylinder, a proportional-integral-derivative PID control algorithm is applied to generate a continuous control signal.
In the step S551, the tilting hydraulic cylinder may be a valve-controlled hydraulic cylinder controlled by a proportional valve matched with the tilting hydraulic cylinder, and preferably, as shown in fig. 6, a proportional-integral-derivative PID control algorithm is applied to generate a continuous control signal according to an open-loop transfer function of the tilting hydraulic cylinder, including but not limited to the following steps S100 to S500.
S100, aiming at open-loop transfer function G of the tilting hydraulic cylinder a (s) identifying corresponding open-loop transfer parameters, wherein the open-loop transfer function
Figure BDA0003513184330000101
s represents a complex variable, K represents an open loop gain, ζ represents a damping ratio, ω n Representing an undamped natural frequency, the open-loop transfer parameters including, but not limited to, the open-loop gain K, the damping ratio ζ, and the undamped natural frequency ω n And so on.
In the step S100, after selecting a control signal frequency adapted to the proportional valve for the valve-controlled hydraulic system using the proportional valve, in order to accurately determine a closed-loop pole and a PID parameter capable of keeping the closed-loop transfer system stable in the following process, the open-loop transfer function G needs to be identified separately a The open-loop gain K, the damping ratio ζ, and the undamped natural frequency ω in(s) n And the open loop transfer parameters. In particular, the open loop transfer function G for the tilting cylinder a (S), identifying the corresponding open-loop transfer parameters, including but not limited to the following steps S101 to S104.
S101, inputting a control signal to a proportional valve of the tilting hydraulic cylinder in a proportion of
Figure BDA0003513184330000111
And acquiring the actual response telescopic quantity of the tilting hydraulic cylinder, wherein,
Figure BDA0003513184330000112
representing a decimal fraction of no more than thirty percent.
S102, calculating to obtain an open-loop transfer function G of the tilting hydraulic cylinder by adopting a Levenberg-Marquardt-based nonlinear least square algorithm in a prediction error minimization algorithm a (s) corresponding open loop transfer parameter prediction values, wherein the open loop transfer function
Figure BDA0003513184330000113
s represents a complex variable, K represents an open-loop gain, ζ represents a damping ratio, ω n Representing undamped natural frequency, the open loop transfer parameter prediction values include but are not limited to a prediction value corresponding to the open loop gain K, a prediction value corresponding to the damping ratio zeta, and a prediction value corresponding to the undamped natural frequency omega n Corresponding predicted values, etc.
S103, setting the proportion of the control signal as
Figure BDA0003513184330000114
And applying the open-loop transfer function G into which the open-loop transfer parameter prediction value has been introduced a And(s) calculating to obtain the theoretical response expansion and contraction quantity of the tilting hydraulic cylinder.
In the step S103, S is a complex variable, G a And(s) is an open-loop transfer function, a differential equation of the open-loop transfer function can be obtained, and a theoretical response expansion and contraction quantity can be calculated according to the control system, and the part is basic knowledge of an automatic control theory and is not repeated herein.
S104, comparing the theoretical response expansion amount with the actual response expansion amount, and if the data comparison result indicates that the data conformity degree reaches a preset threshold value, taking the open-loop transfer parameter predicted value as the open-loop transfer function G a (S) the result of the identification of the corresponding open-loop transfer parameters, otherwise, returning to step S102, wherein the open-loop transfer parameters include, but are not limited to, the open-loop gain K, the damping ratio ζ, and the undamped natural frequency ω n And the like.
In the step S104, the data conformity degree refers to a ratio of each theoretically calculated response expansion amount to a corresponding actually acquired response expansion amount at a sampling time interval, and the same number of expansion amounts to the total number of expansion amounts at the sampling time; the preset threshold may be specifically a decimal greater than 90%, that is, only when the data conformity degree reaches more than 90%, the parameter identification can be completed.
S200According to a proportional-integral-derivative PID control algorithm and said open loop transfer function G a (s) deriving a closed loop transfer function of the tilting cylinder.
In the step S200, the PID (proportional Integral Differential) control algorithm is the most classical automatic control algorithm, that is, in the PID control system, the output control signal must be timely adjusted according to the state of the controlled object in order to maintain the stability of the state of the controlled object, and for this purpose, the information of the current control error, the accumulated error, the next-moment variation trend, and the like of the controlled object must be timely grasped, and the magnitude of the output control signal is calculated by using the three kinds of information through proportional control (P), integral control (I), and Differential control (D). The larger the numerical value of the proportional control is, the higher the sensitivity of the control system is, and the stronger the reaction to the error is, so that the control object can reach the set value quickly, but the system is easy to be unstable and overreact; the integral control can cooperate with the proportional control to strengthen the control effect, after the state of the controlled object is stabilized at the set value, the error is zero, at this moment, the proportional control has failed, but the integral value of the error remains unchanged, and by virtue of the historical cost, the integral control can still generate a stable output control signal to maintain the control effect of the error being zero; the control output generated by the differential control is specially used for resisting the drastic change of the state of a controlled object, generating an over-front control action and having the effect of preventing a needle. Specifically, the closed-loop transfer function of the tilting hydraulic cylinder may be obtained by conventional derivation based on the closed-loop transfer system structure shown in fig. 7, that is:
Figure BDA0003513184330000121
in the formula, K p Representing the proportional gain, T, in the PID control algorithm D Representing a derivative time constant in the PID control algorithm.
S300, obtaining a closed-loop pole characteristic equation D(s) =0 according to a denominator polynomial in the closed-loop transfer function, wherein D(s) represents the denominator polynomial.
In the step S300, specifically:
Figure BDA0003513184330000122
s400, solving the closed-loop pole characteristic equation D(s) =0 according to the open-loop transmission parameters, and setting to obtain PID parameters of the PID control algorithm and enabling solutions of all closed-loop poles to be located on a negative real axis in a complex plane, wherein the PID parameters include but are not limited to proportional gain K p And a differential time constant T D And the like.
In step S400, according to the classical control theory, if the poles of the open-loop transfer function of the control system have one or more distribution (S) on the right side of the imaginary axis of the complex plane, the open loop of the control system is unstable, and since the open loop of the system is unstable, whether the closed loop of the system is stable depends on the distribution of the closed-loop characteristic root, it is generally suggested to place the closed-loop poles in the region with better stability as shown in fig. 8, and the surrounding boundary of the region can be determined based on the following analysis: (a) If the system is stable, all closed-loop poles are distributed in the area on the left side of the virtual axis of the complex plane, and whether the system is stable or not is irrelevant to the positions of the closed-loop zeros; (b) If the system has good rapidity, the closed loop poles are far away from the virtual axis so as to enable each component in the step response to be attenuated more quickly; (c) If the stability of the system is good, the pole of the conjugate complex number should be positioned on an equal damping line of beta = +/-45 degrees, and the corresponding damping coefficient (xi = 0.707) is the optimal damping coefficient; (d) The closed-loop pole closest to the imaginary axis has the largest influence on the dynamic process performance of the system, and plays a decisive leading role, so the closed-loop pole is called as the leading pole. In engineering, the performance of the system is often estimated by using only closed-loop dominant poles, that is, the system is approximately regarded as a second-order system composed of conjugate dominant poles or a first-order system composed of real dominant poles. Therefore, as shown in fig. 8, the shaded area is the stability-better area, and the closed-loop pole should be placed in this area. In order to ensure the stability of the system, the closed loop pole should be located at the center of the region with better stability, so that even if the pole position changes when the load changes, the pole position still stays in the region with better stability, and the good stability of the system can be still maintained.
For the closed-loop pole characteristic equation D(s) =0, if it is difficult to keep all closed-loop poles (i.e., solutions of all closed-loop poles) in the stability good region, it may be preferable to keep the closed-loop poles close to the negative real axis to achieve excellent stability, i.e., try to place all closed-loop poles at- α (α > 0) (i.e., construct the following equation:
Figure BDA0003513184330000131
then solve for
Figure BDA0003513184330000132
) In this way, all real parts of the closed-loop pole are equal and are attenuated at the same rate, so that the stability of the system is ensured, and further, according to the previously identified open-loop transfer parameter, the closed-loop pole characteristic equation D(s) =0 is solved, and the PID parameters of the PID control algorithm, which enable the solutions of all closed-loop poles to be located on the negative real axis in the complex plane, are obtained by setting (that is, after determining α according to the open-loop transfer parameter, further determining α is performed, and then
Figure BDA0003513184330000133
And
Figure BDA0003513184330000134
) The stability of the closed loop system can be ensured. In addition, if the requirement on the response performance of the closed-loop system is high, the PID parameters can be finely adjusted to achieve the target control effect.
In the step S400, the limitation of using the PID control algorithm alone is also considered, in that the proportional element requires an error to generate the control output, while the integral element requires an error and time, and the output signal for controlling the proportional valve is always related to the error between the target position and the actual position of the load. In many cases, if only proportional gain is used, the error needs to be large enough to generate the desired control signal, and adding an integrating loop will increase the output control signal by accumulating the error, but the integrating loop will gradually increase the output signal and take time. Even when the integration element accumulates a rising error, overshoot or overshoot of the position control is likely to occur when the error decreases. In this regard, the PID control algorithm preferably employs a feed forward gain compensation based PID control algorithm, as shown in fig. 9, where the feed forward gain can be used to meet the increased dynamic system response while reducing position and speed errors, which results in higher control performance of the machine and also increases mechanical life due to smooth and stable operation.
Specifically, the feedforward is information for generating a PID control algorithm using an S-motion curve. In general, the control principles of a high performance control algorithm are: the control algorithm generates a target motion curve, and then the actual motion is controlled by the control loop to follow the target motion curve. The target motion profile is refreshed periodically, such as every millisecond. The target generation algorithm calculates expected position, velocity, and acceleration parameters prior to each PID control refresh. Because the control algorithm knows the target velocity and target acceleration in advance, it can directly output control signals to meet the requirements for velocity and acceleration without waiting for the response of the PID to the target position and actual position error. The strength of the output signal is determined by the feed forward gain, which is a predicted parameter. Unlike PID, PID gain is multiplied by feedback error, feedforward gain is predicted gain, and the parameters are multiplied by target speed and target acceleration separately and then added, with the sum being the output control signal. The calculation of the output signal by feedforward is based on the following formula: feed forward output composition = K v X target speed + K a X target acceleration, wherein K v Representing the velocity feed-forward gain, K a The acceleration feedforward gain is indicated. Therefore, when the PID control algorithm adopts the PID control algorithm based on the feedforward gain compensation, the PID parameter also needs to contain the speed feedforward gain K v Sum acceleration feedforward gain K a 。
In addition, the feedback gain used for the calculation cannot be too large to ensure the stability of the system. In general, it is not possible to reduce the error to an acceptable level by simply increasing the PID without causing oscillations and instability. The benefit of deriving the control signal from the feedforward is that the feedforward does not need to rely on an error signal to generate the control signal as in PID control. Design stability and ease of tuning are key to the system, in that feedforward is used to generate as many control signals as possible while minimizing the use of PID control to derive the control signals so that the resulting error is minimized.
S500, after the tilt target expansion amount of the tilt hydraulic cylinder is obtained, the closed loop transfer function with the PID parameters introduced is applied to generate a continuous control signal.
The steps S100 to S400 may be completed before the step S5, and then after a difference between a target expansion length value of the tilt hydraulic cylinder and a current expansion length value is taken as a tilt target expansion amount of the tilt hydraulic cylinder, the closed loop transfer function into which the PID parameter is introduced is directly applied to generate the continuous control signal, so that corresponding open loop transfer parameters are obtained by identifying the open loop transfer function of the tilt hydraulic cylinder, then the closed loop transfer function of the tilt hydraulic cylinder is derived according to a PID control algorithm and the open loop transfer function, and then a closed loop pole characteristic equation is solved according to the open loop transfer function, and a PID parameter of the PID control algorithm is obtained by setting, and solutions of all closed loop poles are located on a negative real axis in a complex plane, so that stability of a closed loop system can be ensured, and finally, after the target expansion amount is obtained, the closed loop transfer function into which the PID parameter is introduced may be applied to generate a continuous control signal, so that the tilt hydraulic cylinder quasi-stable completes the tilt target expansion amount, further reduces setting of the control parameter, and achieves a quasi-stable control of the tilt hydraulic cylinder in a tilt control process.
S552, transmitting the continuous control signal to the tilting hydraulic cylinder so that the tilting hydraulic cylinder can perform telescopic adjustment according to the continuous control signal until the tilting target telescopic amount is completed.
S6, calculating to obtain the lifting target stretching amount of a lifting hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point, the current three-dimensional coordinate of the left side shovel point and the current three-dimensional coordinate of the right side shovel point, and controlling the lifting hydraulic cylinder to complete the lifting target stretching amount, wherein the lifting hydraulic cylinder comprises a left side lifting hydraulic cylinder and a right side lifting hydraulic cylinder of the bulldozer.
In the step S6, specifically, the lifting target expansion amount of the lifting hydraulic cylinder is calculated according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point, and the current three-dimensional coordinates of the left blade point and the right blade point, which includes, but is not limited to, the following steps S61 to S65.
S61, calculating to obtain a current elevation of a first key point according to a current three-dimensional coordinate of the first pushing beam link point, and calculating to obtain a current elevation of a second key point according to current three-dimensional coordinates of the left shovel blade point and the right shovel blade point, wherein the first key point is a point located between a left link point and a right link point in the first pushing beam link point, and the second key point is a point located between the left shovel blade point and the right shovel blade point.
In the step S61, preferably, the first key point is a middle point between two left and right link points of the first pushing beam link points, that is, a point E shown in fig. 10; the second key point is a middle point between the left blade point and the right blade point, that is, an F point shown in fig. 10, and the current elevations of the first key point and the second key point can be obtained by calculation through conventional geometric knowledge.
S62, calculating to obtain a current included angle value of the key point line segment relative to a horizontal plane according to the current elevation of the first key point, the current elevation of the second key point and the length of the key point line segment, and calculating to obtain a current pitch angle value of the dozer relative to the bulldozer by combining the current machine pitch angle of the bulldozer, wherein the key point line segment is a line segment connecting the first key point and the second key point.
In the step S62, preferably, the key point line segment is a midpoint line segment EF as shown in fig. 10, and a current included angle value of the key point line segment with respect to the horizontal plane may be obtained by conventional geometric knowledge calculation. The current body pitch angle of the bulldozer is the body pitch attitude angle in the first attitude information obtained in real time, so that the current pitch angle value of the blade relative to the body can be calculated through conventional geometric knowledge.
And S63, acquiring the design elevation of the construction design surface according to the three-dimensional coordinate information of the construction design surface, calculating to obtain a target included angle value of the key point line segment relative to the horizontal plane by combining the current elevation of the first key point and the length of the key point line segment, and calculating to obtain a target pitch angle value of the dozer blade relative to the bulldozer by combining the current machine pitch angle of the bulldozer.
And S64, inputting the current pitch angle value into a second conversion relation to obtain a current telescopic length value of a lifting hydraulic cylinder, and inputting the target pitch angle value into the second conversion relation to obtain a target telescopic length value of the lifting hydraulic cylinder, wherein the second conversion relation is a predetermined functional relation between the telescopic length value of the lifting hydraulic cylinder and the pitch angle value of the dozer blade relative to the body, and the lifting hydraulic cylinder comprises a left lifting hydraulic cylinder and a right lifting hydraulic cylinder of the bulldozer.
In step S64, the second transformation relationship is also determined in advance, that is, before the lifting target expansion amount of the lifting hydraulic cylinder is calculated according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point, and the current three-dimensional coordinates of the left blade point and the right blade point, the method further includes, but is not limited to, the following steps S601 to S603.
S601, when the lifting hydraulic cylinders are at different stretching length values, acquiring included angle values corresponding to the different stretching length values and corresponding to a horizontal plane of a key point line segment and a machine body pitch angle of the bulldozer, wherein the lifting hydraulic cylinders are left lifting hydraulic cylinders or right lifting hydraulic cylinders of the bulldozer, the key point line segment is a line segment connecting a first key point and a second key point, the first key point is a point between a left link point and a right link point in a first pushing beam link point, and the second key point is a point between the left shovel blade point and the right shovel blade point.
In the step S601, the included angle value of the key point line segment with respect to the horizontal plane may be obtained by referring to the steps S61 to S62, which is not described herein again. And the pitch angle of the body of the bulldozer is the pitch attitude angle of the body in the first attitude information.
S602, calculating to obtain corresponding pitch angle values of the dozer blade relative to the bulldozer according to corresponding included angles of the key point line segments relative to the horizontal plane and the pitch angle of the bulldozer for the different stretching length values.
S603, according to the different extension length values and the corresponding pitch angle values, a second conversion relation is obtained in a simulation modeling mode, wherein the second conversion relation refers to a model motion relation between the extension length value of the lifting hydraulic cylinder and the pitch angle value of the dozer blade relative to the body.
And S65, taking the difference value between the target telescopic length value and the current telescopic length value of the lifting hydraulic cylinder as the lifting target telescopic quantity of the lifting hydraulic cylinder.
In the step S6, for controlling the lifting hydraulic cylinder to complete the lifting target expansion and contraction amount, the steps S551 to S552 may be also referred to, and details are not repeated herein.
Therefore, after the GNSS-based automatic control method for the bulldozer blade described in the steps S1 to S6 is implemented, the GNSS receiver is fixedly installed at the top end of the bulldozer body, the inertial measurement units are respectively and fixedly installed on the bulldozer body and the blade, the real-time three-dimensional coordinates of the blade points on the left and right sides and the real-time target expansion and contraction amounts of the inclined hydraulic cylinder and the lifting hydraulic cylinder are calculated according to the three-dimensional coordinate information of the construction design surface and the acquired GNSS positioning information, body posture information and blade posture information, and finally the inclined hydraulic cylinder and the lifting hydraulic cylinder are controlled to complete the corresponding target expansion and contraction amounts, so that the blade position control scheme can tend to be linearized, each control target is clearly defined, the setting difficulty of control parameters can be reduced, the purposes of fast, accurate and stable control can be achieved, and practical application and popularization are facilitated.
As shown in fig. 11, a second aspect of the present embodiment provides a virtual device for implementing the method for automatically controlling a bulldozer blade of a GNSS according to the first aspect, including an information acquisition and processing module, a three-dimensional coordinate calculation module, a relative attitude calculation module, a three-dimensional coordinate calculation module, a blade tilt control module, and a blade lift control module;
the information acquisition processing module is used for acquiring positioning information from a Global Navigation Satellite System (GNSS) receiver, first attitude information from a first inertial measurement unit and second attitude information from a second inertial measurement unit, wherein the GNSS receiver is fixedly installed at the top end of a bulldozer, the positioning information comprises three-dimensional coordinates and a yaw angle of a mounting point at the top end of the bulldozer, the first inertial measurement unit is fixedly installed on the bulldozer, the first attitude information comprises a roll attitude angle and a pitch attitude angle of the bulldozer, the second inertial measurement unit is fixedly installed on a blade of the bulldozer, and the second attitude information comprises the roll attitude angle and the pitch attitude angle of the blade;
the three-dimensional coordinate calculation module is in communication connection with the information acquisition and processing module and is used for calculating a three-dimensional coordinate of a first pushing beam link point according to the positioning information, the first posture information and the relative position relationship between the top end mounting point of the bulldozer and the first pushing beam link point, wherein the first pushing beam link point comprises a hinge point between a left pushing beam and the bulldozer and a hinge point between a right pushing beam and the bulldozer;
the relative attitude calculation module is in communication connection with the information acquisition and processing module and is used for calculating a roll attitude angle and a pitch attitude angle of the blade relative to the machine body according to the first attitude information and the second attitude information;
the three-dimensional coordinate calculation module is respectively in communication connection with the three-dimensional coordinate calculation module and the relative attitude calculation module, and is used for calculating three-dimensional coordinates of a left blade point and a right blade point of the dozer blade according to the three-dimensional coordinates of the first pushing beam link point, a roll attitude angle and a pitch attitude angle of the dozer blade relative to the machine body, length and size information of the pushing beam, blade size information of the dozer blade and the second attitude information;
the dozer blade inclination control module is in communication connection with the three-dimensional coordinate calculation module and is used for calculating the inclination target expansion amount of the inclination hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left blade point and the right blade point and controlling the inclination hydraulic cylinder to complete the inclination target expansion amount;
the dozer blade lifting control module is in communication connection with the three-dimensional coordinate calculation module and is used for calculating lifting target stretching amount of a lifting hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point, the current three-dimensional coordinate of the left side scraper point and the current three-dimensional coordinate of the right side scraper point, and controlling the lifting hydraulic cylinder to complete the lifting target stretching amount, wherein the lifting hydraulic cylinder comprises a left side lifting hydraulic cylinder and a right side lifting hydraulic cylinder of the bulldozer.
The working process, working details and technical effects of the device provided in the second aspect of this embodiment may refer to the automatic control method for the bulldozer blade of the first aspect, and are not described herein again.
As shown in fig. 12, a third aspect of the present embodiment provides a computer device for executing the GNSS based dozer blade automatic control method according to the first aspect, comprising a memory, a processor and a transceiver, which are sequentially connected in communication, wherein the memory is used for storing a computer program and configuration related files, the transceiver is used for transmitting and receiving information, and the processor is used for reading the computer program and executing the GNSS based dozer blade automatic control method according to the first aspect. For example, the Memory may include, but is not limited to, a Random-Access Memory (RAM), a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a First-in First-out (FIFO), and/or a First-in Last-out (FILO), and the like; the processor may be, but is not limited to, a microprocessor of the model number STM32F105 family. In addition, the computer device may also include, but is not limited to, a power module, a display screen, and other necessary components.
For the working process, working details and technical effects of the foregoing computer device provided in the third aspect of this embodiment, reference may be made to the automatic control method for a bulldozer blade of the first aspect, which is not described herein again.
A fourth aspect of the present embodiments provides a computer-readable storage medium storing instructions comprising the GNSS based bulldozer blade automatic control method of the first aspect, i.e., the computer-readable storage medium having stored thereon instructions which, when executed on a computer, perform the GNSS based bulldozer blade automatic control method of the first aspect. The computer-readable storage medium refers to a carrier for storing data, and may include, but is not limited to, a computer-readable storage medium such as a floppy disk, an optical disk, a hard disk, a flash Memory, a flash disk and/or a Memory Stick (Memory Stick), and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
For the working process, the working details and the technical effects of the foregoing computer-readable storage medium provided in the fourth aspect of this embodiment, reference may be made to the automatic control method for a bulldozer blade in the first aspect, which is not described herein again.
A fifth aspect of the present embodiments provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method for automatic control of a GNSS based dozer blade as described in the first aspect. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices.
Finally, it should be noted that the present invention is not limited to the above alternative embodiments, and that various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.

Claims (10)

1. A GNSS-based automatic control method for a bulldozer blade is characterized by comprising the following steps:
the method comprises the steps of obtaining positioning information from a Global Navigation Satellite System (GNSS) receiver, first attitude information from a first inertial measurement unit and second attitude information from a second inertial measurement unit, wherein the GNSS receiver is fixedly installed at the top end of a bulldozer, the positioning information comprises three-dimensional coordinates and a yaw angle of a mounting point at the top end of the bulldozer, the first inertial measurement unit is fixedly installed on the bulldozer, the first attitude information comprises a roll attitude angle and a pitch attitude angle of the bulldozer, the second inertial measurement unit is fixedly installed on a blade of the bulldozer, and the second attitude information comprises the roll attitude angle and the pitch attitude angle of the blade;
solving a three-dimensional coordinate of a first pushing beam link point according to the positioning information, the first posture information and a relative position relationship between the top mounting point of the bulldozer and the first pushing beam link point, wherein the first pushing beam link point comprises a hinge point of a left pushing beam and the bulldozer and a hinge point of a right pushing beam and the bulldozer;
according to the first attitude information and the second attitude information, calculating a roll attitude angle and a pitch attitude angle of the blade relative to the body;
calculating three-dimensional coordinates of a left blade point and a right blade point of the dozer blade according to the three-dimensional coordinates of the first pushing beam link point, a rolling attitude angle and a pitching attitude angle of the dozer blade relative to the machine body, length and size information of the pushing beam, blade size information of the dozer blade and the second attitude information;
calculating to obtain the tilt target stretching amount of the tilt hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left side scraper point and the right side scraper point, and controlling the tilt hydraulic cylinder to finish the tilt target stretching amount;
and calculating to obtain the lifting target expansion amount of a lifting hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point, the current three-dimensional coordinate of the left blade point and the current three-dimensional coordinate of the right blade point, and controlling the lifting hydraulic cylinder to complete the lifting target expansion amount, wherein the lifting hydraulic cylinder comprises a left lifting hydraulic cylinder and a right lifting hydraulic cylinder of the bulldozer.
2. The method of claim 1, wherein the step of calculating three-dimensional coordinates of a left blade point and a right blade point of the blade from three-dimensional coordinates of a link point of the first pushing beam, a roll attitude angle and a pitch attitude angle of the blade with respect to the machine body, pushing beam length dimension information, blade body dimension information of the blade, and the second attitude information includes:
calculating a three-dimensional coordinate of a second pushing beam link point according to the three-dimensional coordinate of the first pushing beam link point, the roll attitude angle, the pitch attitude angle and the pushing beam length size information of the blade relative to the machine body, wherein the pushing beam length size information comprises the length of the left pushing beam and the length of the right pushing beam, and the second pushing beam link point comprises a hinge point of the left pushing beam and the blade and a hinge point of the right pushing beam and the blade;
and calculating three-dimensional coordinates of a left blade point and a right blade point of the blade according to the three-dimensional coordinates of the second pushing beam link point, the blade size information of the blade and the second posture information, wherein the blade size information comprises the relative position relationship between the second pushing beam link point and the left blade point and the right blade point.
3. The method of claim 1, wherein calculating a tilt target extension/retraction amount of the tilt cylinder based on three-dimensional coordinate information of a construction design surface and current three-dimensional coordinates of the left blade point and the right blade point includes:
calculating to obtain a current inclination angle value of the current relative horizontal plane of the bottom edge of the scraper according to the current three-dimensional coordinates of the left scraper point and the right scraper point, and calculating to obtain a current movement inclination angle value of the dozer blade relative to the bulldozer by combining the current machine body inclination angle value of the bulldozer;
calculating to obtain current projection point coordinates of the left scraper point and the right scraper point on the construction design surface according to three-dimensional coordinate information of the construction design surface and current three-dimensional coordinates of the left scraper point and the right scraper point, then calculating to obtain current projection length of the bottom edge of the scraper according to the two current projection point coordinates, and finally calculating to obtain a target motion inclination angle value of the soil pushing shovel relative to the machine body by combining current elevations of the left scraper point and the right scraper point;
inputting the current movement inclination angle value into a first conversion relation to obtain a current stretching length value of a tilting hydraulic cylinder, and inputting the target movement inclination angle value into the first conversion relation to obtain a target stretching length value of the tilting hydraulic cylinder, wherein the first conversion relation is a predetermined model movement relation between the stretching length value of the tilting hydraulic cylinder and the movement inclination angle value of the dozer blade relative to the body;
and taking the difference value between the target telescopic length value of the tilting hydraulic cylinder and the current telescopic length value as the tilting target telescopic amount of the tilting hydraulic cylinder.
4. The automatic control method of a bulldozer blade according to claim 3, in which, before the target amount of extension and retraction of the tilt cylinder is calculated based on the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left blade point and the right blade point, the method further comprises:
when the tilting hydraulic cylinder is at different stretching length values, acquiring and obtaining a relative horizontal plane inclination angle value of the bottom edge of the scraper knife and a body inclination angle value of the bulldozer relative to the horizontal plane, which correspond to the different stretching length values;
for each different extension length value, taking the difference value between the corresponding inclination angle value of the relative horizontal plane and the corresponding inclination angle value of the machine body as the corresponding movement inclination angle value of the dozer blade relative to the machine body;
and obtaining a first conversion relation in a simulation modeling mode according to the different extension length values and the corresponding motion inclination angle values, wherein the first conversion relation refers to a model motion relation between the extension length value of the tilting hydraulic cylinder and the motion inclination angle value of the dozer blade relative to the body.
5. The method of automatically controlling a dozer blade of a bulldozer according to claim 1, wherein controlling said tilt cylinder to achieve said target tilt extension and retraction amount includes:
according to the open-loop transfer function of the tilting hydraulic cylinder, a proportional-integral-derivative (PID) control algorithm is applied to generate a continuous control signal;
and transmitting the continuous control signal to the tilting hydraulic cylinder so that the tilting hydraulic cylinder can perform telescopic adjustment according to the continuous control signal until the tilting target telescopic amount is finished.
6. The automatic control method of a bulldozer blade according to claim 1, wherein calculating a lifting target expansion amount of a lifting hydraulic cylinder based on three-dimensional coordinate information of the construction design surface, a current three-dimensional coordinate of the first pushing beam link point, and current three-dimensional coordinates of the left blade point and the right blade point includes:
calculating to obtain a current elevation of a first key point according to a current three-dimensional coordinate of the first pushing beam link point, and calculating to obtain a current elevation of a second key point according to current three-dimensional coordinates of the left shovel blade point and the right shovel blade point, wherein the first key point is a point between a left link point and a right link point in the first pushing beam link point, and the second key point is a point between the left shovel blade point and the right shovel blade point;
calculating to obtain a current included angle value of the key point line segment relative to a horizontal plane according to the current elevation of the first key point, the current elevation of the second key point and the length of the key point line segment, and calculating to obtain a current pitch angle value of the dozer blade relative to the dozer body by combining the current body pitch angle of the dozer, wherein the key point line segment is a line segment connecting the first key point and the second key point;
acquiring the design elevation of the construction design surface according to the three-dimensional coordinate information of the construction design surface, calculating to obtain a target included angle value of the key point line segment relative to the horizontal plane by combining the current elevation of the first key point and the length of the key point line segment, and calculating to obtain a target pitch angle value of the dozer blade relative to the dozer body by combining the current body pitch angle of the dozer;
inputting the current pitch angle value into a second conversion relation to obtain a current telescopic length value of a lifting hydraulic cylinder, and inputting the target pitch angle value into the second conversion relation to obtain a target telescopic length value of the lifting hydraulic cylinder, wherein the second conversion relation is a predetermined model motion relation between the telescopic length value of the lifting hydraulic cylinder and the pitch angle value of the dozer blade relative to the body, and the lifting hydraulic cylinder comprises a left lifting hydraulic cylinder and a right lifting hydraulic cylinder of the bulldozer;
and taking the difference value between the target telescopic length value of the lifting hydraulic cylinder and the current telescopic length value as the lifting target telescopic amount of the lifting hydraulic cylinder.
7. The automatic control method of a bulldozer blade according to claim 6, wherein before the lifting target retraction amount of the lifting hydraulic cylinder is calculated based on the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pusher beam link point, and the current three-dimensional coordinates of the left blade point and the right blade point, the method further comprises:
when a lifting hydraulic cylinder is at different stretching length values, acquiring included angle values corresponding to the different stretching length values and corresponding to key point line segments relative to a horizontal plane and a machine body pitch angle of the bulldozer, wherein the lifting hydraulic cylinder is a left lifting hydraulic cylinder or a right lifting hydraulic cylinder of the bulldozer, the key point line segments are line segments connecting a first key point and a second key point, the first key point is a point between a left link point and a right link point in a first pushing beam link point, and the second key point is a point between the left shovel blade point and the right shovel blade point;
aiming at each different stretching length value, calculating to obtain a corresponding pitch angle value of the dozer blade relative to the bulldozer according to a corresponding included angle value of the key point line segment relative to the horizontal plane and a corresponding pitch angle value of the bulldozer body;
and obtaining a second conversion relation in a simulation modeling mode according to the different stretching length values and the corresponding pitching angle values, wherein the second conversion relation refers to a model motion relation between the stretching length value of the lifting hydraulic cylinder and the pitching angle value of the dozer blade relative to the body.
8. A GNSS-based automatic control device of a bulldozer blade is characterized by comprising an information acquisition and processing module, a three-dimensional coordinate calculation module, a relative attitude calculation module, a three-dimensional coordinate calculation module, a blade inclination control module and a blade lifting control module;
the information acquisition processing module is used for acquiring positioning information from a Global Navigation Satellite System (GNSS) receiver, first attitude information from a first inertial measurement unit and second attitude information from a second inertial measurement unit, wherein the GNSS receiver is fixedly installed at the top end of a bulldozer, the positioning information comprises three-dimensional coordinates and a yaw angle of an installation point at the top end of the bulldozer, the first inertial measurement unit is fixedly installed on the bulldozer, the first attitude information comprises a roll attitude angle and a pitch attitude angle of the bulldozer, the second inertial measurement unit is fixedly installed on a blade of the bulldozer, and the second attitude information comprises a roll attitude angle and a pitch attitude angle of the blade;
the three-dimensional coordinate calculation module is in communication connection with the information acquisition and processing module and is used for calculating a three-dimensional coordinate of a first pushing beam link point according to the positioning information, the first attitude information and a relative position relation between the top end mounting point of the bulldozer and the first pushing beam link point, wherein the first pushing beam link point comprises a hinge point between a left pushing beam and the bulldozer and a hinge point between a right pushing beam and the bulldozer;
the relative attitude calculation module is in communication connection with the information acquisition and processing module and is used for calculating a roll attitude angle and a pitch attitude angle of the blade relative to the machine body according to the first attitude information and the second attitude information;
the three-dimensional coordinate calculation module is respectively in communication connection with the three-dimensional coordinate calculation module and the relative attitude calculation module, and is used for calculating three-dimensional coordinates of a left blade point and a right blade point of the dozer blade according to the three-dimensional coordinates of the first pushing beam link point, a roll attitude angle and a pitch attitude angle of the dozer blade relative to the machine body, length and size information of the pushing beam, blade size information of the dozer blade and the second attitude information;
the dozer blade inclination control module is in communication connection with the three-dimensional coordinate calculation module and is used for calculating the inclination target expansion amount of the inclination hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface and the current three-dimensional coordinates of the left blade point and the right blade point and controlling the inclination hydraulic cylinder to complete the inclination target expansion amount;
the dozer blade lifting control module is in communication connection with the three-dimensional coordinate calculation module and is used for calculating lifting target stretching amount of a lifting hydraulic cylinder according to the three-dimensional coordinate information of the construction design surface, the current three-dimensional coordinate of the first pushing beam link point, the current three-dimensional coordinate of the left side scraper point and the current three-dimensional coordinate of the right side scraper point, and controlling the lifting hydraulic cylinder to complete the lifting target stretching amount, wherein the lifting hydraulic cylinder comprises a left side lifting hydraulic cylinder and a right side lifting hydraulic cylinder of the bulldozer.
9. A computer device comprising a memory, a processor and a transceiver, wherein the memory, the processor and the transceiver are sequentially connected in communication, the memory is used for storing a computer program and a configuration related file, the transceiver is used for transmitting and receiving information, and the processor is used for reading the computer program and executing the automatic control method of the bulldozer blade according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, perform the automatic control method for a bulldozer blade according to any one of claims 1 to 7.
CN202210157046.9A 2022-02-21 2022-02-21 GNSS-based automatic control method and device for bulldozer blade Active CN114396091B (en)

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