CN115506441B - Control method, device and system of virtual prototype of excavator - Google Patents
Control method, device and system of virtual prototype of excavator Download PDFInfo
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- CN115506441B CN115506441B CN202211140819.9A CN202211140819A CN115506441B CN 115506441 B CN115506441 B CN 115506441B CN 202211140819 A CN202211140819 A CN 202211140819A CN 115506441 B CN115506441 B CN 115506441B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000006073 displacement reaction Methods 0.000 claims description 256
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000007599 discharging Methods 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 description 48
- 238000011156 evaluation Methods 0.000 description 5
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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
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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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- Operation Control Of Excavators (AREA)
Abstract
The invention belongs to the technical field of virtual prototypes of excavators, and particularly discloses a control method, a device and a system of the virtual prototypes of the excavators. The control method comprises the steps of obtaining a sub-working condition of the virtual prototype of the excavator, and obtaining a corresponding pilot signal according to the sub-working condition; according to the pilot signals being 1, acquiring the operation parameters of the virtual prototype of the excavator, and comparing with the threshold corresponding to the operation parameters; wherein the operating parameters are a plurality of; and changing the pilot signals corresponding to the operation parameters to 0 according to the fact that all the operation parameters meet the corresponding threshold values, and changing the sub-working conditions of the virtual prototype of the excavator. The sub-working conditions of the virtual prototype of the excavator are obtained, corresponding pilot signals are obtained according to the sub-working conditions, and when the operation parameters meet the corresponding thresholds, the pilot signals corresponding to the operation parameters are changed to 0, the sub-working conditions of the virtual prototype of the excavator are changed, so that the real-time control of the virtual prototype of the excavator can be realized.
Description
Technical Field
The invention belongs to the technical field of virtual prototypes of excavators, and particularly relates to a control method, a device and a system of a virtual prototype of an excavator.
Background
This section provides merely background information related to the present disclosure and is not necessarily prior art.
In the prior art, the control input of the virtual prototype of the excavator mainly takes a pilot signal of an actual road spectrum as a main, and the pilot signal is a time domain signal and cannot be controlled in real time by referring to the operation posture of the virtual prototype of the excavator.
Disclosure of Invention
The invention aims to at least solve the problem that the control input of the virtual prototype of the excavator in the prior art cannot be controlled in real time by referring to the operation posture of the virtual prototype of the excavator. The aim is achieved by the following technical scheme:
The first aspect of the invention provides a control method of an excavator virtual prototype, which comprises the following steps:
Acquiring a sub-working condition of the virtual prototype of the excavator, and acquiring a corresponding pilot signal according to the sub-working condition;
According to the pilot signals being 1, acquiring the operation parameters of the virtual prototype of the excavator, and comparing with the threshold corresponding to the operation parameters; wherein the operating parameters are a plurality of;
and changing the pilot signals corresponding to the operation parameters to 0 according to the fact that all the operation parameters meet the corresponding threshold values, and changing the sub-working conditions of the virtual prototype of the excavator.
According to the control method of the virtual prototype of the excavator, the sub-working conditions of the virtual prototype of the excavator are obtained, the corresponding pilot signals are obtained according to the sub-working conditions, then the operating parameters of the virtual prototype of the excavator are compared with the corresponding threshold values, when all the operating parameters meet the corresponding threshold values, the pilot signals corresponding to the operating parameters are changed to 0, the sub-working conditions of the virtual prototype of the excavator are changed, real-time control according to the working posture of the virtual prototype of the excavator can be achieved, and a real-time control method is provided for the operation efficiency evaluation of the virtual prototype of the excavator.
In addition, the control method of the virtual prototype of the excavator, according to the invention, can also have the following additional technical characteristics:
in some embodiments of the present invention, the number of the sub-working conditions is five, and the sub-working conditions are a first sub-working condition, a second sub-working condition, a third sub-working condition, a fourth sub-working condition and a fifth sub-working condition in sequence;
The first sub-working condition is an adjusting posture, the second sub-working condition is an excavating posture, the third sub-working condition is a full-load revolving posture, the fourth sub-working condition is a discharging posture, and the fifth sub-working condition is an idle load returning posture.
In some embodiments of the present invention, when the sub-condition in which the virtual prototype of the excavator is located is the first sub-condition, the pilot signal includes a bucket adduction signal, a stick adduction signal, and a boom lowering signal; changing the pilot signals corresponding to the operation parameters to 0 according to the fact that all the operation parameters meet the corresponding threshold values, and changing the sub-working conditions of the virtual prototype of the excavator comprises:
According to the bucket adduction signal, the bucket rod adduction signal and the moving arm descending signal which are all 1, acquiring operation parameters of the virtual prototype of the excavator, including bucket cylinder displacement, bucket rod cylinder displacement and moving arm cylinder displacement, and setting the bucket adduction signal to 0 according to the bucket cylinder displacement being greater than a first bucket displacement value; setting the bucket rod adduction signal to 0 according to the fact that the bucket rod oil cylinder displacement is larger than a first bucket rod displacement value; setting the boom-down signal to 0 according to the boom cylinder displacement being less than a first boom displacement value;
According to the fact that the bucket cylinder displacement is larger than the first bucket displacement value, the bucket rod cylinder displacement is larger than the first bucket rod displacement value, the movable arm cylinder displacement is smaller than the first movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be a second sub-working condition.
In some embodiments of the present invention, when the sub-condition in which the virtual prototype of the excavator is located is a second sub-condition, the pilot signal includes a bucket adduction signal, a stick adduction signal, and a boom lifting signal; changing the pilot signals corresponding to the operation parameters to 0 according to the fact that all the operation parameters meet the corresponding threshold values, and changing the sub-working conditions of the virtual prototype of the excavator comprises:
Acquiring operation parameters of the virtual prototype of the excavator, including bucket cylinder displacement, arm cylinder displacement and boom cylinder displacement, according to the bucket adduction signal, the arm adduction signal and the boom lifting signal being 1, and setting the arm adduction signal to 0 according to the arm cylinder displacement being greater than a second arm displacement value; setting the bucket adduction signal to 0 according to the bucket cylinder displacement being greater than a second bucket displacement value; setting the boom lifting signal to 0 according to the boom cylinder displacement being greater than a second boom displacement value;
according to the fact that the bucket rod oil cylinder displacement is larger than the second bucket rod displacement value, the bucket oil cylinder displacement is larger than the second bucket displacement value, the movable arm oil cylinder displacement is larger than the second movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be a third sub-working condition.
In some embodiments of the present invention, when the sub-condition in which the virtual prototype of the excavator is located is a third sub-condition, the pilot signal includes a boom-up signal and a first swing signal; changing the pilot signals corresponding to the operation parameters to 0 according to the fact that all the operation parameters meet the corresponding threshold values, and changing the sub-working conditions of the virtual prototype of the excavator comprises:
According to the fact that the swing arm lifting signal and the first swing signal are 1, obtaining operation parameters of the virtual prototype of the excavator, including swing angle and swing arm oil cylinder displacement, and according to the fact that the swing angle is larger than a first swing angle value, setting the first swing signal to be 0; setting the boom lifting signal to 0 according to the boom cylinder displacement being greater than a third boom displacement value;
And changing the sub-working condition of the virtual prototype of the excavator into a fourth sub-working condition according to the fact that the rotation angle is larger than the first rotation angle value and the displacement of the movable arm oil cylinder is larger than the third movable arm displacement value.
In some embodiments of the present invention, when the sub-condition in which the virtual prototype of the excavator is located is a fourth sub-condition, the pilot signal includes an arm out-swing signal and a bucket out-turn signal; changing the pilot signals corresponding to the operation parameters to 0 according to the fact that all the operation parameters meet the corresponding threshold values, and changing the sub-working conditions of the virtual prototype of the excavator comprises:
According to the condition that the bucket rod outward swing signal and the bucket outward turning signal are 1, acquiring operation parameters of the virtual prototype of the excavator, including bucket rod oil cylinder displacement and bucket oil cylinder displacement, and according to the condition that the bucket rod oil cylinder displacement is smaller than a third bucket rod displacement value, setting the bucket rod outward swing signal to be 0; setting the bucket eversion signal to 0 according to the bucket cylinder displacement being less than a third bucket displacement value;
and changing the sub-working condition of the virtual prototype of the excavator into a fifth sub-working condition according to the fact that the bucket rod oil cylinder displacement is smaller than the third bucket rod displacement value and the bucket oil cylinder displacement is smaller than the third bucket rod displacement value.
In some embodiments of the present invention, when the sub-condition of the virtual prototype of the excavator is a fifth sub-condition, the pilot signal includes a second swing signal, an arm out swing signal, and a boom down signal; changing the pilot signals corresponding to the operation parameters to 0 according to the fact that all the operation parameters meet the corresponding threshold values, and changing the sub-working conditions of the virtual prototype of the excavator comprises:
Acquiring operation parameters of the virtual prototype of the excavator, including a rotation angle, bucket rod oil cylinder displacement and movable arm oil cylinder displacement, according to the fact that the second rotation signal, the bucket rod outward swing signal and the movable arm descending signal are all 1, and setting the second rotation signal to be 0 according to the fact that the rotation angle is smaller than a second rotation angle value; setting the bucket rod outward swing signal to 0 according to the bucket rod oil cylinder displacement being smaller than a fourth bucket rod displacement value; the displacement of the movable arm oil cylinder is smaller than a fourth movable arm displacement value, and the movable arm descending signal is set to be 0;
And according to the fact that the rotation angle is smaller than the second rotation angle value, the bucket rod oil cylinder displacement is smaller than the fourth bucket rod oil cylinder displacement value, the movable arm oil cylinder displacement is smaller than the fourth movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be in an end state.
In some embodiments of the present invention, before obtaining the sub-condition where the virtual prototype of the excavator is located, the control method further includes:
and inputting the displacement of a movable arm oil cylinder, the displacement of a bucket rod oil cylinder, the displacement of a bucket oil cylinder and the rotation angle of a mechanism of the virtual prototype of the excavator.
A second aspect of the present invention proposes a control device for an excavator virtual prototype for executing the control method of an excavator virtual prototype described in the above embodiment, the control device comprising:
the acquisition unit is used for acquiring the sub-working conditions of the virtual prototype of the excavator, acquiring corresponding pilot signals according to the sub-working conditions and acquiring the operation parameters of the virtual prototype of the excavator;
The judging unit is used for judging that the pilot signals are 1 and judging that all the operation parameters meet the corresponding threshold values; and
And the changing unit is used for changing the pilot signals corresponding to the operation parameters to 0 and changing the sub-working conditions of the virtual prototype of the excavator.
According to the control device of the virtual prototype of the excavator, the sub-working conditions of the virtual prototype of the excavator are obtained through the obtaining unit, the corresponding pilot signals are obtained according to the sub-working conditions, then the judging unit judges that the pilot signals are 1, all the operation parameters meet the corresponding threshold values, the changing unit changes the pilot signals corresponding to the operation parameters to 0, the sub-working conditions of the virtual prototype of the excavator are changed, real-time control according to the operation posture of the virtual prototype of the excavator can be achieved, and the real-time control device is provided for operation efficiency evaluation of the virtual prototype of the excavator.
A third aspect of the present invention proposes a control system of an excavator virtual prototype, the control system comprising a memory in which the control method of an excavator virtual prototype as described in the above embodiments is stored and a control device of an excavator virtual prototype as described in the above embodiments.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a flow chart of a method of controlling a virtual prototype of an excavator in one embodiment;
FIG. 2 is a diagram showing a relationship between driving habits of an excavator virtual prototype and output signals according to an embodiment;
FIG. 3 is a flow chart illustrating a method of controlling a virtual prototype of an excavator in one embodiment;
fig. 4 is a schematic structural view of a control device of an engine in an embodiment.
The reference numerals are as follows:
The control device is 100;
The acquisition unit is 10;
The judging unit is 20;
the changing unit is 30.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Accordingly, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.
The terms in the present invention are defined as two, and are explained as follows.
The pilot signal is a control signal of a multi-way valve in the hydraulic system, and the actions of mechanisms such as movable arm lifting and movable arm descending, bucket rod adduction and bucket rod outward swinging, bucket adduction and bucket outward swinging, left rotation and right rotation of the whole machine are realized through flow distribution.
Operating efficiency: the number of working buckets of the excavating working condition is carried out by the virtual prototype of the excavator within one hour.
As shown in fig. 1 to 4, according to a first aspect of an embodiment of the present invention, a control method of an excavator virtual prototype is provided, as shown in fig. 1, fig. 1 is a flowchart of a control method of an excavator virtual prototype in an embodiment, and the control method of an excavator virtual prototype includes the following steps:
acquiring a sub-working condition of the virtual prototype of the excavator, and acquiring a corresponding pilot signal according to the sub-working condition;
according to the pilot signals being 1, acquiring the operation parameters of the virtual prototype of the excavator, and comparing with the threshold corresponding to the operation parameters; wherein the operating parameters are a plurality of;
And changing the pilot signals corresponding to the operation parameters to 0 according to the fact that all the operation parameters meet the corresponding threshold values, and changing the sub-working conditions of the virtual prototype of the excavator.
According to the control method of the virtual prototype of the excavator, the sub-working conditions of the virtual prototype of the excavator are obtained, the corresponding pilot signals are obtained according to the sub-working conditions, then the operating parameters of the virtual prototype of the excavator are compared with the corresponding threshold values, when all the operating parameters meet the corresponding threshold values, the pilot signals corresponding to the operating parameters are changed to 0, the sub-working conditions of the virtual prototype of the excavator are changed, real-time control according to the working posture of the virtual prototype of the excavator can be achieved, and a real-time control method is provided for the operation efficiency evaluation of the virtual prototype of the excavator.
The operation parameters of the virtual prototype of the excavator are the mechanism characteristics of the virtual prototype of the excavator, and a certain vehicle model can adopt a plurality of cycles actually tested by a plurality of driver specific test sites as samples, and the extracted mechanism characteristics are extracted. The operation parameters include the displacement of the movable arm cylinder, the displacement of the bucket rod cylinder, the displacement of the bucket cylinder and the rotation angle of the mechanism, and by collecting the data, the corresponding relation between driving habit and mechanism characteristics can be formed, as shown in fig. 2, the abscissa in the left table is time, the ordinate is the data of four operation parameters, and the curve in the table is the data curve collected by the virtual prototype of the excavator at different moments; in fig. 2, the abscissa in the right table is time, the ordinate is pilot signal, and the pilot signals of the virtual prototype of the excavator at different moments can be obtained through the right table.
In addition, the operating parameters are plural, and different thresholds are selected according to the operating parameters, which will be described in detail later.
In some optional embodiments, according to the operation characteristics of the virtual prototype of the excavator, the sub-working conditions of the virtual prototype of the excavator can be divided into five sub-working conditions, namely a first sub-working condition, a second sub-working condition, a third sub-working condition, a fourth sub-working condition and a fifth sub-working condition; the first sub-working condition is an adjusting posture, the second sub-working condition is an excavating posture, the third sub-working condition is a full-load revolving posture, the fourth sub-working condition is a discharging posture, and the fifth sub-working condition is an idle load returning posture. The five gestures are divided according to the working process of the virtual prototype of the excavator, so that the virtual prototype of the excavator can be conveniently controlled in a targeted manner according to the sub-working conditions of the virtual prototype of the excavator, and the difference of the working efficiency of the virtual prototype of the excavator under different working conditions is reflected.
In some alternative embodiments, when the sub-condition of the virtual prototype of the excavator is the first sub-condition, the pilot signal includes a bucket adduction signal, a stick adduction signal, and a boom-down signal; according to the bucket adduction signal, the bucket rod adduction signal and the moving arm descending signal which are all 1, acquiring the operation parameters of a virtual prototype of the excavator, including bucket cylinder displacement, bucket rod cylinder displacement and moving arm cylinder displacement, and setting the bucket adduction signal to 0 according to the bucket cylinder displacement being greater than a first bucket displacement value; setting the bucket rod adduction signal to 0 according to the fact that the bucket rod oil cylinder displacement is larger than the first bucket rod displacement value; setting a boom-down signal to 0 according to the boom cylinder displacement being less than the first boom displacement value; according to the fact that the bucket oil cylinder displacement is larger than the first bucket displacement value, the bucket rod oil cylinder displacement is larger than the first bucket rod displacement value, the movable arm oil cylinder displacement is smaller than the first movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be the second sub-working condition.
The unit of the first bucket displacement value here is, for example, 246 mm, and the first bucket displacement value here is a threshold value for extracting data for the current sample, or another value may be selected according to the sample. The unit of the first arm displacement value here is, for example, 22 mm, and the first arm displacement value here is a threshold value for the current sample extraction data, or another value may be selected according to the sample. The first boom displacement value here may be 444 mm or 445 mm, and the first boom displacement value here is a threshold value for extracting data for the current sample, or may be another value selected according to the sample.
In addition, the different operation parameters are independent, and the corresponding signal can be set to 0 as long as the condition is met, and other operation parameters do not need to be considered.
In some alternative embodiments, when the sub-condition of the virtual prototype of the excavator is the second sub-condition, the pilot signal includes a bucket adduction signal, a stick adduction signal, and a boom hoist signal; according to the bucket adduction signal, the bucket rod adduction signal and the movable arm lifting signal are 1, acquiring operation parameters of a virtual prototype of the excavator, including bucket cylinder displacement, bucket rod cylinder displacement and movable arm cylinder displacement, and setting the bucket rod adduction signal to 0 according to the bucket rod cylinder displacement being greater than a second bucket rod displacement value; setting the bucket adduction signal to 0 according to the bucket cylinder displacement being greater than the second bucket displacement value; setting a boom lifting signal to 0 according to the boom cylinder displacement being greater than a second boom displacement value; and according to the condition that the bucket rod oil cylinder displacement is larger than the second bucket rod displacement value, the bucket oil cylinder displacement is larger than the second bucket displacement value and the movable arm oil cylinder displacement is larger than the second movable arm displacement value, changing the sub-working condition of the virtual prototype of the excavator to be a third sub-working condition.
The unit of the second bucket displacement value here is, for example, 1053 mm or 1055 mm, and the second bucket displacement value here is a threshold value for extracting data for the current sample, or another value may be selected according to the sample. The second arm displacement value here is a specific value in mm, and for example, the second arm displacement value may specifically be 812 mm or 814 mm, etc., and the second arm displacement value here is a threshold value for the current sample extraction data, or another value may be selected according to the sample. The second boom displacement value may be a specific value, for example, the second boom displacement value may be 542 mm or 545 mm, or other values may be selected according to the sample.
In addition, the different operation parameters are independent, and the corresponding signal can be set to 0 as long as the condition is met, and other operation parameters do not need to be considered.
In some alternative embodiments, when the sub-condition of the virtual prototype of the excavator is a third sub-condition, the pilot signal includes a boom-up signal and a first swing signal; according to the fact that the swing arm lifting signal and the first swing signal are 1, obtaining operation parameters of a virtual prototype of the excavator, including a swing angle and swing arm oil cylinder displacement, and according to the fact that the swing angle is larger than a first swing angle value, setting the first swing signal to be 0; setting a boom lifting signal to 0 according to the boom cylinder displacement being greater than the third boom displacement value; and changing the sub-working condition of the virtual prototype of the excavator into a fourth sub-working condition according to the fact that the rotation angle is larger than the first rotation angle value and the displacement of the movable arm oil cylinder is larger than the third movable arm displacement value.
The first rotation angle value may be a range value or a specific value, for example, the first rotation angle value is 85 degrees, or other values may be selected according to the sample. The third boom displacement value may be a range value or a specific value, and the unit is, for example, 1150 mm, or another value may be selected according to the sample.
In addition, the different operation parameters are independent, and the corresponding signal can be set to 0 as long as the condition is met, and other operation parameters do not need to be considered.
The first rotation signal here refers to a left rotation signal.
In some alternative embodiments, when the sub-condition of the virtual prototype of the excavator is a fourth sub-condition, the pilot signal includes a stick-out signal and a bucket-out signal; according to the condition that the bucket rod outward swing signal and the bucket outward turning signal are 1, acquiring operation parameters of a virtual prototype of the excavator, including bucket rod oil cylinder displacement and bucket oil cylinder displacement, and according to the condition that the bucket rod oil cylinder displacement is smaller than a third bucket rod displacement value, setting the bucket rod outward swing signal to be 0; setting the bucket eversion signal to 0 according to the bucket cylinder displacement being less than the third bucket displacement value; and changing the sub-working condition of the virtual prototype of the excavator into a fifth sub-working condition according to the fact that the bucket rod oil cylinder displacement is smaller than the third bucket rod displacement value and the bucket oil cylinder displacement is smaller than the third bucket rod displacement value.
The third arm displacement value may be 522 mm or 525 mm, the third bucket displacement value may be 131 mm or 133 mm, or the like, and the third arm displacement value and the third bucket displacement value may be other values depending on the sample.
In some alternative embodiments, when the sub-condition of the virtual prototype of the excavator is a fifth sub-condition, the pilot signal includes a second swing signal, an arm out-swing signal, and a boom down signal; according to the fact that the second rotation signal, the bucket rod outward swing signal and the boom descending signal are all 1, obtaining operation parameters of a virtual prototype of the excavator, wherein the operation parameters comprise rotation angle, bucket rod oil cylinder displacement and boom oil cylinder displacement, and according to the fact that the rotation angle is smaller than a second rotation angle value, the second rotation signal is set to be 0; setting the bucket rod outward swing signal to be 0 according to the fact that the bucket rod oil cylinder displacement is smaller than a fourth bucket rod displacement value; the displacement of the movable arm oil cylinder is smaller than the fourth movable arm displacement value, and the movable arm descending signal is set to be 0; and according to the fact that the rotation angle is smaller than the second rotation angle value, the bucket rod oil cylinder displacement is smaller than the fourth bucket rod oil cylinder displacement value, the movable arm oil cylinder displacement is smaller than the fourth movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be an end state.
The fourth arm displacement value may be 28 mm or 29 mm, the fourth boom displacement value may be 416 mm or 418 mm, the second pivot angle value may be a specific value, the fourth arm displacement value may be 8 degrees or 9 degrees, and the fourth arm displacement value, the fourth boom displacement value, and the second pivot angle value may each be other values selected according to the sample.
The second swing signal here refers to a right swing signal.
In some alternative embodiments, before acquiring the sub-condition in which the virtual prototype of the excavator is located, the control method further includes: the boom cylinder displacement, the arm cylinder displacement, the bucket cylinder displacement and the mechanism rotation angle of the virtual prototype of the excavator are input, and corresponding pilot signals are output according to the input data through the corresponding relation in fig. 2.
The boom cylinder displacement, the arm cylinder displacement, the bucket cylinder displacement and the mechanism rotation angle are the mechanism characteristics of the virtual prototype of the excavator, and corresponding pilot signals are output through the comparison relation in fig. 2.
An overall flowchart of a control method of the virtual prototype of the excavator is described below with reference to fig. 3.
First, a boom cylinder displacement, an arm cylinder displacement, a bucket cylinder displacement and a mechanism rotation angle are input to obtain an output pilot signal.
According to the first sub-working condition of the virtual prototype of the excavator, when bucket adduction signals, bucket rod adduction signals and moving arm descending signals are all 1, setting the bucket adduction signals to 0 according to the fact that the bucket cylinder displacement is larger than a first bucket displacement value; setting the bucket rod adduction signal to 0 according to the fact that the bucket rod oil cylinder displacement is larger than the first bucket rod displacement value; setting a boom-down signal to 0 according to the boom cylinder displacement being less than the first boom displacement value; according to the fact that the bucket oil cylinder displacement is larger than the first bucket displacement value, the bucket rod oil cylinder displacement is larger than the first bucket rod displacement value, the movable arm oil cylinder displacement is smaller than the first movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be the second sub-working condition.
Then continuing, according to the bucket adduction signal, the bucket rod adduction signal and the movable arm lifting signal being 1, the operation parameters of the virtual prototype of the excavator comprise bucket cylinder displacement, bucket rod cylinder displacement and movable arm cylinder displacement, and according to the bucket rod cylinder displacement being greater than a second bucket rod displacement value, the bucket rod adduction signal is set to be 0; setting the bucket adduction signal to 0 according to the bucket cylinder displacement being greater than the second bucket displacement value; setting a boom lifting signal to 0 according to the boom cylinder displacement being greater than a second boom displacement value; and according to the fact that the bucket rod oil cylinder displacement is larger than the second bucket rod displacement value, the bucket oil cylinder displacement is larger than the second bucket displacement value, the movable arm oil cylinder displacement is larger than the second movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be a third sub-working condition.
Then continuing, according to the fact that the swing arm lifting signal and the first swing signal (namely the left swing signal) are 1, the operation parameters of the virtual prototype of the excavator comprise a swing angle and swing arm oil cylinder displacement, and according to the fact that the swing angle is larger than a first swing angle value, the first swing signal is set to be 0; setting a boom lifting signal to 0 according to the boom cylinder displacement being greater than the third boom displacement value; and changing the sub-working condition of the virtual prototype of the excavator into a fourth sub-working condition according to the fact that the rotation angle is larger than the first rotation angle value and the displacement of the movable arm oil cylinder is larger than the third movable arm displacement value.
Then continuing, according to the condition that the bucket rod outward swing signal and the bucket outward turning signal are both 1, the operation parameters of the virtual prototype of the excavator comprise bucket rod oil cylinder displacement and bucket oil cylinder displacement, and according to the condition that the bucket rod oil cylinder displacement is smaller than a third bucket rod displacement value, setting the bucket rod outward swing signal to be 0; setting the bucket eversion signal to 0 according to the bucket cylinder displacement being less than the third bucket displacement value; and changing the sub-working condition of the virtual prototype of the excavator into a fifth sub-working condition according to the fact that the bucket rod oil cylinder displacement is smaller than the third bucket rod displacement value and the bucket oil cylinder displacement is smaller than the third bucket rod displacement value.
Finally, setting the second rotation signal to be 0 according to the second rotation signal (namely the right rotation signal), the bucket arm outward swing signal and the arm descending signal being 1, and according to the rotation angle being smaller than the second rotation angle value; setting the bucket rod outward swing signal to be 0 according to the fact that the bucket rod oil cylinder displacement is smaller than a fourth bucket rod displacement value; the displacement of the movable arm oil cylinder is smaller than the fourth movable arm displacement value, and the movable arm descending signal is set to be 0; and according to the fact that the rotation angle is smaller than the second rotation angle value, the bucket rod oil cylinder displacement is smaller than the fourth bucket rod oil cylinder displacement value, the movable arm oil cylinder displacement is smaller than the fourth movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be an end state.
Through the process, the pilot control of the virtual prototype of the excavator under different sub-working conditions can be realized, and a method is provided for the evaluation of the working efficiency of the virtual prototype of the excavator.
The various thresholds mentioned here are key feature points, and the pilot control is performed by comparing and judging the operation parameters of the virtual prototype of the excavator with the corresponding key feature points.
In a second aspect of the present invention, a control device 100 of an excavator virtual prototype is provided, where the control device 100 is configured to execute the control method of the excavator virtual prototype described in the foregoing embodiment, as shown in fig. 4, the control device 100 includes an obtaining unit 10, a judging unit 20, and a changing unit 30, where the obtaining unit 10 is configured to obtain a sub-working condition where the excavator virtual prototype is located, obtain a corresponding pilot signal according to the sub-working condition, and obtain an operation parameter of the excavator virtual prototype; the judging unit 20 is configured to judge whether the pilot signals are all 1, and judge whether all the operation parameters meet the corresponding threshold values; the changing unit 30 is configured to change all pilot signals corresponding to the operation parameters to 0, and change the sub-working conditions of the virtual prototype of the excavator.
According to the control device 100 of the virtual prototype of the excavator, the sub-working conditions of the virtual prototype of the excavator are obtained through the obtaining unit 10, the corresponding pilot signals are obtained according to the sub-working conditions, then the judging unit 20 judges that the pilot signals are 1, all the operation parameters meet the corresponding threshold values, the changing unit 30 changes the pilot signals corresponding to the operation parameters to 0, the sub-working conditions of the virtual prototype of the excavator are changed to the next sub-working conditions, real-time control according to the operation posture of the virtual prototype of the excavator can be achieved, and a real-time control device is provided for operation efficiency evaluation of the virtual prototype of the excavator.
When the virtual prototype of the excavator is in different sub-working conditions, corresponding actions under different sub-working conditions can be realized, and the corresponding actions in the control method are specifically referred to, so that the virtual prototype is not unfolded any more.
In a third aspect of the present invention, a control system of an excavator virtual prototype is provided, the control system including a memory in which the control method of the excavator virtual prototype described in the above embodiment is stored and a control apparatus 100 of the excavator virtual prototype in the above embodiment.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (9)
1. The control method of the virtual prototype of the excavator is characterized by comprising the following steps of:
Acquiring a sub-working condition of the virtual prototype of the excavator, and acquiring a corresponding pilot signal according to the sub-working condition;
if the pilot signals are 1, acquiring the operation parameters of the virtual prototype of the excavator, and comparing the operation parameters with the threshold corresponding to the operation parameters; wherein the operating parameters are a plurality of;
If all the operation parameters meet the corresponding threshold values, changing the pilot signals corresponding to the operation parameters to 0, and changing the sub-working conditions of the virtual prototype of the excavator;
The number of the sub-working conditions is five, and the sub-working conditions are a first sub-working condition, a second sub-working condition, a third sub-working condition, a fourth sub-working condition and a fifth sub-working condition in sequence;
The first sub-working condition is an adjusting posture, the second sub-working condition is an excavating posture, the third sub-working condition is a full-load revolving posture, the fourth sub-working condition is a discharging posture, and the fifth sub-working condition is an idle load returning posture.
2. The method according to claim 1, wherein when the sub-condition in which the virtual prototype of the excavator is located is the first sub-condition, the pilot signal includes a bucket adduction signal, an arm adduction signal, and a boom lowering signal; and if all the operation parameters meet the corresponding threshold values, changing the pilot signals corresponding to the operation parameters to 0, and changing the sub-working conditions of the virtual prototype of the excavator comprises the following steps:
If the bucket adduction signal, the bucket rod adduction signal and the moving arm descending signal are all 1, acquiring operation parameters of the virtual prototype of the excavator, including bucket cylinder displacement, bucket rod cylinder displacement and moving arm cylinder displacement, and if the bucket cylinder displacement is greater than a first bucket displacement value, setting the bucket adduction signal to be 0; if the displacement of the bucket rod oil cylinder is larger than a first bucket rod displacement value, setting the bucket rod adduction signal to be 0; if the displacement of the movable arm oil cylinder is smaller than a first movable arm displacement value, setting the movable arm descending signal to be 0;
and if the bucket cylinder displacement is larger than the first bucket displacement value, the bucket rod cylinder displacement is larger than the first bucket rod displacement value, the movable arm cylinder displacement is smaller than the first movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be a second sub-working condition.
3. The method for controlling a virtual prototype of an excavator according to claim 1, wherein the pilot signal comprises a bucket adduction signal, an arm adduction signal and a boom lifting signal when the sub-condition in which the virtual prototype of an excavator is located is a second sub-condition; and if all the operation parameters meet the corresponding threshold values, changing the pilot signals corresponding to the operation parameters to 0, and changing the sub-working conditions of the virtual prototype of the excavator comprises the following steps:
If the bucket adduction signal, the bucket rod adduction signal and the movable arm lifting signal are all 1, acquiring operation parameters of the virtual prototype of the excavator, including bucket cylinder displacement, bucket rod cylinder displacement and movable arm cylinder displacement, and if the bucket rod cylinder displacement is greater than a second bucket rod displacement value, setting the bucket rod adduction signal to be 0; if the bucket cylinder displacement is greater than a second bucket displacement value, setting the bucket adduction signal to 0; if the displacement of the movable arm oil cylinder is larger than a second movable arm displacement value, setting the movable arm lifting signal to be 0;
And if the bucket rod oil cylinder displacement is larger than the second bucket rod displacement value, the bucket oil cylinder displacement is larger than the second bucket displacement value, the movable arm oil cylinder displacement is larger than the second movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be a third sub-working condition.
4. The method according to claim 1, wherein the pilot signal includes a boom-up signal and a first swing signal when the sub-condition in which the virtual prototype of the excavator is located is a third sub-condition; and if all the operation parameters meet the corresponding threshold values, changing the pilot signals corresponding to the operation parameters to 0, and changing the sub-working conditions of the virtual prototype of the excavator comprises the following steps:
If the movable arm lifting signal and the first rotation signal are both 1, acquiring operation parameters of the virtual prototype of the excavator, including rotation angle and movable arm oil cylinder displacement, and if the rotation angle is larger than a first rotation angle value, setting the first rotation signal to be 0; if the displacement of the movable arm oil cylinder is larger than a third movable arm displacement value, setting the movable arm lifting signal to be 0;
and if the rotation angle is larger than the first rotation angle value and the displacement of the movable arm oil cylinder is larger than the third movable arm displacement value, changing the sub-working condition of the virtual prototype of the excavator to be a fourth sub-working condition.
5. The method for controlling a virtual prototype of an excavator according to claim 1, wherein the pilot signal comprises an arm out-swing signal and a bucket out-turn signal when the sub-condition in which the virtual prototype of an excavator is located is a fourth sub-condition; and if all the operation parameters meet the corresponding threshold values, changing the pilot signals corresponding to the operation parameters to 0, and changing the sub-working conditions of the virtual prototype of the excavator comprises the following steps:
If the bucket rod outward swing signal and the bucket outward turning signal are both 1, acquiring operation parameters of the virtual prototype of the excavator, including bucket rod oil cylinder displacement and bucket oil cylinder displacement, and if the bucket rod oil cylinder displacement is smaller than a third bucket rod displacement value, setting the bucket rod outward swing signal to be 0; if the bucket cylinder displacement is smaller than a third bucket displacement value, setting the bucket eversion signal to 0;
And if the bucket rod oil cylinder displacement is smaller than the third bucket rod displacement value, and the bucket oil cylinder displacement is smaller than the third bucket rod displacement value, changing the sub-working condition of the virtual prototype of the excavator to be a fifth sub-working condition.
6. The control method of an excavator virtual prototype according to claim 1, wherein when the sub-condition in which the excavator virtual prototype is located is a fifth sub-condition, the pilot signal includes a second swing signal, an arm out swing signal and a boom down signal; and if all the operation parameters meet the corresponding threshold values, changing the pilot signals corresponding to the operation parameters to 0, and changing the sub-working conditions of the virtual prototype of the excavator comprises the following steps:
If the second rotation signal, the bucket rod outward swing signal and the movable arm descending signal are all 1, acquiring the operation parameters of the virtual prototype of the excavator, wherein the operation parameters comprise rotation angle, bucket rod oil cylinder displacement and movable arm oil cylinder displacement, and if the rotation angle is smaller than a second rotation angle value, setting the second rotation signal to be 0; if the displacement of the bucket rod oil cylinder is smaller than a fourth bucket rod displacement value, setting the bucket rod outward swing signal to be 0; the displacement of the movable arm oil cylinder is smaller than a fourth movable arm displacement value, and the movable arm descending signal is set to be 0;
and if the rotation angle is smaller than the second rotation angle value, the bucket rod oil cylinder displacement is smaller than the fourth bucket rod oil cylinder displacement value, the movable arm oil cylinder displacement is smaller than the fourth movable arm displacement value, and the sub-working condition of the virtual prototype of the excavator is changed to be an end state.
7. The method for controlling a virtual prototype of an excavator according to claim 1, further comprising, before acquiring the sub-condition in which the virtual prototype of the excavator is located:
and inputting the displacement of a movable arm oil cylinder, the displacement of a bucket rod oil cylinder, the displacement of a bucket oil cylinder and the rotation angle of a mechanism of the virtual prototype of the excavator.
8. A control device of an excavator virtual prototype for performing the control method of an excavator virtual prototype according to any one of claims 1 to 7, characterized in that the control device comprises:
the acquisition unit is used for acquiring the sub-working conditions of the virtual prototype of the excavator, acquiring corresponding pilot signals according to the sub-working conditions and acquiring the operation parameters of the virtual prototype of the excavator;
The judging unit is used for judging whether the pilot signals are 1 and judging whether the operation parameters meet the corresponding threshold values; and
And the changing unit is used for changing the pilot signals corresponding to the operation parameters to 0 and changing the sub-working conditions of the virtual prototype of the excavator.
9. A control system of an excavator virtual prototype, the control system comprising a memory in which the control method of the excavator virtual prototype according to any one of claims 1 to 7 is stored and a control device of the excavator virtual prototype according to claim 8.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001159156A (en) * | 1999-12-02 | 2001-06-12 | Hitachi Constr Mach Co Ltd | Monitor system for working condition of excavating machine and display and recording media for working condition |
| CN110397109A (en) * | 2019-07-29 | 2019-11-01 | 上海三一重机股份有限公司 | Method of controlling security, device, system and the excavator of complete automatically controlled excavator |
| CN113565162A (en) * | 2021-07-27 | 2021-10-29 | 徐州徐工挖掘机械有限公司 | Excavator, accurate control method and system thereof, vehicle-mounted terminal and storage medium |
-
2022
- 2022-09-20 CN CN202211140819.9A patent/CN115506441B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001159156A (en) * | 1999-12-02 | 2001-06-12 | Hitachi Constr Mach Co Ltd | Monitor system for working condition of excavating machine and display and recording media for working condition |
| CN110397109A (en) * | 2019-07-29 | 2019-11-01 | 上海三一重机股份有限公司 | Method of controlling security, device, system and the excavator of complete automatically controlled excavator |
| CN113565162A (en) * | 2021-07-27 | 2021-10-29 | 徐州徐工挖掘机械有限公司 | Excavator, accurate control method and system thereof, vehicle-mounted terminal and storage medium |
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