CN115012468A - An excavator automatic operation control system, method and excavator - Google Patents

Abstract

The invention discloses an automatic operation control system and method for an excavator and the excavator, wherein the system comprises a parameter acquisition module, a control module and an excavator controller; the parameter acquisition module is used for acquiring parameter information for controlling the automatic operation of the excavator in real time; the control module is used for calculating the control quantity for controlling the excavator to operate according to the parameter information acquired by the parameter acquisition module and sending the control quantity to the excavator controller; and the excavator controller is used for controlling the excavator according to the control quantity sent by the control module so as to enable the excavator to automatically work. According to the method, the control instruction is sent to the excavator controller according to the excavator target point, the real-time attitude feedback and the load feedback, and the excavator is accurately controlled. The invention realizes the real-time attitude and load measurement of the excavator and the automatic operation control of the excavator operation, and is beneficial to the unmanned operation of the excavator.

Description

An excavator automatic operation control system, method and excavator

technical field

The invention relates to the technical field of intelligent excavation with excavators, in particular to an excavator automatic operation control system, method and excavator.

Background technique

The excavator has the advantages of excellent maneuverability, strong environmental adaptability, wide excavation and loading range, and high production efficiency. It is widely used in large-scale infrastructure and mining, and is a major technical equipment in my country. Excavators play an important role in ensuring project quality and improving labor productivity.

With the continuous development of electronic technology, automatic operation control technology, computer technology and sensor technology, in order to meet the requirements of excavator operation efficiency and safety performance, excavators are gradually becoming intelligent and unmanned. However, the working device of an excavator, as a four-degree-of-freedom robotic arm, has a large volume and a high load. In order to realize intelligent and unmanned operation, it is necessary to solve the problem of automatic operation control of the excavator.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention provides an excavator automatic operation control system, method and excavator.

To achieve the above object, the present invention adopts the following technical solutions:

In a first aspect, an embodiment of the present application provides an excavator automatic operation control system, the system includes a parameter acquisition module, a control module and an excavator controller;

The parameter acquisition module is used for real-time acquisition of parameter information for controlling the automatic operation of the excavator;

The control module is used to calculate the control amount for controlling the excavator operation according to the parameter information obtained by the parameter obtaining module, and send it to the excavator controller;

The excavator controller is used to control the excavator according to the control quantity sent by the control module, so that the excavator performs automatic operation.

In one embodiment, the parameter acquisition module includes:

At least three inclination sensors are used to obtain the angle information of the excavator arm, stick and bucket respectively;

A pressure sensor for measuring the pressure information of the excavator cylinder;

The inertial navigation RTK sensor is used to obtain the position of the excavator and the angle of yaw, pitch and swivel.

In one embodiment, the control module is an industrial computer.

In an implementation manner, the system further includes a remote desktop, and the remote desktop is connected to the control module or the industrial computer, and is used to realize the remote control controller and the remote desktop display.

In one embodiment, the control module includes:

The attitude unit is used to calculate the attitude information of the excavator through the inertial navigation RTK sensor and the inclination sensor data;

The cylinder length unit is used to calculate the cylinder length information through the data of the inclination sensor;

Weighing unit, which is used to calculate the excavator load information from the data of the inclination sensor and the pressure sensor;

The trajectory planning unit is used to plan the trajectory of the excavator working device;

Communication connection between the attitude unit, the cylinder length unit, the weighing unit, the trajectory planning unit and the control unit;

The control unit is used to calculate the control amount according to the data obtained by the attitude unit, the cylinder length unit, the weighing unit, and the trajectory planning unit, and form a control command.

In an embodiment, the communication connection between the attitude unit, the cylinder length unit, the weighing unit, the trajectory planning unit and the control unit is as follows:

The industrial computer is respectively connected with a plurality of inclination sensors, inertial navigation RTK sensors, and excavator controllers, and communicates through CAN;

The industrial computer is connected with the pressure sensor and communicates through a data acquisition card;

The industrial computer is connected with the remote desktop, and performs remote communication through Wi-Fi.

In one embodiment, the gesture information includes:

According to the excavator kinematic model, excavator parameters and angle information of boom, stick and bucket, the bucket tooth tip, bucket and stick hinge point, bucket stick and boom hinge point under the two-dimensional coordinate system are determined coordinate;

The position of the excavator as well as the yaw, pitch and slew angles determined by the inertial navigation RTK sensor.

In one embodiment, the length of the oil cylinder is the length of the boom, the arm, and the bucket cylinder determined by using the excavator parameter model and the angle information of the excavator arm, arm, and bucket.

In one embodiment, the load of the bucket is the load of the bucket of the excavator determined through the excavator parameter model and the pressure information of the excavator oil cylinder.

In one embodiment, the planning of the action trajectory of the excavator includes:

Determine the action process and planning target of the excavator working device through the excavator's digging point, unloading point and initial attitude information;

The action process of the excavator working device is decomposed into the excavator target cylinder length and rotation angle information.

In one embodiment, the control amount calculated according to the data obtained by the attitude unit, the cylinder length unit, the weighing unit, and the trajectory planning unit specifically includes:

Calculate the target cylinder length, rotation angle information of the excavator decomposed by the trajectory planning unit and the real-time cylinder length and rotation angle information calculated by the attitude unit, cylinder length unit, and weighing unit;

Based on the calculated deviation and the real-time load information calculated by the weighing unit, the control quantity is derived.

In one embodiment, the excavator controller includes:

The drive module is used to drive the excavator oil cylinder, rotary motor, and travel motor to control the excavator to perform automatic operation according to the control amount;

The judgment module is used to judge whether the oil cylinder and the motor are driven according to the control amount to perform automatic operation and whether the planning goal is achieved;

If it is not reached, the control module will continue to calculate the control amount according to the deviation and real-time load information;

If it is reached, continue to judge whether the trajectory planning is over;

If it is not over, the control module will continue to perform trajectory planning and subsequent processes;

When it is over, the whole planning and excavation process ends.

In a second aspect, an embodiment of the present application provides an automatic operation control method for an excavator, which is characterized in that it includes the following steps:

Real-time acquisition of parameter information that controls the automatic operation of the excavator;

Calculate the control amount used to control the excavator operation according to the obtained parameter information;

The excavator is controlled by the control amount to make the excavator perform automatic operation.

In one embodiment, the parameter information includes the angle information of the excavator arm, the stick and the bucket, the pressure information of the excavator oil cylinder, the position of the excavator, and the yaw, pitch, and swing angles.

In one embodiment, the control amount used to control the operation of the excavator is calculated according to the obtained parameter information, including:

The acquired parameter information is processed to obtain the real-time attitude, cylinder length and load information of the excavator;

Plan the excavator trajectory, determine the action process and planning target of the entire excavator working device, and decompose the excavator working device action process into the excavator target cylinder length and rotation angle information;

Calculate the deviation between the target cylinder length and rotation angle information and the real-time cylinder length and rotation angle information;

According to the calculated deviation and real-time load information, the control amount is obtained and sent to the excavator controller.

In one embodiment, the method further includes:

Judging whether the oil cylinder and motor are driven according to the control amount, and the excavation and unloading actions are performed, whether the planning goal is achieved;

Continue to perform the following steps according to the judgment result:

If it is not reached, continue to calculate the control amount according to the deviation and real-time load information;

If it is reached, continue to judge whether the trajectory planning is over;

If it is not over, continue the trajectory planning and follow-up process;

When it is over, the whole planning and excavation process ends.

In a third aspect, an embodiment of the present application provides an excavator configured with the control system of any one of claims 1-12.

In a fourth aspect, an embodiment of the present application provides a computer device, including a memory and a processor, where computer-readable instructions are stored in the memory, and when the computer-readable instructions are executed by the processor, the processing The controller executes the steps of the above control method.

Compared with the prior art, the present invention has the following beneficial effects:

The attitude recognition method of excavator combined with inclination sensor and inertial navigation RTK sensor is adopted, which improves the accuracy of attitude recognition. At the same time, real-time excavator attitude feedback and load feedback are introduced, which further improves the control accuracy and ensures the realization of unmanned and intelligent excavators.

Description of drawings

1 is a schematic diagram of hardware connection of an excavator automatic operation control system provided by an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an excavator automatic operation control system according to an embodiment of the present invention;

3 is a schematic diagram of communication of an excavator automatic operation control system according to an embodiment of the present invention;

4 is a schematic diagram of a workflow of a judgment module provided by an embodiment of the present invention;

FIG. 5 is a schematic flowchart of a method for controlling an automatic operation of an excavator according to an embodiment of the present invention.

Detailed ways

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings.

An excavator automatic operation control system, comprising: a parameter acquisition module, a control module and an excavator controller;

The parameter acquisition module is used for real-time acquisition of parameter information for controlling the automatic operation of the excavator;

The control module is used to calculate the control amount for controlling the excavator operation according to the parameter information obtained by the parameter obtaining module, and send it to the excavator controller;

The excavator controller is used to control the excavator according to the control quantity sent by the control module, so that the excavator performs automatic operation.

In the embodiment of the present application, the parameter acquisition module includes:

At least three inclination sensors are used to obtain the angle information of the excavator arm, stick and bucket respectively;

A pressure sensor for measuring the pressure information of the excavator cylinder;

The inertial navigation RTK sensor is used to obtain the position of the excavator and the angle of yaw, pitch and swivel.

In the embodiment of the present application, the control module is an industrial computer.

In a possible implementation manner, the system further includes a remote desktop, and the remote desktop is connected to the control module or the industrial computer for realizing the remote control controller and the remote desktop display.

Specifically, as shown in Figure 1, which is a schematic diagram of the system hardware connection, the industrial computer is connected to the inclination sensor, and receives the signal from the inclination sensor to determine the angle information of the excavator arm, stick and bucket; The machine is connected with the inertial navigation RTK sensor to determine the position of the excavator and the information of the yaw, pitch and rotation angle; the industrial computer is connected with the data acquisition card to receive the pressure sensor information; the data acquisition card is connected with the pressure sensor to determine the excavation The pressure information of the oil cylinder; the industrial computer is connected to the remote desktop for remote control of the industrial computer and the remote desktop display; the industrial computer is also connected to the excavator controller for sending control signals to the excavator controller.

Figure 2 is a schematic structural diagram of an excavator automatic operation control system. As shown in Figure 2, the control module includes:

The attitude unit is used to calculate the attitude information of the excavator through the inertial navigation RTK sensor and the inclination sensor data;

The cylinder length unit is used to calculate the cylinder length information through the data of the inclination sensor;

Weighing unit, which is used to calculate the excavator load information from the data of the inclination sensor and the pressure sensor;

The trajectory planning unit is used to plan the trajectory of the excavator working device;

Communication connection between the attitude unit, the cylinder length unit, the weighing unit, the trajectory planning unit and the control unit;

The control unit is used to calculate the control amount according to the data obtained by the attitude unit, the cylinder length unit, the weighing unit, and the trajectory planning unit, and form a control command.

Optionally, the communication connection between the attitude unit, the cylinder length unit, the weighing unit, the trajectory planning unit and the control unit is as follows: the industrial computer is respectively connected with a plurality of inclination sensors, inertial navigation RTK sensors, and excavator controllers. CAN communication; the industrial computer is connected with the pressure sensor, and communicates through a data acquisition card; the industrial computer is connected with a remote desktop, and remote communication is performed through Wi-Fi. As shown in Figure 3.

Optionally, the posture information includes:

According to the excavator kinematic model, excavator parameters and angle information of boom, stick and bucket, the bucket tooth tip, bucket and stick hinge point, bucket stick and boom hinge point under the two-dimensional coordinate system are determined coordinate;

The position of the excavator as well as the yaw, pitch and slew angles determined by the inertial navigation RTK sensor.

Optionally, the length of the oil cylinder is the length of the oil cylinder of the boom, the stick and the bucket determined through the excavator parameter model and the angle information of the excavator arm, the stick and the bucket.

Optionally, the load of the bucket is the bucket load of the excavator determined by excavator parameters and pressure information of the excavator oil cylinder.

It should be noted that the kinematic model of the excavator and the parameter model of the excavator have been modeled and can be obtained from the parameters of the fuselage.

Optionally, the planning of the trajectory of the excavator working device includes:

Determine the action process and planning target of the excavator working device through the excavator's digging point, unloading point and initial attitude information;

The action process of the excavator working device is decomposed into the excavator target cylinder length and rotation angle information.

In the embodiment of the present application, the control amount is calculated according to the data obtained by the attitude unit, the cylinder length unit, the weighing unit, and the trajectory planning unit, which specifically includes:

Calculate the target cylinder length, rotation angle information of the excavator decomposed by the trajectory planning unit and the real-time cylinder length and rotation angle information calculated by the attitude unit, cylinder length unit, and weighing unit;

Based on the calculated deviation and the real-time load information calculated by the weighing unit, the control quantity is derived.

In this embodiment of the present application, the excavator controller includes:

The drive module is used to drive the excavator oil cylinder, rotary motor, and travel motor to control the excavator to perform automatic operation according to the control amount;

The judgment module is used for judging whether the oil cylinder and the motor are driven according to the control amount to perform automatic operation and whether the planning target is achieved; according to the judgment result, the following steps are continued:

If it is not reached, the control module will continue to calculate the control amount according to the deviation and real-time load information;

If it is reached, continue to judge whether the trajectory planning is over;

If it is not over, the control module will continue to perform trajectory planning and subsequent processes;

When it is over, the whole planning and excavation process ends.

The workflow of the judgment module is shown in Figure 4.

The automatic operation control system provided by the invention completes the problem of attitude recognition and attitude control of the excavator, thereby ensuring the realization of unmanned and intelligent excavator. It can be adapted to large-scale mining excavators, greatly improving the intelligence level and work efficiency of large-scale mining excavators.

As shown in Figure 5, a schematic flowchart of an automatic operation control method for an excavator, the specific steps are as follows:

Real-time acquisition of parameter information that controls the automatic operation of the excavator;

Calculate the control amount used to control the excavator operation according to the obtained parameter information;

The excavator is controlled by the control amount to make the excavator perform automatic operation.

In the embodiment of the present application, the parameter information includes the angle information of the excavator arm, the stick and the bucket, the pressure information of the excavator oil cylinder, the position of the excavator, and the yaw, pitch, and rotation angles.

In the embodiment of the present application, the control amount used to control the excavator operation is calculated according to the obtained parameter information, including:

The acquired parameter information is processed to obtain the real-time attitude, cylinder length and load information of the excavator;

Plan the trajectory of the excavator working device, determine the entire excavator working device action process and planning target, and decompose the excavator working device action process into the excavator target cylinder length and rotation angle information;

Calculate the deviation between the target cylinder length and rotation angle information and the real-time cylinder length and rotation angle information;

According to the calculated deviation and real-time load information, the control amount is obtained and sent to the excavator controller.

Optionally, the parameter information includes the angle information of the excavator arm, the stick and the bucket, the pressure information of the excavator oil cylinder, the position of the excavator, and the yaw, pitch, and swing angles.

Optionally, the attitude information of the excavator is determined according to the kinematics model of the excavator, the parameters of the excavator, and the angle information of the boom, the stick, and the bucket, and the tip of the bucket, the bucket and the stick are hinged in the two-dimensional coordinate system. Point, stick and boom hinge point coordinates; Excavator position and yaw, pitch and slew angles determined by inertial navigation RTK sensor. The cylinder length is the length of the boom, stick and bucket cylinders determined by excavator parameters and the angle information of the excavator arm, stick and bucket. The load of the bucket is the load of the bucket of the excavator determined by the excavator parameter model and the pressure information of the excavator oil cylinder.

Optionally, the action process and planning target of the excavator working device are determined according to the excavation point, the unloading point and the initial attitude information of the excavator.

In a possible embodiment, an automatic operation control method for an excavator, further comprising:

It is judged whether the oil cylinder and motor are driven according to the control amount, and the excavation and unloading actions are carried out, and whether the planning goal is achieved.

Continue to perform the following steps according to the judgment result:

If it is not reached, continue to calculate the control amount according to the deviation and load and drive the excavator;

If it has been reached, continue to judge whether the trajectory planning is over;

If it is not over, continue the trajectory planning and follow-up process;

When it is over, the whole planning and excavation process ends.

It should be noted that an excavator automatic operation control method provided by the above embodiment belongs to the same concept as the excavator automatic operation control system embodiment, and the implementation process of which is embodied in the excavator automatic operation control system embodiment, which will not be repeated here. .

In one embodiment, an excavator is presented that includes a control system as above. For the description based on the control system, refer to the description of the same or similar parts as described above, which will not be repeated here.

In one embodiment, a computer device is proposed. The computer device includes a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the following steps are implemented: acquiring control mining in real time The parameter information of the automatic operation of the excavator is calculated; the control amount used to control the operation of the excavator is calculated according to the obtained parameter information; the excavator is controlled by the control amount to make the excavator perform automatic operation.

The parameter information includes the angle information of the excavator arm, stick and bucket, the pressure information of the excavator oil cylinder, the position of the excavator, and the yaw, pitch, and slewing angles. Calculate the control amount used to control the excavator operation according to the obtained parameter information, including: processing the obtained parameter information to obtain the real-time attitude, cylinder length, and load information of the excavator; planning the excavator trajectory, through the excavator The excavation point, unloading point and initial attitude information determine the action process and planning target of the excavator working device; decompose the excavation process into the excavator target cylinder length and rotation angle information; calculate the target cylinder length, rotation angle information and real-time cylinder length, Rotation angle information deviation; according to the calculated deviation and real-time load information, the control amount is obtained and sent to the excavator controller.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the patent of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (18)

1. An excavator automatic operation control system, characterized in that the system comprises a parameter acquisition module, a control module and an excavator controller; The parameter acquisition module is used for real-time acquisition of parameter information for controlling the automatic operation of the excavator; The control module is used to calculate the control amount for controlling the excavator operation according to the parameter information obtained by the parameter obtaining module, and send it to the excavator controller; The excavator controller is used to control the excavator according to the control quantity sent by the control module, so that the excavator performs automatic operation. 2. The system according to claim 1, wherein the parameter acquisition module comprises: At least three inclination sensors are used to obtain the angle information of the excavator arm, stick and bucket respectively; A pressure sensor for measuring the pressure information of the excavator cylinder; The inertial navigation RTK sensor is used to obtain the excavator's position, yaw, pitch, and slew angle. 3. The system according to claim 1 or 2, wherein the control module is an industrial computer. 4 . The system according to claim 3 , wherein the system further comprises a remote desktop, the remote desktop is connected to the control module or the industrial computer, and is used to realize the remote control controller and the remote desktop display. 5 . 5. The system of claim 2, wherein the control module comprises: The attitude unit is used to calculate the attitude information of the excavator through the inertial navigation RTK sensor and the inclination sensor data; The cylinder length unit is used to calculate the cylinder length information through the data of the inclination sensor; Weighing unit, which is used to calculate the excavator load information from the data of the inclination sensor and the pressure sensor; The trajectory planning unit is used to plan the trajectory of the excavator working device; Communication connection between the attitude unit, the cylinder length unit, the weighing unit, the trajectory planning unit and the control unit; The control unit is used to calculate the control amount according to the data obtained by the attitude unit, the cylinder length unit, the weighing unit, and the trajectory planning unit, and form a control command. 6. The system according to claim 5, wherein the communication connection between the attitude unit, the cylinder length unit, the weighing unit, the trajectory planning unit and the control unit is: The industrial computer is respectively connected with a plurality of inclination sensors, inertial navigation RTK sensors, and excavator controllers, and communicates through CAN; The industrial computer is connected with the pressure sensor and communicates through a data acquisition card; The industrial computer is connected with the remote desktop, and performs remote communication through Wi-Fi. 7. The system according to claim 5, wherein the attitude information comprises: According to the excavator kinematic model, excavator parameters and angle information of boom, stick and bucket, the bucket tooth tip, bucket and stick hinge point, bucket stick and boom hinge point under the two-dimensional coordinate system are determined coordinate; The position of the excavator as well as the yaw, pitch and slew angles determined by the inertial navigation RTK sensor. 8 . The system according to claim 5 , wherein the length of the oil cylinder is determined by the excavator parameters and the angle information of the excavator arm, the stick and the bucket, and the oil cylinder of the boom, the stick and the bucket is determined. 9 . length. 9 . The system according to claim 5 , wherein the load of the bucket is the load of the excavator bucket determined by the excavator parameter model and the pressure information of the excavator oil cylinder. 10 . 10. The system according to claim 5, wherein the planning of the trajectory of the excavator working device comprises: Determine the action process and planning target of the excavator working device through the excavator's digging point, unloading point and initial attitude information; The action process of the excavator working device is decomposed into the excavator target cylinder length and rotation angle information. 11. The system according to claim 10, wherein the calculation of the control amount according to the data obtained by the attitude unit, the cylinder length unit, the weighing unit, and the trajectory planning unit specifically includes: Calculate the target cylinder length, rotation angle information of the excavator decomposed by the trajectory planning unit and the real-time cylinder length and rotation angle information calculated by the attitude unit, cylinder length unit, and weighing unit; Based on the calculated deviation and the real-time load information calculated by the weighing unit, the control quantity is derived. 12. The system of claim 11, wherein the excavator controller comprises: The drive module is used to drive the excavator oil cylinder, rotary motor, and travel motor to control the excavator to perform automatic operation according to the control amount; The judgment module is used to judge whether the oil cylinder and the motor are driven according to the control amount to perform automatic operation and whether the planning goal is achieved; If it is not reached, the control module will continue to calculate the control amount according to the deviation and real-time load information; If it is reached, continue to judge whether the trajectory planning is over; If it is not over, the control module will continue to perform trajectory planning and subsequent processes; When it is over, the whole planning and excavation process ends. 13. An automatic operation control method for an excavator, comprising the steps of: Real-time acquisition of parameter information that controls the automatic operation of the excavator; Calculate the control amount used to control the excavator operation according to the obtained parameter information; The excavator is controlled by the control amount to make the excavator perform automatic operation. 14. The method according to claim 13, wherein the parameter information includes angle information of the excavator arm, stick and bucket, pressure information of the excavator oil cylinder, excavator position and yaw, pitch, and swing angle. 15. The method according to claim 13, wherein calculating a control amount for controlling the operation of the excavator according to the acquired parameter information, comprising: The acquired parameter information is processed to obtain the real-time attitude, cylinder length and load information of the excavator; Plan the excavator trajectory, determine the entire excavator working device action process and planning goals, and decompose the excavator working device action process into the excavator target cylinder length and rotation angle information; Calculate the deviation between the target cylinder length and rotation angle information and the real-time cylinder length and rotation angle information; According to the calculated deviation and real-time load information, the control amount is obtained and sent to the excavator controller. 16. The method of claim 13, wherein the method further comprises: Judging whether the oil cylinder and motor are driven according to the control amount, and the excavation and unloading actions are performed, whether the planning goal is achieved; Continue to perform the following steps according to the judgment result: If it is not reached, continue to calculate the control amount according to the deviation and real-time load information; If it is reached, continue to judge whether the trajectory planning is over; If it is not over, continue the trajectory planning and follow-up process; When it is over, the whole planning and excavation process ends. 17. An excavator, characterized in that: A control system according to any one of claims 1-12 is configured. 18. A computer device comprising a memory and a processor, characterized in that: Computer-readable instructions are stored in the memory, and when executed by the processor, the computer-readable instructions cause the processor to perform the steps of the control method as claimed in any one of claims 13 to 16 .

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