CN114442616A - Control method and device for excavator, processor and excavator - Google Patents
Control method and device for excavator, processor and excavator Download PDFInfo
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- CN114442616A CN114442616A CN202210005457.6A CN202210005457A CN114442616A CN 114442616 A CN114442616 A CN 114442616A CN 202210005457 A CN202210005457 A CN 202210005457A CN 114442616 A CN114442616 A CN 114442616A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The embodiment of the application provides a control method and device for an excavator, a processor and the excavator. The control method for the excavator comprises the following steps: acquiring a point cloud map in a target area; determining barrier information in a target area according to the point cloud map; determining ground gradient information in the target area according to the point cloud map; planning an automatic driving operation path of the excavator according to the obstacle information, the ground gradient information and the initial position and the target position of the excavator; and controlling the excavator to travel on the automatic driving operation path. Through the technical scheme, the excavator can avoid the obstacle on the automatic driving operation path, and the overturning phenomenon of the excavator caused by uneven ground can be prevented, so that the safety of the automatic driving operation of the excavator is ensured.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a control method, a control device, a processor and an excavator for the excavator.
Background
Excavator autopilot has become the main research direction of excavator intellectualization at present, such as automatic loading excavator developed by Kanai university, Japanese automatic digging robot, etc., and safety control is the main research subject of excavator autopilot.
The existing excavator automatic driving mainly adopts an automobile automatic driving technology, objects around the excavator are sensed by means of sensing equipment, the excavator can automatically go to a target position from a set initial position like an automobile, and safety control such as active braking is formed. However, the surrounding environment of the working site of the excavator is often severe, various obstacles exist, the ground is not flat, the existing safety control mode has great hidden dangers, and the excavator is easily caused to be trapped in dangerous situations such as overturning, clamping and the like.
Disclosure of Invention
The embodiment of the application aims to provide a control method and device for an excavator, a processor and the excavator.
In order to achieve the above object, a first aspect of the present application provides a control method for an excavator, including:
acquiring a point cloud map in a target area;
determining barrier information in a target area according to the point cloud map;
determining ground gradient information in the target area according to the point cloud map;
planning an automatic driving operation path of the excavator according to the obstacle information, the ground gradient information and the initial position and the target position of the excavator;
and controlling the excavator to travel on the automatic driving operation path.
In the embodiment of the present application, determining obstacle information in a target area according to a point cloud map includes:
determining category information of semantic entities in the point cloud map, wherein the semantic entities are associated with physical entities within the target area;
and determining the obstacle information in the target area according to the category information.
In the embodiment of the present application, identifying category information of semantic entities in a point cloud map includes:
extracting a three-dimensional model of a semantic entity from the point cloud map;
calculating a characteristic value of the three-dimensional model;
matching the characteristic value with a preset characteristic value in a preset characteristic database;
and determining the category information of the semantic entity according to the matching result.
In an embodiment of the present application, determining ground slope information in a target area according to a point cloud map includes:
extracting ground characteristic point clouds from the point cloud map, and establishing a ground plane model;
calculating the distance value from each point in the ground characteristic point cloud to the ground plane model;
and determining the ground gradient information in the target area according to the distance value.
In an embodiment of the present application, planning an automatic driving operation path of an excavator according to obstacle information, ground slope information, and a start position and a destination position of the excavator includes:
determining an avoidance position according to the obstacle information and the ground gradient information;
planning a first automatic driving operation path of the excavator according to the initial position and the avoidance position of the excavator;
planning a second automatic driving operation path of the excavator according to the avoiding position and the target position of the excavator;
the first autonomous driving work path and the second autonomous driving work path are combined into an autonomous driving work path of the excavator.
In the embodiment of the application, determining the avoidance position according to the obstacle information and the ground gradient information comprises the following steps:
determining the position of the obstacle according to the obstacle information;
determining the position of the ground slope larger than a preset inclination angle according to the ground slope information;
and determining the position of the obstacle and the position of which the ground gradient is greater than a preset inclination angle as avoidance positions.
In an embodiment of the present application, the control method further includes:
acquiring the gravity center position of the excavator in the driving process;
determining whether the position of the center of gravity exceeds a first preset range;
in the case where it is determined that the position of the center of gravity is outside the first preset range, an anti-toppling measure is performed.
In this application embodiment, obtaining the center of gravity position of the excavator in the driving process includes:
acquiring movable arm inclination angle information, bucket rod inclination angle information, bucket inclination angle information and body inclination angle information of the excavator in the running process;
and determining the gravity center position of the excavator according to the boom inclination angle information, the arm inclination angle information, the bucket inclination angle information and the horizontal angle information of the excavator body.
In an embodiment of the present application, in a case where it is determined that the position of the center of gravity is out of the first preset range, an anti-overturn measure is performed, including:
under the condition that the gravity center position is determined to be beyond a first preset range, determining whether the gravity center position is beyond a second preset range, wherein the second preset range is larger than the first preset range;
controlling the excavator to run at a reduced speed under the condition that the gravity center position is determined not to exceed a second preset range;
and controlling the excavator to stop running under the condition that the gravity center position is determined to be beyond a second preset range.
In an embodiment of the present application, the control method further includes:
acquiring environment perception information of an excavator in a driving process;
determining the motion trend of the target object according to the environment perception information;
determining whether collision risk exists according to the movement trend;
in case it is determined that there is a risk of collision, a collision avoidance measure is performed.
A second aspect of the present application provides a processor configured to execute the control method for an excavator described above.
A third aspect of the present application provides a control apparatus for an excavator, including the processor described above.
In an embodiment of the present application, the control apparatus further includes:
a first inclination angle sensor configured to detect boom inclination angle information of the excavator during traveling;
a second tilt angle sensor configured to detect information of a tilt angle of the arm of the excavator during traveling;
a third tilt angle sensor configured to detect information of a tilt angle of the bucket of the excavator during traveling;
the level gauge is configured to detect the horizontal angle information of the body of the excavator during the driving process;
the processor is further configured to:
and determining the gravity center position of the excavator according to the boom inclination angle information, the arm inclination angle information, the bucket inclination angle information and the horizontal angle information of the excavator body.
In an embodiment of the present application, the control apparatus further includes:
and the environment sensing equipment is configured to detect environment sensing information of the excavator during running.
The fourth aspect of the application provides an excavator, which comprises the control device for the excavator.
A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform the control method for an excavator described above.
According to the technical scheme, the point cloud map in the target area is obtained, the obstacle information in the target area is determined according to the point cloud map, the ground gradient information in the target area is determined according to the point cloud map, the automatic driving operation path of the excavator is planned according to the obstacle information, the ground gradient information, the initial position and the target position of the excavator, and the excavator is controlled to drive through the automatic driving operation path.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the detailed description serve to explain the embodiments of the application and not to limit the embodiments of the application. In the drawings:
fig. 1 is a flowchart illustrating a control method for an excavator provided in an embodiment of the present application;
fig. 2 is a flowchart illustrating step S12 in the control method for the excavator provided in the embodiment of the present application;
fig. 3 is a flowchart illustrating step S121 in the control method for the excavator provided in the embodiment of the present application;
fig. 4 is a flowchart illustrating step S13 in the control method for the excavator provided in the embodiment of the present application;
fig. 5 is a flowchart illustrating step S14 in the control method for the excavator provided in the embodiment of the present application;
fig. 6 is a flowchart illustrating step S141 in the control method for the excavator provided in the embodiment of the present application;
FIG. 7 is another schematic flow chart diagram of a control method for an excavator provided in an embodiment of the present application;
fig. 8 is a flowchart illustrating step S16 in the control method for the excavator provided in the embodiment of the present application;
fig. 9 is a flowchart illustrating step S18 in the control method for the excavator provided in the embodiment of the present application;
FIG. 10 is another schematic flow chart diagram of a control method for an excavator provided in an embodiment of the present application;
fig. 11 is a schematic structural diagram of a control device for an excavator provided in an embodiment of the present application;
fig. 12 is an internal structural diagram of a computer device provided in the embodiment of the present application.
Description of the reference numerals
10. A processor; 20. A first tilt sensor;
30. a second tilt sensor; 40. third tilt sensor
50. A level gauge; 60. A context aware device.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a flowchart illustrating a control method for an excavator provided in an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, there is provided a control method for an excavator, including the steps of:
step S11: acquiring a point cloud map in a target area;
step S12: determining barrier information in a target area according to the point cloud map;
step S13: determining ground gradient information in the target area according to the point cloud map;
step S14: planning an automatic driving operation path of the excavator according to the obstacle information, the ground gradient information and the initial position and the target position of the excavator;
step S15: and controlling the excavator to travel on the automatic driving operation path.
Specifically, in step S11, the target area is a work site for the excavator automatic driving operation, the excavator may be manually driven around the target area before the excavator automatic driving operation is started, and positioning information of the excavator during the movement and point cloud data of the surrounding environment are collected to generate a point cloud map of the target area. In steps S12 and S13, from the acquired point cloud map, obstacle information and ground gradient information in the target area may be determined, and then the process proceeds to step S14. In step S14, the starting position and the destination position of the excavator can be given by the positioning device, and the excavator usually has an inherent horizontal overturning angle when being designed, and the excavator will overturn when the ground gradient is greater than the horizontal overturning angle, so that the area where the ground gradient is greater than the horizontal overturning angle can be equivalent to the actual obstacle, and the actual obstacle and the area where the ground gradient is greater than the horizontal overturning angle can be avoided when planning the automatic driving operation path of the excavator. Further, in step S15, the excavator is controlled to travel on the autonomous working path. Through the mode, the excavator can avoid the obstacle on the automatic driving operation path, and the overturning phenomenon of the excavator caused by uneven ground can be prevented, so that the safety of the automatic driving operation of the excavator is ensured.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a step S12 in the control method for the excavator according to the embodiment of the present application. Determining the obstacle information in the target area according to the point cloud map in step S12 may include the following steps:
step S121: determining category information of semantic entities in the point cloud map, wherein the semantic entities are associated with physical entities within the target area;
step S122: and determining the obstacle information in the target area according to the category information.
Specifically, in step S121, the physical entities in the target area include not only the actual obstacles, but also the working objects such as soil piles, and the category information of the semantic entities corresponding to each physical entity in the point cloud map needs to be determined. In step S122, a physical entity that does not belong to the work object is determined as an actual obstacle according to the category information, thereby determining obstacle information in the target area. It can be understood that only the actual obstacle can be avoided and the working object can not be avoided when the automatic driving operation path of the excavator is subsequently planned, so that the automatic driving operation of the excavator can be normally carried out.
Referring to fig. 3, fig. 3 is a flowchart illustrating a step S121 in the control method for the excavator according to the embodiment of the present application. The determining of the category information of the semantic entities in the point cloud map in step S121 may include the following steps:
step S1211: extracting a three-dimensional model of a semantic entity from the point cloud map;
step S1212: calculating a characteristic value of the three-dimensional model;
step S1213: matching the characteristic value with a preset characteristic value in a preset characteristic database;
step S1214: and determining the category information of the semantic entity according to the matching result.
Specifically, in step S1211, a clustering segmentation process may be performed on the point cloud data to obtain a three-dimensional model of the semantic entity. In step S1212, the feature value is feature data for distinguishing the three-dimensional model of each semantic entity from other three-dimensional models, and may be, for example, feature data such as a length-width height, or feature data such as a length average value, a width average value, or a height average value. In step S1213, preset feature value data corresponding to each semantic entity is pre-stored in the preset feature database, and the preset feature value data and the category information of the semantic entity have a corresponding relationship. Further, in step S1214, the category information of the semantic entity can be determined according to the matching result. For example, a length value, a width value, and a height value may be used as feature data, and when the feature value of the three-dimensional model of the semantic entity is that the length value is less than 1.2 meters, the width value is less than 1.2 meters, and the height value is greater than 0.6 meters and less than 2 meters, the physical entity associated with the semantic entity is determined to be a human. It can be understood that in the embodiment of the application, the category information of the semantic entity can be determined by calculating the characteristic value of the three-dimensional model of the semantic entity and matching the characteristic value with the preset characteristic value in the preset characteristic database, and compared with distinguishing in an image recognition mode, the calculation amount is greatly reduced, and the working efficiency is improved.
Referring to fig. 4, fig. 4 is a schematic flowchart illustrating a step S13 in the control method for the excavator according to the embodiment of the present application. Determining the ground gradient information in the target area according to the point cloud map in step S13 may include the following steps:
step S131: extracting ground characteristic point clouds from the point cloud map, and establishing a ground plane model;
step S132: calculating the distance value from each point in the ground characteristic point cloud to the ground plane model;
step S133: and determining the ground gradient information in the target area according to the distance value.
Specifically, in step S131, the point cloud data may be subjected to clustering segmentation processing to extract a ground feature point cloud, and the ground plane model is a plane reference model parallel to the horizontal plane and closest to the real ground. In step S132 and step S133, the distance value between each point in the ground feature point cloud and the ground plane model is calculated, so that the ground gradient information in the target area can be determined.
Referring to fig. 5, fig. 5 is a schematic flowchart illustrating step S14 in the control method for an excavator according to the embodiment of the present application. The planning of the automatic driving operation path of the excavator according to the obstacle information, the ground gradient information, and the start position and the destination position of the excavator in the step S14 may include the steps of:
step S141: determining an avoidance position according to the obstacle information and the ground gradient information;
step S142: planning a first automatic driving operation path of the excavator according to the initial position and the avoidance position of the excavator;
step S143: planning a second automatic driving operation path of the excavator according to the avoiding position and the target position of the excavator;
step S144: the first autonomous driving work path and the second autonomous driving work path are combined into an autonomous driving work path of the excavator.
Specifically, in step S141, the avoidance position is a position that needs to be avoided when planning the autonomous driving work path of the excavator. In steps S142 and S143, a first autonomous driving work path between the start position and the avoidance position of the excavator is planned first, and then a second autonomous driving work path between the avoidance position and the destination position of the excavator is planned, and it is understood that when there are a plurality of avoidance positions, an autonomous driving work path between the start position and the first avoidance position may be planned first, and then an autonomous driving work path between the first avoidance position and the next avoidance position may be planned until an autonomous driving work path between the last avoidance position and the destination position is planned. In step S144, the first autonomous driving work path and the second autonomous driving work path are combined to obtain an autonomous driving work path of the excavator.
Referring to fig. 6, fig. 6 is a flowchart illustrating step S141 of the control method for the excavator according to the embodiment of the present application. The determining of the avoidance position according to the obstacle information and the ground gradient information in step S141 may include:
step S1411: determining the position of the obstacle according to the obstacle information;
step S1412: determining the position of the ground slope larger than a preset inclination angle according to the ground slope information;
step S1413: and determining the position of the obstacle and the position of which the ground gradient is greater than a preset inclination angle as avoidance positions.
Specifically, in step S1412, the preset inclination angle is a fixed horizontal overturning angle of the excavator, which may be determined according to design parameters of the excavator, and when the ground slope is greater than the horizontal overturning angle, the excavator may overturn. In step S1413, the area with the ground slope greater than the preset inclination angle is equivalent to an actual obstacle, and the position of the actual obstacle and the position with the ground slope greater than the preset inclination angle are avoided when the autonomous driving operation path of the excavator is planned, so as to avoid an overturn accident when the excavator travels along the planned autonomous driving operation path.
In practical application, all dangerous gradient areas may not be identified in a point cloud map of a target area, or an emergency may occur in the driving process of the excavator, so that the excavator still may have an overturning accident when driving on a planned automatic driving operation path.
In view of the above, in one embodiment, please refer to fig. 7, and fig. 7 is another schematic flow chart of the control method for the excavator provided in the embodiment of the present application. Based on steps S11 through S15, the method may further include:
step S16: acquiring the gravity center position of the excavator in the driving process;
step S17: determining whether the position of the center of gravity exceeds a first preset range;
step S18: in the case where it is determined that the position of the center of gravity is outside the first preset range, an anti-toppling measure is performed.
Specifically, in step S16, after the center of gravity position of the excavator during traveling is acquired, it may be displayed in a plan view, such as a plan view, of the excavator. In step S17, the first preset range is a safe range in which the center of gravity position is located when the excavator is normally traveling, and the first preset range may be also displayed in the top view of the excavator in order to clearly determine whether the determination of the center of gravity position is beyond the first preset range. In step S18, in the case that the center of gravity position is determined to be beyond the first preset range, it indicates that the excavator is in an abnormal driving state, and at this time, an anti-overturn measure is performed to avoid an overturn accident of the excavator.
Referring to fig. 8, fig. 8 is a flowchart illustrating step S16 in the control method for an excavator according to the embodiment of the present application. The step of acquiring the center of gravity position of the excavator during driving in step S16 may include the steps of:
step S161: acquiring movable arm inclination angle information, bucket rod inclination angle information, bucket inclination angle information and body inclination angle information of the excavator in the running process;
step S162: and determining the gravity center position of the excavator according to the movable arm inclination angle information, the bucket inclination angle information and the horizontal angle information of the excavator body.
Specifically, in step S161, tilt sensors may be respectively installed on a boom, an arm, and a bucket of the excavator to detect boom tilt angle information, arm tilt angle information, and bucket tilt angle information of the excavator during traveling in real time, or a level gauge may be installed on a swing motor of the excavator to detect body tilt angle information of the excavator during traveling in real time. In step S162, the work implement may be modeled according to work implement data of the excavator, and then the current work implement attitude of the excavator may be calculated according to the boom tilt angle information, the arm tilt angle information, and the bucket tilt angle information, and further the center of gravity position of the excavator may be calculated by integrating the body horizontal angle information of the excavator and the design data thereof.
Referring to fig. 9, fig. 9 is a schematic flowchart of step S18 in the control method for an excavator according to the embodiment of the present application. In the case where it is determined that the position of the center of gravity is out of the first preset range in step S18, the anti-toppling measure may be performed, and the method may include the steps of:
step S181: under the condition that the gravity center position is determined to exceed a first preset range, determining whether the gravity center position exceeds a second preset range, wherein the second preset range is larger than the first preset range;
step S182: controlling the excavator to run at a reduced speed under the condition that the gravity center position is determined not to exceed a second preset range;
step S183: and controlling the excavator to stop running under the condition that the gravity center position is determined to be beyond a second preset range.
Specifically, in step S181, the second preset range is a safety range in which the center of gravity position of the excavator is located when the excavator is not in an overturn accident, and when it is determined that the center of gravity position exceeds the first preset range, it indicates that the excavator is in an abnormal driving state, and at this time, it is further determined whether the center of gravity position exceeds the second preset range, and it can be understood that the second preset range is greater than the first preset range. In step S182, in the case that the position of the center of gravity is determined not to exceed the second preset range, which indicates that the excavator is in an abnormal driving state but is not enough for the overturn accident, the excavator is controlled to decelerate, for example, to 50% of the maximum speed, and an alarm prompt may be issued. In step S183, in case that it is determined that the position of the center of gravity is beyond the second preset range, it indicates that the excavator may have an overturning accident, and at this time, the excavator is controlled to stop running by emergency braking. If the excavator is in an automatic driving state, the excavator can be controlled to return to a safe area according to the original route, and an automatic driving operation route is planned again; if the excavator is in an automatic operation state, the excavator can be controlled to drive the working device to rotate towards the direction of the safe gravity center through the swing mechanism, and the excavator drives away from the working area according to the original route, and meanwhile, the working area is judged to be unsuitable for excavator construction, and manual intervention is carried out to level or replace the site.
In practical applications, the physical entities in the target area may include not only static obstacles, but also movable obstacles, and when the positions of the movable obstacles are changed and overlapped with the automatic driving operation path of the excavator, the excavator may be caused to have collision accidents when the excavator travels through the planned automatic driving operation path.
In view of the above, in an embodiment, please refer to fig. 10, and fig. 10 is another schematic flow chart of the control method for the excavator provided in the embodiment of the present application. The difference from the above embodiment is that the method may further include:
step S19: acquiring environment perception information of an excavator in a driving process;
step S20: determining the motion trend of the target object according to the environment perception information;
step S21: determining whether collision risk exists according to the movement trend;
step S22: in case it is determined that there is a risk of collision, a collision avoidance measure is performed.
Specifically, in step S19, a distance measuring device, such as a millimeter wave radar, may be installed on the excavator, and the environment perception information of the excavator during traveling is detected in real time by the distance measuring device. In step S20, the target object may include other vehicles, people, other objects, and the like, and after the environment perception information is obtained, the movement trend of the target object may be predicted. Further, in step S21, it is determined whether there is a risk of collision with the target object when the excavator travels the autonomous working path based on the tendency of the movement of the target object. In step S22, in the case where it is determined that there is a risk of collision, a collision prevention measure is performed to prevent a collision accident from occurring. For example, when the target object is another vehicle, the working area of the target object can be determined according to the current attitude information of the excavator, the traveling route and the working range of the vehicle can be obtained through a V2X (English is called as vehicle to X, Chinese is called as vehicle wireless communication technology), and if the automatic driving working route and the working range of the excavator conflict with the traveling route and the working range of the vehicle in dangerous areas, the working position or the automatic driving working route and the automatic driving working route of the excavator can be planned again; when the target object is a person, correspondingly judging the walking route of the person according to the relative walking speed and angle of the person, and making corresponding control measures; when the target object is other objects, the excavator is directly controlled to stop running and wait for manual intervention because the motion track and the speed of the object cannot be pre-judged.
An embodiment of the present application further provides a processor, where the processor is configured to execute the following method: acquiring a point cloud map in a target area; determining barrier information in a target area according to the point cloud map; determining ground gradient information in the target area according to the point cloud map; planning an automatic driving operation path of the excavator according to the obstacle information, the ground gradient information and the initial position and the target position of the excavator; and controlling the excavator to travel on the automatic driving operation path.
In one embodiment, determining obstacle information within a target area from a point cloud map comprises: determining category information of semantic entities in the point cloud map, wherein the semantic entities are associated with physical entities within the target area; and determining the obstacle information in the target area according to the category information.
In one embodiment, identifying category information for semantic entities in a point cloud map comprises: extracting a three-dimensional model of a semantic entity from the point cloud map; calculating a characteristic value of the three-dimensional model; matching the characteristic value with a preset characteristic value in a preset characteristic database; and determining the category information of the semantic entity according to the matching result.
In one embodiment, determining ground slope information within a target area from a point cloud map comprises: extracting ground characteristic point clouds from the point cloud map, and establishing a ground plane model; calculating the distance value from each point in the ground characteristic point cloud to the ground plane model; and determining the ground gradient information in the target area according to the distance value.
In one embodiment, planning an autonomous working path of an excavator according to obstacle information, ground grade information, and a start position and a destination position of the excavator includes: determining an avoidance position according to the obstacle information and the ground gradient information; planning a first automatic driving operation path of the excavator according to the initial position and the avoidance position of the excavator; planning a second automatic driving operation path of the excavator according to the avoiding position and the target position of the excavator; and combining the first automatic driving operation path and the second automatic driving operation path into an automatic driving operation path of the excavator.
In one embodiment, determining an avoidance position based on the obstacle information and the ground slope information includes: determining the position of the obstacle according to the obstacle information; determining the position of the ground slope larger than a preset inclination angle according to the ground slope information; and determining the position of the obstacle and the position of which the ground gradient is greater than a preset inclination angle as avoidance positions.
In one embodiment, the control method further comprises: acquiring the gravity center position of the excavator in the driving process; determining whether the position of the center of gravity exceeds a first preset range; in the case where it is determined that the position of the center of gravity is outside the first preset range, an anti-toppling measure is performed.
In one embodiment, acquiring the gravity center position of the excavator during driving comprises the following steps: acquiring movable arm inclination angle information, bucket rod inclination angle information, bucket inclination angle information and body inclination angle information of the excavator in the running process; and determining the gravity center position of the excavator according to the boom inclination angle information, the arm inclination angle information, the bucket inclination angle information and the horizontal angle information of the excavator body.
In one embodiment, in the event that the position of the center of gravity is determined to be outside of a first preset range, an anti-rollover procedure is performed, comprising: under the condition that the gravity center position is determined to be beyond a first preset range, determining whether the gravity center position is beyond a second preset range, wherein the second preset range is larger than the first preset range; under the condition that the gravity center position is determined not to exceed a second preset range, controlling the excavator to run at a reduced speed; and controlling the excavator to stop running under the condition that the gravity center position is determined to be beyond a second preset range.
In one embodiment, the control method further comprises: acquiring environment perception information of an excavator in a driving process; determining the motion trend of the target object according to the environment perception information; determining whether collision risk exists according to the movement trend; in case it is determined that there is a risk of collision, a collision avoidance measure is performed.
Referring to fig. 11, fig. 11 is a schematic structural diagram of a control device for an excavator according to an embodiment of the present disclosure. As shown in fig. 11, in an embodiment of the present application, there is provided a control apparatus for an excavator, the control apparatus including a processor 10 configured to execute the control method for an excavator described above.
In one embodiment, the control device further comprises:
a first inclination sensor 20 configured to detect boom inclination angle information of the excavator during traveling;
a second tilt angle sensor 30 configured to detect information of a tilt angle of the arm of the excavator during traveling;
a third tilt angle sensor 40 configured to detect bucket tilt angle information of the excavator during traveling;
a level 50 configured to detect body horizontal angle information of the excavator during traveling;
the processor 10 is further configured to:
and determining the gravity center position of the excavator according to the boom inclination angle information, the arm inclination angle information, the bucket inclination angle information and the horizontal angle information of the excavator body.
Specifically, the first tilt angle sensor 20, the second tilt angle sensor 30, and the third tilt angle sensor 40 are respectively installed at a boom, an arm, and a bucket of the excavator, the level gauge 50 is installed at a swing motor transmission shaft of the excavator, and the processor 10 is in communication connection with the first tilt angle sensor 20, the second tilt angle sensor 30, the third tilt angle sensor 40, and the level gauge 50, respectively.
In one embodiment, the control device further comprises:
and the environment perception device 60 is configured to detect environment perception information of the excavator during driving.
Specifically, the processor 10 is in communication connection with the environment sensing device 60, and the environment sensing device 60 may include a laser radar installed in front of the excavator and millimeter wave radars installed at the left, right, and rear of the excavator, and detect environment sensing information of 360 ° around in real time during the travel of the excavator.
It should be noted that, when the control device provided in the above embodiment executes the relevant operations, only the division of the above program modules is taken as an example, and in practical applications, the above processing may be distributed and completed by different program modules according to needs, that is, the internal structure of the terminal is divided into different program modules so as to complete all or part of the above described processing. In addition, the control device provided in the above embodiment and the control method embodiment in the above embodiment belong to the same concept, and the specific implementation process thereof is described in detail in the method embodiment, and is not described again here.
Based on the hardware implementation of the program module, and in order to implement the control method according to the embodiment of the present application, an excavator according to the embodiment of the present application is further provided, which includes the control device for an excavator described above.
In one embodiment, the excavator may further comprise:
the communication interface can carry out information interaction with other equipment (such as network equipment, a terminal and the like);
the processor is connected with the communication interface to realize information interaction with other equipment, and is used for executing the control method provided by one or more technical schemes when running a computer program;
a memory for storing a computer program capable of running on the processor.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the control method provided by one or more technical schemes is realized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip.
It should be noted that, the specific process of the processor executing the above operations is shown in the method embodiment, and is not described herein again.
In practice, the various components in the excavator may be coupled together by a bus system. It will be appreciated that a bus system is used to enable the connection communication between these components. The bus system includes a power bus, a control bus, and a status signal bus in addition to a data bus.
The memory in the embodiments of the present application is used to store various types of data to support the operation of the excavator. Examples of such data include: any computer program for operating on a mining machine.
The control method disclosed by the embodiment of the application can be applied to a processor or realized by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the control method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium having a memory and a processor reading the information in the memory and combining the hardware to perform the steps of the method.
In an exemplary embodiment, the excavator may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the foregoing methods.
It will be appreciated that the memory of embodiments of the present application can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a magnetic random access Memory (FRAM), a magnetic random access Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read Only Memory (CD ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memories described in the embodiments of the present application are intended to comprise, without being limited to, these and any other suitable types of memory.
Embodiments of the present application also provide a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to perform the above-mentioned control method for an excavator.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 12. The computer apparatus includes a processor a01, a network interface a02, a display screen a04, an input device a05, and a memory (not shown in the figure) connected by a system bus. Wherein processor a01 of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises an internal memory a03 and a non-volatile storage medium a 06. The nonvolatile storage medium a06 stores an operating system B01 and a computer program B02. The internal memory a03 provides an environment for the operation of the operating system B01 and the computer programs B02 in the non-volatile storage medium a 06. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program is executed by the processor a01 to implement the control method of any of the above embodiments. The display screen a04 of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device a05 of the computer device may be a touch layer covered on the display screen, a button, a trackball or a touch pad arranged on a casing of the computer device, or an external keyboard, a touch pad or a mouse.
Those skilled in the art will appreciate that the architecture shown in fig. 12 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the present application further provides an apparatus, where the apparatus includes a processor, a memory, and a program stored in the memory and capable of running on the processor, and when the processor executes the program, the control method according to any one of the above embodiments is implemented.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of control methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (16)
1. A control method for an excavator, comprising:
acquiring a point cloud map in a target area;
determining obstacle information in the target area according to the point cloud map;
determining ground slope information in the target area according to the point cloud map;
planning an automatic driving operation path of the excavator according to the obstacle information, the ground gradient information and the initial position and the target position of the excavator;
and controlling the excavator to travel on the automatic driving operation path.
2. The control method of claim 1, wherein the determining obstacle information within the target area from the point cloud map comprises:
determining category information of semantic entities in the point cloud map, wherein the semantic entities are associated with physical entities within the target area;
and determining the obstacle information in the target area according to the category information.
3. The control method according to claim 2, wherein the identifying category information of semantic entities in the point cloud map comprises:
extracting a three-dimensional model of a semantic entity from the point cloud map;
calculating a characteristic value of the three-dimensional model;
matching the characteristic value with a preset characteristic value in a preset characteristic database;
and determining the category information of the semantic entity according to the matching result.
4. The control method of claim 1, wherein the determining ground slope information within the target area from the point cloud map comprises:
extracting ground characteristic point clouds from the point cloud map, and establishing a ground plane model;
calculating the distance value from each point in the ground characteristic point cloud to the ground plane model;
and determining the ground gradient information in the target area according to the distance value.
5. The control method of claim 1, wherein the planning an autonomous driving work path of the excavator according to the obstacle information, the ground grade information, and a start position and a destination position of the excavator comprises:
determining an avoidance position according to the obstacle information and the ground gradient information;
planning a first automatic driving operation path of the excavator according to the initial position and the avoidance position of the excavator;
planning a second automatic driving operation path of the excavator according to the avoiding position and the target position of the excavator;
combining the first autonomous working path and the second autonomous working path into an autonomous working path of the excavator.
6. The control method according to claim 5, wherein the determining an avoidance position from the obstacle information and the ground gradient information includes:
determining the position of an obstacle according to the obstacle information;
determining the position of the ground slope larger than a preset inclination angle according to the ground slope information;
and determining the position of the obstacle and the position of which the ground gradient is greater than a preset inclination angle as avoidance positions.
7. The control method according to claim 1, characterized by further comprising:
acquiring the gravity center position of the excavator in the driving process;
determining whether the position of the center of gravity is beyond a first preset range;
in the event that it is determined that the position of the center of gravity is outside the first preset range, an anti-rollover measure is performed.
8. The control method according to claim 7, wherein the acquiring of the position of the center of gravity of the excavator during traveling includes:
acquiring movable arm inclination angle information, bucket rod inclination angle information, bucket inclination angle information and machine body inclination angle information of the excavator in the running process;
and determining the gravity center position of the excavator according to the movable arm inclination angle information, the bucket inclination angle information and the horizontal angle information of the excavator body.
9. The control method according to claim 7, wherein the executing of the anti-toppling measure in the case where it is determined that the position of the center of gravity is out of the first preset range includes:
determining whether the gravity center position exceeds a second preset range under the condition that the gravity center position is determined to exceed the first preset range, wherein the second preset range is larger than the first preset range;
controlling the excavator to run at a reduced speed under the condition that the gravity center position is determined not to exceed the second preset range;
and controlling the excavator to stop running under the condition that the gravity center position is determined to be beyond the second preset range.
10. The control method according to claim 1, characterized by further comprising:
acquiring environment perception information of the excavator in the driving process;
determining the motion trend of the target object according to the environment perception information;
determining whether collision risk exists according to the motion trend;
in case it is determined that the collision risk exists, performing a collision avoidance measure.
11. A processor characterized by being configured to execute the control method for an excavator according to any one of claims 1 to 10.
12. A control device for an excavator, comprising a processor according to claim 11.
13. The control device according to claim 12, characterized by further comprising:
a first inclination angle sensor configured to detect boom inclination angle information of the excavator during traveling;
a second inclination angle sensor configured to detect information of an inclination angle of a boom of the excavator during traveling;
a third tilt angle sensor configured to detect bucket tilt angle information of the excavator during traveling;
a level gauge configured to detect body horizontal angle information of the excavator during traveling;
the processor is further configured to:
and determining the gravity center position of the excavator according to the movable arm inclination angle information, the bucket inclination angle information and the horizontal angle information of the excavator body.
14. The control device according to claim 12, characterized by further comprising:
the environment sensing equipment is configured to detect environment sensing information of the excavator during driving.
15. An excavator, characterized by comprising a control apparatus for an excavator according to any one of claims 12 to 14.
16. A machine-readable storage medium having instructions stored thereon, which when executed by a processor causes the processor to be configured to perform the control method for an excavator according to any one of claims 1 to 10.
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| CN202210005457.6A CN114442616A (en) | 2022-01-05 | 2022-01-05 | Control method and device for excavator, processor and excavator |
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