CN115012468A - Automatic operation control system and method for excavator and excavator - Google Patents
Automatic operation control system and method for excavator and excavator Download PDFInfo
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- CN115012468A CN115012468A CN202210754427.5A CN202210754427A CN115012468A CN 115012468 A CN115012468 A CN 115012468A CN 202210754427 A CN202210754427 A CN 202210754427A CN 115012468 A CN115012468 A CN 115012468A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000005303 weighing Methods 0.000 claims description 21
- 238000005065 mining Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 9
- 238000009412 basement excavation Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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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
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
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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
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2079—Control of mechanical transmission
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- 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
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
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
Technical Field
The invention relates to the technical field of intelligent excavation by using an excavator, in particular to an automatic operation control system and method for the excavator and the excavator.
Background
The excavator has the advantages of excellent maneuvering performance, strong environmental adaptability, wide excavation and loading range, high production efficiency and the like, is widely applied to large-scale capital construction and mining, and is important technical equipment in China. The excavator plays an important role in ensuring engineering quality and improving labor productivity.
With the continuous development of electronic technology, automatic operation control technology, computer technology and sensor technology, excavators are gradually becoming intelligent and unmanned in order to meet the requirements of the excavator on operation efficiency, safety performance and the like. However, since a work implement of an excavator is a four-degree-of-freedom arm, it is bulky and highly loaded, and it is desired to realize intelligent and unmanned work, it is necessary to solve the problem of automatic work control of the excavator.
Disclosure of Invention
In order to solve the above problems, the present invention provides an excavator automatic operation control system, method and excavator.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides an automatic operation control system for an excavator, where the system includes 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.
In one embodiment, the parameter obtaining module comprises:
the system comprises at least 3 inclination angle sensors, a control unit and a control unit, wherein the at least 3 inclination angle sensors are respectively used for acquiring angle information of a movable arm, an arm and a bucket of the excavator;
the pressure sensor is used for measuring pressure information of an oil cylinder of the excavator;
and the inertial navigation RTK sensor is used for acquiring the position, the deflection, the pitching and the rotation angle of the excavator.
In one embodiment, the control module is an industrial personal computer.
In one implementation mode, the system is characterized by further comprising a remote desktop, wherein the remote desktop is connected with the control module or the industrial personal computer and used for achieving remote control of the controller and remote desktop display.
In one embodiment, the control module comprises:
the attitude unit is used for calculating the attitude information of the excavator through the data of the inertial navigation RTK sensor and the tilt sensor;
the oil cylinder length unit is used for calculating oil cylinder length information through the data of the tilt angle sensor;
the weighing unit is used for calculating the load information of the excavator through data of the inclination angle sensor and the pressure sensor;
the track planning unit is used for planning the track of the excavator working device;
the attitude unit, the oil cylinder length unit, the weighing unit and the track planning unit are in communication connection with the control unit;
and the control unit is used for calculating the control quantity according to the data obtained by the attitude unit, the oil cylinder length unit, the weighing unit and the track planning unit and forming a control instruction.
In one embodiment, the posture unit, the cylinder length unit, the weighing unit, the trajectory planning unit and the control unit are connected in a communication manner:
the industrial personal computer is respectively connected with the plurality of tilt angle sensors, the inertial navigation RTK sensor and the excavator controller and communicates through the CAN;
the industrial personal computer is connected with the pressure sensor and communicates through a data acquisition card;
the industrial personal computer is connected with the remote desktop and carries out remote communication through Wi-Fi.
In one embodiment, the pose information comprises:
determining coordinates of a bucket tooth point, a bucket and bucket hinged point and the bucket and the hinged point of the bucket and the movable arm under a two-dimensional coordinate system according to the excavator kinematic model, the excavator parameters and angle information of the movable arm, the bucket rod and the bucket;
and determining the position, the deflection, the pitching and the rotation angle of the excavator according to the inertial navigation RTK sensor.
In one embodiment, the cylinder length is the boom, arm, and bucket cylinder length determined by the excavator parameter model and the angle information of the boom, arm, and bucket of the excavator.
In one embodiment, the load of the bucket is an excavator bucket load determined by an excavator parameter model and pressure information of an excavator cylinder.
In one embodiment, the planning of the excavator action trajectory includes:
determining the action process and the planning target of the excavator working device through the excavating point, the discharging point and the initial attitude information of the excavator;
and decomposing the action process of the excavator working device into the information of the length and the rotation angle of the target oil cylinder of the excavator.
In an embodiment, the calculating 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:
calculating the length of a target oil cylinder of the excavator, the rotation angle information and the real-time oil cylinder length and rotation angle information which are decomposed by the track planning unit, calculated by the attitude unit, the oil cylinder length unit and the weighing unit;
and obtaining the control quantity according to the calculated deviation and the real-time load information calculated by the weighing unit.
In one embodiment, the excavator controller comprises:
the driving module is used for driving the excavator oil cylinder, the rotary motor and the walking motor to control the excavator to automatically operate according to the control quantity;
the judging module is used for judging whether the oil cylinder and the motor are driven according to the control quantity to automatically operate and reach a planning target or not;
if not, the control module continues to calculate the control quantity according to the deviation and the real-time load information;
if yes, continuing to judge whether the track planning is finished or not;
if not, the control module continues to carry out the trajectory planning and the subsequent process;
and finishing the whole planning and mining process after finishing the planning and mining.
In a second aspect, an embodiment of the present application provides an automatic operation control method for an excavator, which is characterized by including the following steps:
acquiring parameter information for controlling the automatic operation of the excavator in real time;
calculating a control quantity for controlling the operation of the excavator according to the acquired parameter information;
the control quantity is used for controlling the excavator, so that the excavator can automatically work.
In one embodiment, the parameter information includes angle information of a boom, an arm, and a bucket of the excavator, pressure information of a heading cylinder, an excavator position, and yaw, pitch, and roll angles.
In one embodiment, calculating a control amount for controlling an excavator work based on acquired parameter information includes:
processing the acquired parameter information to obtain the real-time posture, the length of the oil cylinder and the load information of the excavator;
planning the track of the excavator, determining the action process and a planning target of the whole excavator working device, and decomposing the action process of the excavator working device into the length of a target oil cylinder of the excavator and the information of a rotation angle;
calculating the deviation of the target oil cylinder length and the rotation angle information with the real-time oil cylinder length and the rotation angle information;
and obtaining a control quantity according to the calculated deviation and the real-time load information, and sending the control quantity to the excavator controller.
In one embodiment, the method further comprises:
judging whether the oil cylinder and the motor are driven according to the control quantity to carry out excavation and unloading actions so as to achieve a planning target or not;
and continuously executing the following steps according to the judgment result:
if not, continuing to calculate the control quantity according to the deviation and the real-time load information;
if yes, continuing to judge whether the track planning is finished or not;
if not, continuing to perform the trajectory planning and subsequent processes;
and finishing the whole planning and mining process after finishing the planning and mining.
In a third aspect, embodiments of the present application provide an excavator provided with a control system as claimed in any one of claims 1 to 12.
In a fourth aspect, the present application provides a computer device, including a memory and a processor, where the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, cause the processor to execute the steps of the above control method.
Compared with the prior art, the invention has the following beneficial effects:
the excavator attitude identification method combining the tilt angle sensor and the inertial navigation RTK sensor is adopted, and the accuracy of attitude identification is improved. Meanwhile, real-time excavator attitude feedback and load feedback are introduced, so that the control precision is further improved, and unmanned and intelligent realization of the excavator is guaranteed.
Drawings
Fig. 1 is a schematic diagram of hardware connections of an automatic operation control system of an excavator according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic operation control system of an excavator according to an embodiment of the present invention;
FIG. 3 is a communication diagram of an automatic operation control system of an excavator according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a working flow of the determining module according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating an automatic operation control method for an excavator according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings.
An automatic work control system for an excavator, comprising: 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.
In an embodiment of the present application, the parameter obtaining module includes:
the system comprises at least 3 inclination angle sensors, a control unit and a control unit, wherein the at least 3 inclination angle sensors are respectively used for acquiring angle information of a movable arm, an arm and a bucket of the excavator;
the pressure sensor is used for measuring pressure information of an oil cylinder of the excavator;
and the inertial navigation RTK sensor is used for acquiring the position of the excavator and the deflection, pitching and rotation angles.
In the embodiment of the application, the control module is an industrial personal computer.
In a possible implementation mode, the system further comprises a remote desktop, and the remote desktop is connected with the control module or the industrial personal computer and used for realizing remote control of the controller and remote desktop display.
Specifically, as shown in fig. 1, fig. 1 is a system hardware connection schematic diagram, and an industrial personal computer is connected with an inclination angle sensor and receives a signal from the inclination angle sensor to determine angle information of a boom, an arm and a bucket of an excavator; the industrial personal computer is connected with the inertial navigation RTK sensor to determine the position of the excavator and the information of the deflection, the pitching and the rotation angles; the industrial personal computer is connected with the data acquisition card to receive the information of the pressure sensor; the data acquisition card is connected with the pressure sensor to determine pressure information of an oil cylinder of the excavator; the industrial personal computer is connected with the remote desktop and is used for remotely controlling the industrial personal computer and displaying on the remote desktop; the industrial personal computer is also connected with the excavator controller and used for sending control signals to the excavator controller.
Fig. 2 is a schematic structural diagram of an automatic operation control system of an excavator. As shown in fig. 2, the control module includes:
the attitude unit is used for calculating the attitude information of the excavator through the data of the inertial navigation RTK sensor and the tilt sensor;
the oil cylinder length unit is used for calculating oil cylinder length information through the data of the tilt angle sensor;
the weighing unit is used for calculating the load information of the excavator through data of the inclination angle sensor and the pressure sensor;
the track planning unit is used for planning the track of the excavator working device;
the attitude unit, the oil cylinder length unit, the weighing unit and the track planning unit are in communication connection with the control unit;
and the control unit is used for calculating the control quantity according to the data obtained by the attitude unit, the oil cylinder length unit, the weighing unit and the track planning unit and forming a control instruction.
Optionally, the posture unit, the cylinder length unit, the weighing unit, the trajectory planning unit and the control unit are in communication connection: the industrial personal computer is respectively connected with the plurality of tilt sensors, the inertial navigation RTK sensor and the excavator controller and communicates through the CAN; the industrial personal computer is connected with the pressure sensor and communicates through the data acquisition card; the industrial personal computer is connected with the remote desktop and carries out remote communication through Wi-Fi. As shown in fig. 3.
Optionally, the posture information includes:
determining coordinates of a bucket tooth point, a bucket and bucket hinged point and the bucket and the hinged point of the bucket and the movable arm under a two-dimensional coordinate system according to the excavator kinematic model, the excavator parameters and angle information of the movable arm, the bucket rod and the bucket;
and determining the position, the deflection, the pitching and the rotation angle of the excavator according to the inertial navigation RTK sensor.
Optionally, the length of the oil cylinder is determined by the excavator parameter model and angle information of a movable arm, an arm and a bucket of the excavator.
Optionally, the load of the bucket is determined by the excavator parameter and the pressure information of the excavator oil cylinder.
The excavator kinematics model and the excavator parameter model are modeled and can be obtained from the parameters of the excavator body.
Optionally, the planning a track of the excavator work device includes:
determining the action process and the planning target of the excavator working device through the excavating point, the discharging point and the initial attitude information of the excavator;
and decomposing the action process of the excavator working device into the information of the length and the rotation angle of the target oil cylinder of the excavator.
In the embodiment of the application, the control quantity is calculated according to the data obtained by the attitude unit, the oil cylinder length unit, the weighing unit and the track planning unit, and the method specifically comprises the following steps:
calculating the length of a target oil cylinder of the excavator, the rotation angle information and the real-time oil cylinder length and rotation angle information which are decomposed by the track planning unit, calculated by the attitude unit, the oil cylinder length unit and the weighing unit;
and obtaining the control quantity according to the calculated deviation and the real-time load information calculated by the weighing unit.
In an embodiment of the present application, an excavator controller includes:
the driving module is used for driving the excavator oil cylinder, the rotary motor and the walking motor to control the excavator to automatically operate according to the control quantity;
the judging module is used for judging whether the oil cylinder and the motor are driven according to the control quantity to automatically operate and reach a planning target or not; and continuously executing the following steps according to the judgment result:
if not, the control module continues to calculate the control quantity according to the deviation and the real-time load information;
if yes, continuing to judge whether the track planning is finished or not;
if not, the control module continues to carry out the trajectory planning and the subsequent process;
and finishing the whole planning and mining process after finishing the planning and mining.
The work flow of the judgment module is shown in fig. 4.
The automatic operation control system provided by the invention can be used for completing the attitude identification and attitude control problems of the excavator, thereby ensuring the unmanned and intelligent realization of the excavator. The intelligent level and the working efficiency of the large-scale mining excavator are greatly improved.
As shown in fig. 5, a flow diagram of an automatic operation control method for an excavator includes the following specific steps:
acquiring parameter information for controlling the automatic operation of the excavator in real time;
calculating a control quantity for controlling the operation of the excavator according to the acquired parameter information;
the control quantity is used for controlling the excavator, so that the excavator can automatically work.
In the embodiment of the application, the parameter information comprises angle information of a movable arm, an arm and a bucket of the excavator, pressure information of an excavator cylinder, an excavator position and deflection, pitching and rotation angles.
In the embodiment of the present application, calculating a control amount for controlling the operation of the excavator according to the acquired parameter information includes:
processing the acquired parameter information to obtain the real-time posture, the length of the oil cylinder and the load information of the excavator;
planning the track of the excavator working device, determining the action process and the planning target of the whole excavator working device, and decomposing the action process of the excavator working device into the length and the rotation angle information of the excavator target cylinder;
calculating the deviation of the target oil cylinder length and the rotation angle information and the real-time oil cylinder length and rotation angle information;
and obtaining a control quantity according to the calculated deviation and the real-time load information, and sending the control quantity to the excavator controller.
Optionally, the parameter information includes angle information of a boom, an arm, and a bucket of the excavator, pressure information of an excavator cylinder, an excavator position, and a yaw, pitch, and roll angle.
Optionally, the excavator posture information is coordinates of a bucket tooth tip, a bucket and bucket hinged point, and a bucket and movable arm hinged point under a two-dimensional coordinate system according to the excavator kinematic model, the excavator parameters and angle information of the movable arm, the bucket rod and the bucket; and determining the position, the deflection, the pitching and the rotation angle of the excavator according to the inertial navigation RTK sensor. The length of the oil cylinder is determined by the parameters of the excavator and the angle information of the movable arm, the arm and the bucket of the excavator. The load of the bucket is determined by the excavator parameter model and the pressure information of the excavator oil cylinder.
Optionally, the action process and the planning target of the excavator working device are determined through the digging point, the discharging point and the initial attitude information of the excavator.
In one possible embodiment, an automatic operation control method for an excavator further includes:
and judging whether the oil cylinder and the motor are driven according to the control quantity to carry out excavation and unloading actions so as to achieve a planning target.
And continuing to execute the following steps according to the judgment result:
if not, continuing to calculate the control quantity according to the deviation and the load and driving the excavator;
if yes, continuing to judge whether the track planning is finished;
if not, continuing to perform the trajectory planning and subsequent processes;
and finishing the whole planning and mining process after finishing the planning and mining.
It should be noted that the embodiment of the method for controlling automatic operation of an excavator and the embodiment of the system for controlling automatic operation of an excavator belong to the same concept, and the implementation process is detailed in the embodiment of the system for controlling automatic operation of an excavator, which is not described herein again.
In one embodiment, an excavator is provided, which comprises the above control system. Based on the description of the control system, reference is made to the description of the same or similar parts, which are not repeated herein.
In one embodiment, a computer device is proposed, the computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring parameter information for controlling the automatic operation of the excavator in real time; calculating a control quantity for controlling the operation of the excavator according to the acquired parameter information; the control quantity is used for controlling the excavator, so that the excavator can automatically work.
The parameter information comprises angle information of a movable arm, an arm and a bucket of the excavator, pressure information of an excavator cylinder, the position of the excavator, and deflection, pitching and rotation angles. Calculating a control quantity for controlling the excavator to work according to the acquired parameter information, comprising: processing the acquired parameter information to obtain the real-time posture, the length of the oil cylinder and the load information of the excavator; planning the track of the excavator, and determining the action process and the planning target of the excavator working device through the digging point, the discharging point and the initial attitude information of the excavator; decomposing the excavation process into information of the length and the rotation angle of a target oil cylinder of the excavator; calculating the deviation of the target oil cylinder length and the rotation angle information with the real-time oil cylinder length and the rotation angle information; and obtaining a control quantity according to the calculated deviation and the real-time load information, and sending the control quantity to the excavator controller.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (18)
1. The automatic operation control system of the excavator is characterized by comprising 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 operate.
2. The system of claim 1, wherein the parameter acquisition module comprises:
the system comprises at least 3 inclination angle sensors, a control unit and a control unit, wherein the at least 3 inclination angle sensors are respectively used for acquiring angle information of a movable arm, an arm and a bucket of the excavator;
the pressure sensor is used for measuring pressure information of an oil cylinder of the excavator;
and the inertial navigation RTK sensor is used for acquiring the position, the deflection, the pitching and the rotation angle of the excavator.
3. The system of claim 1 or 2, wherein the control module is an industrial personal computer.
4. The system of claim 3, further comprising a remote desktop, wherein the remote desktop is connected to the control module or the industrial personal computer for implementing remote control of the controller and remote desktop display.
5. The system of claim 2, wherein the control module comprises:
the attitude unit is used for calculating the attitude information of the excavator through the data of the inertial navigation RTK sensor and the tilt sensor;
the oil cylinder length unit is used for calculating oil cylinder length information through the data of the tilt angle sensor;
the weighing unit is used for calculating the load information of the excavator through data of the inclination angle sensor and the pressure sensor;
the track planning unit is used for planning the track of the excavator working device;
the attitude unit, the oil cylinder length unit, the weighing unit and the track planning unit are in communication connection with the control unit;
and the control unit is used for calculating the control quantity according to the data obtained by the attitude unit, the oil cylinder length unit, the weighing unit and the track planning unit and forming a control instruction.
6. The system of claim 5, wherein the attitude unit, the cylinder length unit, the weighing unit, and the trajectory planning unit are communicatively coupled to the control unit in a manner that:
the industrial personal computer is respectively connected with the plurality of tilt angle sensors, the inertial navigation RTK sensor and the excavator controller and communicates through the CAN;
the industrial personal computer is connected with the pressure sensor and communicates through a data acquisition card;
the industrial personal computer is connected with the remote desktop and carries out remote communication through Wi-Fi.
7. The system of claim 5, wherein the pose information comprises:
determining coordinates of a bucket tooth point, a bucket and bucket hinged point and the bucket and the hinged point of the bucket and the movable arm under a two-dimensional coordinate system according to the excavator kinematic model, the excavator parameters and angle information of the movable arm, the bucket rod and the bucket;
and determining the position, the deflection, the pitching and the rotation angle of the excavator according to the inertial navigation RTK sensor.
8. The system of claim 5, wherein the cylinder length is a boom, arm, bucket cylinder length determined from excavator parameters and excavator boom, arm, and bucket angle information.
9. The system of claim 5, wherein the load of the dipper is an excavator dipper load determined by an excavator parametric model and excavator cylinder pressure information.
10. The system of claim 5, wherein the planning the trajectory of the excavator work apparatus comprises:
determining the action process and the planning target of the excavator working device through the excavating point, the discharging point and the initial attitude information of the excavator;
and decomposing the action process of the excavator working device into the information of the length and the rotation angle of the target oil cylinder of the excavator.
11. The system according to claim 10, wherein the calculating 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 comprises:
calculating the length of a target oil cylinder of the excavator, the rotation angle information and the real-time oil cylinder length and rotation angle information which are decomposed by the track planning unit and calculated by the attitude unit, the oil cylinder length unit and the weighing unit;
and obtaining the control quantity according to the calculated deviation and the real-time load information calculated by the weighing unit.
12. The system of claim 11, wherein the shovel controller comprises:
the driving module is used for driving the excavator oil cylinder, the rotary motor and the walking motor according to the control quantity to control the excavator to automatically work;
the judging module is used for judging whether the oil cylinder and the motor are driven according to the control quantity to automatically operate and reach a planning target or not;
if not, the control module continues to calculate the control quantity according to the deviation and the real-time load information;
if yes, continuously judging whether the track planning is finished or not;
if not, the control module continues to carry out the trajectory planning and the subsequent process;
and finishing the whole planning and mining process after finishing the planning and mining.
13. An automatic operation control method of an excavator is characterized by comprising the following steps:
acquiring parameter information for controlling the automatic operation of the excavator in real time;
calculating a control quantity for controlling the operation of the excavator according to the acquired parameter information;
the control quantity is used for controlling the excavator, so that the excavator can automatically work.
14. The method of claim 13, wherein the parameter information includes angle information of a boom, arm, and bucket of the excavator, pressure information of a heading cylinder, position of the excavator, and yaw, pitch, and roll angles.
15. The method of claim 13, wherein calculating a control quantity for controlling the excavator work based on the acquired parameter information comprises:
processing the acquired parameter information to obtain the real-time posture, the length of the oil cylinder and the load information of the excavator;
planning the track of the excavator, determining the action process and a planning target of the whole excavator working device, and decomposing the action process of the excavator working device into the length and the rotation angle information of a target oil cylinder of the excavator;
calculating the deviation of the target oil cylinder length and the rotation angle information with the real-time oil cylinder length and the rotation angle information;
and obtaining a control quantity according to the calculated deviation and the real-time load information, and sending the control quantity to the excavator controller.
16. The method of claim 13, further comprising:
judging whether the oil cylinder and the motor are driven according to the control quantity to carry out excavation and unloading actions so as to achieve a planning target or not;
and continuing to execute the following steps according to the judgment result:
if not, continuing to calculate the control quantity according to the deviation and the real-time load information;
if yes, continuing to judge whether the track planning is finished or not;
if not, continuing to perform the trajectory planning and subsequent processes;
and finishing the whole planning and mining process after finishing the planning and mining.
17. An excavator, characterized in that:
a control system according to any one of claims 1 to 12 is provided.
18. A computer device comprising a memory and a processor, characterized in that:
the memory has stored therein computer readable instructions which, when executed by the processor, cause the processor to carry out the steps of the control method according to any one of claims 13 to 16.
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