CN114837253B - Method and equipment for identifying working area of flow machine - Google Patents
Method and equipment for identifying working area of flow machine Download PDFInfo
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- CN114837253B CN114837253B CN202210547122.7A CN202210547122A CN114837253B CN 114837253 B CN114837253 B CN 114837253B CN 202210547122 A CN202210547122 A CN 202210547122A CN 114837253 B CN114837253 B CN 114837253B
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
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Abstract
The embodiment of the specification discloses a method for identifying a mechanical working area, which comprises the following steps: acquiring attitude data of the flowing machine at the current moment according to an attitude sensor arranged on the flowing machine; determining a motion model of the flow machine, and predicting a working area of the flow machine at the next moment based on the working posture and the motion model of the flow machine at the current moment; acquiring a working area of the mobile machine at the current moment according to the attitude data at the current moment, and comparing and acquiring difference data between the working area at the current moment and the working area at the next moment; if the difference data is larger than the preset value, adjusting a preset spotlight control holder according to the difference value to perform light beam projection so as to identify a working area of the mobile machinery; the preset spotlight control holder is arranged at a preset position of the flowing machine.
Description
Technical Field
The present disclosure relates to the field of engineering machinery technologies, and in particular, to a method and an apparatus for identifying a working area of a mobile machine.
Background
Ocean transportation is a main approach of import and export, port flowing machinery is a main tool for loading, unloading and transportation, is an important component of port container loading, unloading machinery, and along with rapid development of port logistics, the demand of the flowing machinery is further increased, and operation is often required under various complicated working conditions. How to ensure the safety of the construction of the mobile machinery is one of the important problems of the operation of the mobile machinery in ports.
At present, in the construction process of the mobile machinery, the visual field range of operators is possibly limited under the influence of the construction environment, and peripheral facilities on the site of the mobile machinery are easily damaged, so that economic damage and even casualties of personnel which are difficult to distinguish are caused. At present, the normal working mode of the mobile machinery is ensured based on the auxiliary observation environment of a plurality of operators, so that not only is personnel wasted, but also the operators are difficult to judge and understand the working area corresponding to the next operation of the machinery, and the operation efficiency of the mobile machinery is lower and the safety is not ensured.
There is thus a need for an identification method that can identify the working area of a flow machine.
Disclosure of Invention
One or more embodiments of the present disclosure provide a method and an apparatus for identifying a working area of a flow machine, which are configured to solve the following technical problems: how to provide an identification method that can identify the working area of a flow machine in real time.
One or more embodiments of the present disclosure adopt the following technical solutions:
one or more embodiments of the present description provide a method for identifying a working area of a mobile machine, the method comprising:
acquiring attitude data of the mobile machinery at the current moment according to an attitude sensor arranged on the mobile machinery;
Determining a motion model of the flow machine, and predicting a working area of the flow machine at the next moment based on the working posture of the flow machine at the current moment and the motion model;
acquiring a working area of the mobile machine at the current moment according to the attitude data at the current moment, and comparing and acquiring difference data between the working area at the current moment and the working area at the next moment;
if the difference data is larger than a preset value, adjusting a preset spotlight holder according to the difference value to control the holder to project a light beam so as to identify a working area of the mobile machinery; wherein, preset shot-light control cloud platform install in the preset position of mobile machinery.
In one or more embodiments of the present disclosure, the acquiring, according to an attitude sensor installed on a mobile machine, attitude data of the mobile machine at a current moment specifically includes:
respectively installing the gesture sensors at preset positions of the mobile machinery based on a preset monitoring strategy of the gesture sensors so as to determine gesture data of the mobile machinery at the current moment according to monitoring data of the preset positions;
the determining the gesture data of the current moment of the mobile machinery according to the monitoring data of the preset position specifically includes:
Detecting the telescopic quantity of an arm cylinder of the mobile machinery according to a first gesture sensor at a preset first position;
detecting the expansion and contraction amount of a bucket cylinder of the flow machine according to a second gesture sensor at a preset second position;
detecting the attitude angle of each working device in the flow machinery according to an attitude sensor at a preset third position and an attitude sensor at a preset fourth position;
based on the telescopic quantity of the bucket rod oil cylinder, the telescopic quantity of the bucket rod oil cylinder and the attitude angle of each working device, determining the attitude data of the current moment of the flowing machine, so as to obtain the spatial position of each working device at the current moment of the flowing machine according to the attitude data.
In one or more embodiments of the present disclosure, the determining a motion model of the flow machine specifically includes:
determining a working space of the flow machine based on the spatial position of each working device, the attitude angle, and the attitude sensor; wherein the workspace comprises: pose space, joint space, driving space and detection space;
acquiring the geometric structure of each working device, determining a first conversion relation from the driving space to the joint space according to the geometric structure, solving a second conversion relation between the pose space and the joint space based on a preset positive kinematic model algorithm, and solving a third conversion relation between the joint space and the pose space based on a preset inverse kinematic model algorithm;
Determining a fourth conversion relation between the joint space and the detection relation according to the preset position and the geometric structure corresponding to the gesture sensor;
and determining a motion model of the flow machine according to the first conversion relation, the second conversion relation, the third conversion relation and the fourth conversion relation in a combined mode.
In one or more embodiments of the present disclosure, the predicting, based on the working gesture of the current moment of the mobile machine and the motion model, the working area of the next moment of the mobile machine specifically includes:
acquiring a working task of the flow machine, and determining the circulation action characteristics of each working device in the flow machine based on the working task; wherein the cyclical motion feature comprises: digging, lifting, turning, unloading and turning an empty bucket;
determining a movement track of a bucket in the flow machine based on a movement model of the flow machine, the cyclic action characteristics of each working device and the working environment of the working task;
and inputting the motion track of the bucket and the working state at the current moment into a preset prediction model of the flow machine so as to output the working area at the next moment of the flow machine.
In one or more embodiments of the present disclosure, determining a movement track of a bucket in the flow machine based on a movement model of the flow machine, a cycle motion characteristic of each working device, and a working environment of the working task specifically includes:
the telescopic quantity of the bucket rod oil cylinder and the bucket oil cylinder in the driving space is obtained, and the variable quantity of the corresponding attitude angle of the telescopic quantity in the joint space is obtained based on the motion model;
converting the expansion and contraction amounts of the bucket rod oil cylinder and the bucket oil cylinder in the driving space into the maximum value corresponding to the attitude angle according to the motion model;
determining the attitude angle range of each working device in the flow machinery according to the corresponding maximum value of the attitude angle;
according to an ideal motion space of the flow machine in the joint space corresponding to an attitude angle in the attitude angle range of each working device;
if no obstacle exists in the ideal motion space, determining the ideal motion space as the working range of the flow machine; if an obstacle exists in the ideal motion space, adjusting the telescopic quantity and the attitude angle based on the spatial position of the obstacle to obtain the working range of the flow machine;
And determining the movement track of the bucket in the flow machine in the working range based on the cycle action characteristics of each working device.
In one or more embodiments of the present disclosure, the determining, based on the cycle motion characteristics of each working device, a movement track of a bucket in the flow machine within the working range specifically includes:
determining a starting point of the cyclic action feature and an ending point of the cyclic action feature, and solving a plurality of starting points and the ending points based on the preset inverse kinematics model algorithm to obtain a movement track of a bucket in the flow machine;
dividing the working range of the flow machine by a preset size to obtain a plurality of working sub-ranges, and determining the center point of the working sub-ranges as a movement node of a bucket in the flow machine;
and acquiring the position information and the shape information of the obstacle, determining the coverage range of the obstacle node in the motion nodes according to the position information and the shape information of the obstacle, determining the node priority outside the coverage range of the obstacle node according to a preset path optimization algorithm, and determining the motion track of the bucket in the flow machine in the working range based on the node priority.
In one or more embodiments of the present disclosure, the comparing obtains difference data between the working area at the current time and the working area at the next time, specifically including:
acquiring a preset first position of the working area center point at the current moment and a preset second position of the working area center point at the next moment;
and determining a position gap value of the center point of the working area based on the preset first position and the preset second position, and taking the position gap value as difference data between the working area at the current moment and the working area at the next moment.
In one or more embodiments of the present disclosure, if the difference data is greater than a preset value, adjusting the preset spotlight holder according to the difference value to perform beam projection specifically includes:
if the position difference value of the center point is larger than a preset first threshold value based on the difference data, determining an adjustment path of the preset spotlight control holder according to the difference value, and adjusting the preset spotlight control holder to project a light beam based on the adjustment path;
the determining the adjustment path of the control holder of the preset spotlight according to the difference value specifically comprises the following steps:
Determining the relative position of the preset second position by taking the preset first position as a reference point, so as to determine the adjustment direction of the control holder of the preset spotlight according to the relative position;
determining the distance between the preset spotlight control holder and the ground so as to determine the adjustment displacement of the preset spotlight control holder based on the position difference value between the distance and the central point of the working area;
and determining an adjustment path of the control holder of the preset spotlight according to the adjustment direction and the adjustment displacement.
One or more embodiments of the present description provide an apparatus for identifying a working area of a mobile machine, the apparatus comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to:
acquiring attitude data of the mobile machinery at the current moment according to an attitude sensor arranged on the mobile machinery;
determining a motion model of the flow machine, and predicting a working area of the flow machine at the next moment based on the working posture of the flow machine at the current moment and the motion model;
Acquiring a working area of the mobile machine at the current moment according to the attitude data at the current moment, and comparing and acquiring difference data between the working area at the current moment and the working area at the next moment;
if the difference data is larger than a preset value, adjusting a preset spotlight holder according to the difference value to control the holder to project a light beam so as to identify a working area of the mobile machinery; wherein, preset shot-light control cloud platform install in the preset position of mobile machinery.
One or more embodiments of the present specification provide a non-volatile computer storage medium storing computer-executable instructions configured to:
acquiring attitude data of the mobile machinery at the current moment according to an attitude sensor arranged on the mobile machinery;
determining a motion model of the flow machine, and predicting a working area of the flow machine at the next moment based on the working posture of the flow machine at the current moment and the motion model;
acquiring a working area of the mobile machine at the current moment according to the attitude data at the current moment, and comparing and acquiring difference data between the working area at the current moment and the working area at the next moment;
If the difference data is larger than a preset value, adjusting a preset spotlight holder according to the difference value to control the holder to project a light beam so as to identify a working area of the mobile machinery; wherein, preset shot-light control cloud platform install in the preset position of mobile machinery.
The above-mentioned at least one technical scheme that this description embodiment adopted can reach following beneficial effect:
the prediction of the working area of the mobile machine at the next moment is realized through the gesture sensor and the motion model of the mobile machine, the timeliness of the identification of the working area is improved, and the safety problem caused by the delayed delegation of the identification is solved. Through the adjustment to preset shot-light control cloud platform, avoided the problem that fixed direction lamps and lanterns exist the illumination blind area, simultaneously based on the light beam that presets shot-light control cloud platform and projected, the working area of mobile machinery next moment has been marked, has realized the real-time identification to working area, has made things convenient for operating personnel to the grasp of operating area, has improved the efficiency of construction operation.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some of the embodiments described in the present description, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
Fig. 1 is a flow chart of a method for identifying a working area of a mobile machine according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a class of flow machines in an application scenario provided in the embodiments of the present disclosure;
FIG. 3 is a schematic view of an internal structure of a marking apparatus for a working area of a fluid machine according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of an internal structure of a nonvolatile storage medium according to an embodiment of the present disclosure.
Detailed Description
The embodiment of the specification provides a method and equipment for identifying a working area of a flow machine.
In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present disclosure.
Fig. 1 is a schematic flow chart of a method for identifying a working area of a flow machine according to an embodiment of the present disclosure. The present solution provides for a computing device for flow machine work area identification by controlling a flow machine, for example: a server or each execution unit, etc.
As can be seen from fig. 1, the method comprises the steps of:
s101: and acquiring attitude data of the flowing machine at the current moment according to an attitude sensor arranged on the flowing machine.
The mobile machine is used as an important construction machine equipment and is widely applied to various infrastructure and logistics fields such as roads, ports and the like. With the development of social economy, it is often necessary to perform operations under environmentally complex conditions. At this time, due to the problem of poor vision of the driver of the mobile machine, a plurality of operators are often required to cooperate with each other so as to ensure the safety during the construction operation of the mobile machine. However, this method consumes human resources and cannot ensure working efficiency. In order to improve the working efficiency, it is necessary to obtain attitude information of the flow machine so as to analyze and judge the motion of the flow machine. In one or more embodiments of the present disclosure, according to an attitude sensor mounted on a mobile machine, acquiring attitude data of the mobile machine at a current time specifically includes:
firstly, respectively installing the attitude sensors to preset positions of the mobile machinery according to preset monitoring strategies of the attitude sensors, so that the attitude data of the mobile machinery at the current moment can be determined according to the monitoring data of the preset positions. The preset monitoring strategies of the attitude sensors specify that various different types of attitude sensors monitor at different positions, so that all working devices needing to be monitored in the flow machinery are monitored, and attitude data of the flow machinery at the current moment are obtained. Whereas the gesture data includes: attitude angle of each working device, displacement of the oil cylinder, etc.
Further, according to the monitoring data of the preset position, determining the attitude data of the flowing machine at the current moment, specifically comprising the following steps: and detecting the telescopic quantity of the bucket rod oil cylinder of the flow machine according to a first gesture sensor at a preset first position. And detecting the expansion and contraction amount of the bucket cylinder of the flow machine according to a second gesture sensor at a preset second position. Similarly, the attitude angle of each working device in the flow machine is detected according to the attitude sensor at the preset third position and the attitude sensor at the preset fourth position. For example, fig. 2 is a schematic diagram of a mechanism of a certain type of flow machine in an application scenario provided in the embodiment of the present disclosure, where the extension and retraction amount of a bucket cylinder of the flow machine may be detected according to a displacement sensor at a preset first position, the extension and retraction amount of a bucket cylinder of the flow machine may be detected according to a displacement sensor at a preset second position, and the joint angles of each working device in the flow machine, that is, the attitude angles of each working device, may be detected according to an inclination sensor at a preset third position and a preset fourth position. And then determining the attitude data of the current moment of the flowing machine according to the telescopic quantity of the bucket rod oil cylinder, the telescopic quantity of the bucket rod oil cylinder and the attitude angle of each working device, which are obtained by different attitude sensors, so as to obtain the spatial position of each working device of the current moment of the flowing machine according to the attitude data.
S102: and determining a motion model of the flow machine, and predicting a working area of the flow machine at the next moment based on the working posture of the flow machine at the current moment and the motion model.
In order to solve the problems that the current mobile machine working area identification based on fixed illumination cannot be adjusted based on the real-time working condition of the mobile machine, the working area identification is not updated timely, and the working efficiency is low. According to the scheme, the working area of the flow machinery at the next moment is predicted by combining the motion model of the flow machinery with the working gesture at the current moment, so that the problems of low working efficiency and low safety caused by untimely marking of the working area are avoided. Specifically, in one or more embodiments of the present description, determining a motion model of a flow machine specifically includes the steps of:
firstly, determining the working space of the flow machinery based on the space position, the attitude angle and the attitude sensor of each working device; the following description is needed: the workspace comprises: pose space, joint space, drive space and detection space. The pose space refers to the position coordinates and the attitude angles of the tooth tips at the tail ends of the working devices in a rectangular coordinate system of the base, the detection space refers to an angle sensor system capable of feeding back the motion state of each connecting rod in the flowing mechanical working device, a driving space is formed by a movable arm, a bucket rod, an asymmetrical hydraulic cylinder of the bucket, a piston rod and the like, and the rotation angles of joints in all the working devices form a joint space.
After the working space of the flow machinery is determined, the geometric structure of each working device is obtained, so that the first conversion relation from the driving space to the joint space is determined according to the geometric structure, the second conversion relation between the pose space and the joint space is calculated based on a preset positive kinematic model algorithm, and the third conversion relation from the joint space to the pose space is calculated according to a preset inverse kinematic model algorithm. And determining a fourth conversion relation between the joint space and the detection relation according to the corresponding preset position and the geometric structure of the flowing machine when each gesture sensor is installed. And combining and determining a motion model of the flow machinery according to the determined first conversion relation, the determined second conversion relation, the determined third conversion relation and the determined fourth conversion relation.
For example: according to the geometric structures of a bucket, a movable arm and a bucket rod in the flow machinery, the rotation angles of joints in all structures are determined, and the mapping relation from a driving space to a joint space is obtained as a first conversion relation. And calculating the mapping relation between the pose space of the bucket and the joint space as a second conversion relation based on a preset positive kinematic model algorithm. And calculating a third conversion relation from the joint space to the pose space of the bucket according to a preset inverse kinematics model algorithm. Based on the preset position of the installation of the attitude sensor determined in the above step S101, the geometry of each working device in the flow machine is as follows: a fourth conversion relationship between the attitude angle in the joint space and the detection space of the angle sensor system that feeds back the movement state of each link in the flow machine work device is obtained.
After determining the motion model of the flow machine, in order to improve accuracy and timeliness of the identification of the working area, in one or more embodiments of the present disclosure, the working area of the flow machine at the next moment is predicted based on the working posture and the motion model of the flow machine at the current moment, and specifically includes the following steps:
the working areas are different due to the fact that different flow machines are in the same application scene or the same flow machine is in different application scenes and the working tasks are different. Therefore, in order to accurately predict the working area of the flow machine at the next moment, it is necessary to obtain the working task of the flow machine, and determine the cycle motion characteristics of each working device in the flow machine according to the obtained working task of the flow machine. The cyclic action features include: digging, lifting, turning, unloading, turning of an empty bucket and the like. And then determining the movement track of the bucket in the flow machine according to the movement model of the flow machine, the determined cyclic action characteristics of each working device and the working environment of the working task. The determined movement track of the bucket and the working state at the current moment are conveniently input into a preset prediction model of the flow machine, so that the working area of the flow machine at the next moment is output.
Further, an obstacle may exist in the working environment, and thus the movement trace of the mobile machine is affected. In order to avoid the influence of the obstacle on the motion trail, the construction safety is improved. In one or more embodiments of the present disclosure, determining a movement track of a bucket in a flow machine based on a movement model of the flow machine, a cycle motion feature of each working device, and a working environment of a working task, specifically includes the following steps:
as shown in fig. 2, the expansion and contraction amounts of the arm cylinder and the bucket cylinder in the driving space are obtained, and then the variation amount of the corresponding attitude angle of the expansion and contraction amount in the joint space is obtained according to the first conversion relation in the motion model. And converting the expansion and contraction amounts of the bucket rod oil cylinder and the bucket oil cylinder in the driving space into maximum values and minimum values corresponding to the attitude angles according to the motion model. And then determining the working attitude angle range of each working device in the flow machinery based on the corresponding maximum value of the attitude angles. And determining an ideal motion space of the flow machine in the joint space, wherein the ideal motion space corresponds to the attitude angle in the attitude angle range of each working device. That is, the movement space corresponding to each attitude angle in each working device constitutes the movement space of each working device, and the ideal movement space of the flow machine is constituted based on the movement space of each working device.
If no obstacle is present in the ideal movement space, it can be determined that the ideal movement space is the working range of the flow machine. However, if an obstacle exists in the ideal movement space, the expansion and contraction amount and the attitude angle of each working device are adjusted according to the space position of the obstacle, so that the working range of the flowing machine is obtained, and the safety of construction work is ensured. And then determining the movement track of the bucket in the flowing machine in the working range according to the cyclic action characteristics of each working device.
Further, in one or more embodiments of the present disclosure, determining a movement track of a bucket in a flow machine within a working range based on a cycle motion characteristic of each working device specifically includes the following steps:
according to the cyclic action characteristics of each device, determining the starting point of the cyclic action characteristics and the ending point of the cyclic action characteristics, and solving a plurality of starting points and the ending points based on the preset inverse kinematics model algorithm to obtain the movement track of the bucket in the flow machine. The inverse kinematics model algorithm may be an algorithm such as inverse kinematics solution of a robot, and the method is not particularly limited herein. And dividing the working range of the flow machine according to a preset size to obtain a plurality of working sub-ranges, thereby determining the center points of the working sub-ranges, and taking the center points as the movement nodes of the bucket in the flow machine. And acquiring position information and shape information of the obstacle in the construction process, and determining the coverage range of the obstacle node in the movement nodes according to the position information and the shape information of the obstacle, so as to determine the node priority outside the coverage range of the obstacle node according to a preset path optimization algorithm, and sequentially sequencing and determining the movement track of the bucket in the flow machine in the working range based on the node priority. The method includes that according to position information and shape information of an obstacle, the covering position of the obstacle node in the motion node is determined as follows: after the working range is divided, if the obstacle exists in the moving node, the moving node is used as the obstacle node, and the coverage range of the obstacle node can be determined according to all obstacle nodes in the working range, so that the obstacle can be effectively avoided in the working process of the flowing machinery, and the construction safety is improved.
The working area at the next moment is predicted by combining the gesture sensor with the movement model of the flow machine, the working characteristics and gesture characteristics of the flow machine are fully considered, and the accuracy of the working area prediction at the next moment of the flow machine is improved.
In one or more embodiments of the present disclosure, after predicting the working area of the mobile machine at a next time, to facilitate the operator's real-time grasping and adjusting of the working area of the mobile machine, the method further includes the steps of: and performing image processing on the current working range of the mobile machine determined in the process, and acquiring a display picture of the current working range of the mobile machine in a preset background so as to facilitate an operator to grasp the current working range based on a real picture. And acquiring the display position of the working area at the next moment in the current working range according to the working area at the next moment of the flow machine and the current position information of the flow machine. And then, according to the acquired display position, responding the working area at the next moment to a display picture of a preset background so as to realize the identification of the working area of the flowing machine on the display picture. The operation staff can conveniently master the working area of the flowing machine at the next moment, and the problem caused by limited visual field of the operation staff is avoided.
S103: and acquiring a working area of the flow machine at the current moment according to the attitude data at the current moment, and comparing and acquiring difference data between the working area at the current moment and the working area at the next moment.
In order to increase the accuracy of the identification of the working area of the flow machine, unnecessary computation effort is avoided. And acquiring the working area of the flow machine at the current moment through the attitude data at the current moment, and judging whether to carry out the next adjustment through the difference between the working area at the current moment and the working area at the next moment. In one or more embodiments of the present disclosure, comparing and obtaining difference data between the current working area and the next working area specifically includes the following steps:
firstly, a preset first position of a working area center point at the current moment and a preset second position of the working area center point at the next moment are obtained. And determining the position of the center point of the working area at the current moment and the position of the center point of the working area at the next moment through the preset first position and the preset second position, and taking the difference value between the position of the center point of the working area at the current moment and the position of the center point of the working area at the next moment as difference data between the working area at the current moment and the working area at the next moment.
S104: if the difference data is larger than a preset value, adjusting a preset spotlight holder according to the difference value to control the holder to project a light beam so as to mark a working area of the flowing machine at the next moment; wherein, preset shot-light control cloud platform install in the preset position of mobile machinery.
Based on the above step S103, if it is determined that the difference data is greater than the preset threshold, the current identifier of the working area cannot correspond to the working area at the next moment, and the light spot area needs to be adjusted, so that correct operation of an operator is ensured, and working efficiency is improved. Specifically, in one or more embodiments of the present disclosure, if the difference data is greater than a preset value, the preset spotlight holder is adjusted according to the difference value to control the holder to perform beam projection, which specifically includes the following steps:
if the position of the center point of the working area at the current moment is determined according to the difference data obtained in the step S103, and the difference value between the position of the center point of the working area at the next moment is greater than the preset first threshold, then an adjustment path of the preset spotlight control holder is determined according to the difference value, so that the preset spotlight control holder is adjusted to project a light beam according to the adjustment path, and before the bucket reaches the operating area, real-time light spot marking is realized based on the working area of the marking flow machine, the working efficiency of operators is improved, the prediction effect is achieved, and the safety of the construction of the flow machine is improved.
Further, determining an adjustment path of a control holder of the preset spotlight according to the difference value, wherein the adjustment path comprises the following steps:
the method comprises the steps of firstly, taking a preset first position as an adjustment reference point, and determining the relative position of a preset second position relative to the reference point, so that the adjustment direction of a control holder of the preset spotlight is determined according to the relative position. And then determining the distance between the preset spotlight control holder and the ground, so as to determine the adjustment displacement of the preset spotlight control holder based on the distance and a difference value between the position of the central point of the current working area and the position of the central point of the working area at the next moment. And finally, obtaining an adjustment path of a preset spotlight control holder according to the determined adjustment direction and adjustment displacement, thereby realizing the identification of spotlight spots on the working area of the mobile machinery, enabling an operator to obtain the working area of the mobile machinery at the next moment, and improving the working efficiency of the mobile machinery. Based on the same thought, one or more embodiments of the present disclosure further provide apparatuses and devices corresponding to the above method, as shown in fig. 3 and fig. 4.
Fig. 3 is a schematic diagram showing an internal structure of a marking apparatus for a working area of a flow machine according to an embodiment of the present disclosure.
As can be seen from fig. 3, a marking device for a working area of a flow machine comprises:
at least one processor 301; the method comprises the steps of,
a memory 302 communicatively coupled to the at least one processor 301; wherein,
the memory 302 stores executable instructions of the at least one processor 301 to enable the at least one processor to:
acquiring attitude data of the mobile machinery at the current moment according to an attitude sensor arranged on the mobile machinery;
determining a motion model of the flow machine, and predicting a working area of the flow machine at the next moment based on the working posture of the flow machine at the current moment and the motion model;
acquiring a working area of the mobile machine at the current moment according to the attitude data at the current moment, and comparing and acquiring difference data between the working area at the current moment and the working area at the next moment;
if the difference data is larger than a preset value, adjusting a preset spotlight holder according to the difference value to control the holder to project a light beam so as to identify a working area of the mobile machinery; wherein, preset shot-light control cloud platform install in the preset position of mobile machinery.
Fig. 4 is a schematic diagram showing an internal structure of a marking apparatus for a working area of a flow machine according to an embodiment of the present disclosure.
As can be seen from fig. 4, a non-volatile storage medium stores computer executable instructions 401, the computer executable instructions 401 comprising:
acquiring attitude data of the mobile machinery at the current moment according to an attitude sensor arranged on the mobile machinery;
determining a motion model of the flow machine, and predicting a working area of the flow machine at the next moment based on the working posture of the flow machine at the current moment and the motion model;
acquiring a working area of the mobile machine at the current moment according to the attitude data at the current moment, and comparing and acquiring difference data between the working area at the current moment and the working area at the next moment;
if the difference data is larger than a preset value, adjusting a preset spotlight holder according to the difference value to control the holder to project a light beam so as to identify a working area of the mobile machinery; wherein, preset shot-light control cloud platform install in the preset position of mobile machinery.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, devices, non-volatile computer storage medium embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the section of the method embodiments being relevant.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
The foregoing is merely one or more embodiments of the present description and is not intended to limit the present description. Various modifications and alterations to one or more embodiments of this description will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of one or more embodiments of the present description, is intended to be included within the scope of the claims of the present description.
Claims (10)
1. A method of marking a working area of a flow machine, the method comprising:
acquiring attitude data of the mobile machinery at the current moment according to an attitude sensor arranged on the mobile machinery;
Determining a motion model of the flow machine, and predicting a working area of the flow machine at the next moment based on the working posture of the flow machine at the current moment and the motion model;
acquiring a working area of the mobile machine at the current moment according to the attitude data at the current moment, and comparing and acquiring difference data between the working area at the current moment and the working area at the next moment;
if the difference data is larger than a preset value, adjusting a preset spotlight holder according to the difference data to control the holder to project a light beam so as to mark a working area of the flowing machine at the next moment; wherein, preset shot-light control cloud platform install in the preset position of mobile machinery.
2. The method for identifying a working area of a mobile machine according to claim 1, wherein the acquiring attitude data of the mobile machine at the current moment according to an attitude sensor installed on the mobile machine specifically comprises:
respectively installing the gesture sensors at preset positions of the mobile machinery based on a preset monitoring strategy of the gesture sensors so as to determine gesture data of the mobile machinery at the current moment according to monitoring data of the preset positions;
The determining the gesture data of the current moment of the mobile machinery according to the monitoring data of the preset position specifically includes:
detecting the telescopic quantity of an arm cylinder of the mobile machinery according to a first gesture sensor at a preset first position;
detecting the expansion and contraction amount of a bucket cylinder of the flow machine according to a second gesture sensor at a preset second position;
detecting the attitude angle of each working device in the flow machinery according to an attitude sensor at a preset third position and an attitude sensor at a preset fourth position;
based on the telescopic quantity of the bucket rod oil cylinder, the telescopic quantity of the bucket rod oil cylinder and the attitude angle of each working device, determining the attitude data of the current moment of the flowing machine, so as to obtain the spatial position of each working device at the current moment of the flowing machine according to the attitude data.
3. A method of marking a working area of a mobile machine according to claim 2, wherein said determining a motion model of said mobile machine comprises:
determining a working space of the flow machine based on the spatial position of each working device, the attitude angle, and the attitude sensor; wherein the workspace comprises: pose space, joint space, driving space and detection space;
Acquiring the geometric structure of each working device, determining a first conversion relation from the driving space to the joint space according to the geometric structure, solving a second conversion relation between the pose space and the joint space based on a preset positive kinematic model algorithm, and solving a third conversion relation between the joint space and the pose space based on a preset inverse kinematic model algorithm;
determining a fourth conversion relation between the joint space and the detection space according to the preset position and the geometric structure corresponding to the gesture sensor;
and determining a motion model of the flow machine according to the first conversion relation, the second conversion relation, the third conversion relation and the fourth conversion relation in a combined mode.
4. A method for identifying a working area of a mobile machine according to claim 3, wherein predicting the working area of the mobile machine at the next moment based on the working posture of the mobile machine at the current moment and the motion model specifically includes:
acquiring a working task of the flow machine, and determining the circulation action characteristics of each working device in the flow machine based on the working task; wherein the cyclical motion feature comprises: digging, lifting, turning, unloading and turning an empty bucket;
Determining a movement track of a bucket in the flow machine based on a movement model of the flow machine, the cyclic action characteristics of each working device and the working environment of the working task;
and inputting the motion track of the bucket and the working state at the current moment into a preset prediction model of the flow machine so as to output the working area at the next moment of the flow machine.
5. The method according to claim 4, wherein determining the movement track of the bucket in the mobile machine based on the movement model of the mobile machine, the cycle motion characteristics of each working device, and the working environment of the working task, comprises:
the telescopic quantity of the bucket rod oil cylinder and the bucket oil cylinder in the driving space is obtained, and the variable quantity of the corresponding attitude angle of the telescopic quantity in the joint space is obtained based on the motion model;
converting the expansion and contraction amounts of the bucket rod oil cylinder and the bucket oil cylinder in the driving space into the maximum value corresponding to the attitude angle according to the motion model;
determining the attitude angle range of each working device in the flow machinery according to the corresponding maximum value of the attitude angle;
Determining an ideal movement space of the flow machine in the joint space corresponding to the attitude angle in the attitude angle range of each working device;
if no obstacle exists in the ideal motion space, determining the ideal motion space as the working range of the flow machine; if an obstacle exists in the ideal motion space, adjusting the telescopic quantity and the attitude angle based on the spatial position of the obstacle to obtain the working range of the flow machine;
and determining the movement track of the bucket in the flow machine in the working range based on the cycle action characteristics of each working device.
6. The method according to claim 5, wherein determining the movement track of the bucket in the flow machine within the working range based on the cycle motion characteristics of the working devices specifically comprises:
determining a starting point of the cyclic action feature and an ending point of the cyclic action feature, and solving a plurality of starting points and the ending points based on the preset inverse kinematics model algorithm to obtain a movement track of a bucket in the flow machine;
Dividing the working range of the flow machine by a preset size to obtain a plurality of working sub-ranges, and determining the center point of the working sub-ranges as a movement node of a bucket in the flow machine;
and acquiring the position information and the shape information of the obstacle, determining the coverage range of the obstacle node in the motion nodes according to the position information and the shape information of the obstacle, determining the node priority outside the coverage range of the obstacle node according to a preset path optimization algorithm, and determining the motion track of the bucket in the flow machine in the working range based on the node priority.
7. The method according to claim 1, wherein the comparing obtains difference data between the working area at the current time and the working area at the next time, specifically comprising:
acquiring a preset first position of the working area center point at the current moment and a preset second position of the working area center point at the next moment;
and determining a position gap value of the center point of the working area based on the preset first position and the preset second position, and taking the position gap value as difference data between the working area at the current moment and the working area at the next moment.
8. The method for identifying a working area of a mobile machine according to claim 7, wherein if the difference data is greater than a preset value, adjusting a preset spotlight control holder to perform beam projection according to the difference data, specifically comprising:
if the position difference value of the center point is larger than a preset first threshold value based on the difference data, determining an adjustment path of the preset spotlight control holder according to the difference data, and adjusting the preset spotlight control holder to project a light beam based on the adjustment path;
the determining the adjustment path of the preset spotlight control holder according to the difference data specifically comprises the following steps:
determining the relative position of the preset second position by taking the preset first position as a reference point, so as to determine the adjustment direction of the control holder of the preset spotlight according to the relative position;
determining the distance between the preset spotlight control holder and the ground so as to determine the adjustment displacement of the preset spotlight control holder based on the position difference value between the distance and the central point of the working area;
and determining an adjustment path of the control holder of the preset spotlight according to the adjustment direction and the adjustment displacement.
9. The method of claim 6, wherein the determining the motion model of the mobile machine, and predicting the working area of the mobile machine at the next time based on the working posture of the mobile machine at the current time and the motion model, further comprises:
image processing is carried out based on the current working range of the flow machine so as to obtain a display picture of the current working range of the flow machine in a preset background;
acquiring the display position of the working area of the flow machine at the next moment in the current working range based on the working area of the flow machine at the next moment and the current position information of the flow machine;
and responding the working area of the flowing machine at the next moment to a display picture of the preset background based on the display position so as to realize identification of the working area of the flowing machine.
10. An apparatus for marking a working area of a flow machine, the apparatus comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores executable instructions for the at least one processor to enable the at least one processor to:
Acquiring attitude data of the mobile machinery at the current moment according to an attitude sensor arranged on the mobile machinery;
determining a motion model of the flow machine, and predicting a working area of the flow machine at the next moment based on the working posture of the flow machine at the current moment and the motion model;
acquiring a working area of the mobile machine at the current moment according to the attitude data at the current moment, and comparing and acquiring difference data between the working area at the current moment and the working area at the next moment;
if the difference data is larger than a preset value, adjusting a preset spotlight holder according to the difference data to control the holder to project a light beam so as to identify a working area of the mobile machinery; wherein, preset shot-light control cloud platform install in the preset position of mobile machinery.
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| KR20110036803A (en) * | 2011-03-16 | 2011-04-11 | 박정득 | Control apparatus for lighting direction of excavator work lamp |
| EP2746105A1 (en) * | 2012-12-18 | 2014-06-25 | Liebherr-Werk Bischofshofen GmbH | Work machine |
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