CN116160451B - Job arm control method and related device - Google Patents
Job arm control method and related device Download PDFInfo
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- CN116160451B CN116160451B CN202310257564.2A CN202310257564A CN116160451B CN 116160451 B CN116160451 B CN 116160451B CN 202310257564 A CN202310257564 A CN 202310257564A CN 116160451 B CN116160451 B CN 116160451B
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 108
- 230000007306 turnover Effects 0.000 claims abstract description 86
- 238000005259 measurement Methods 0.000 claims description 30
- 230000009471 action Effects 0.000 claims description 24
- 238000003860 storage Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 22
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The application provides a control method and a related device for a working arm, and relates to the technical field of engineering equipment. The method comprises the following steps: obtaining a current turnover angle of a turnover mechanism on the working arm; according to the current turning angle, determining a target ranging unit from a first ranging unit and a second ranging unit, wherein the first ranging unit is arranged on the first side of the working arm, the second ranging unit is arranged on the second side of the working arm, and the target ranging unit and the current turning mechanism are not arranged on the same side of the working arm; and controlling the working arm according to the ranging data of the target ranging unit so as to enable the working arm to be parallel to the tunnel wall. Therefore, when the turnover mechanism is in any posture, the working arm can be controlled based on accurate distance data, so that the working arm is parallel to the tunnel wall.
Description
Technical Field
The application relates to the technical field of engineering equipment, in particular to a control method and a related device for a working arm.
Background
In tunnel construction, there is a need to keep the working arm parallel to the tunnel wall, as is the case in, for example, impact-breaking cutters. At present, laser rangefinders (two laser rangefinders are arranged on the working arm in total) for measuring the distance between the working arm and the tunnel wall are respectively arranged in front of and behind one side surface of the working arm, and whether the working arm is parallel to the tunnel wall is judged through the distance difference value of the readings of the front laser rangefinder and the rear laser rangefinder. However, a turnover mechanism capable of turning left and right around the working arm is generally further arranged on the working arm, and the turnover angle of the turnover mechanism is large, when the left and right limit positions are reached, if the laser range finder is just located at the turnover measurement, the top end of the turnover mechanism is lower than the installation position of the laser range finder on the working arm, so that the turnover mechanism shields the laser beam of the laser range finder to influence the measurement, and thus the control cannot be performed based on accurate distance data to enable the working arm to be parallel to the tunnel wall.
Disclosure of Invention
The embodiment of the application provides a control method and a related device for a working arm, which can control the working arm based on accurate distance data when a turnover mechanism is in any posture so as to keep the working arm parallel to a tunnel wall.
Embodiments of the application may be implemented as follows:
in a first aspect, an embodiment of the present application provides a method for controlling a working arm, including:
obtaining a current turnover angle of a turnover mechanism on the working arm;
determining a target ranging unit from a first ranging unit and a second ranging unit according to the current overturning angle, wherein the first ranging unit is arranged on a first side of the working arm, the second ranging unit is arranged on a second side of the working arm, and the target ranging unit and the current overturning mechanism are not arranged on the same side of the working arm;
and controlling the working arm according to the ranging data of the target ranging unit so as to enable the working arm to be parallel to the tunnel wall.
In a second aspect, an embodiment of the present application provides a work arm control apparatus, including:
the obtaining module is used for obtaining the current turnover angle of the turnover mechanism on the working arm;
The selection module is used for determining a target ranging unit from a first ranging unit and a second ranging unit according to the current overturning angle, wherein the first ranging unit is arranged on a first side of the working arm, the second ranging unit is arranged on a second side of the working arm, and the target ranging unit and the current overturning mechanism are not arranged on the same side of the working arm;
and the control module is used for controlling the working arm according to the ranging data of the target ranging unit so as to enable the working arm to be parallel to the tunnel wall.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores machine executable instructions executable by the processor, where the processor may execute the machine executable instructions to implement the method for controlling a working arm according to any one of the foregoing embodiments.
In a fourth aspect, an embodiment of the present application provides a working apparatus including a working arm, a tilting mechanism, a first ranging unit, a second ranging unit, a tilting angle measuring unit, and a control unit,
the turnover mechanism is arranged on the working arm;
The turnover angle measuring unit is used for measuring and obtaining the current turnover angle of the turnover mechanism;
the first ranging unit and the second ranging unit respectively comprise a plurality of distance measuring devices distributed along the length direction of the working arm, the first ranging unit is arranged on the first side of the working arm, the second ranging unit is arranged on the second side of the working arm, and the first ranging unit and the second ranging unit are used for measuring and obtaining the distance between the first ranging unit and the tunnel wall;
the control unit is in communication connection with the turnover angle measuring unit, the first ranging unit and the second ranging unit and is used for controlling the working arm according to the received current turnover angle and ranging data so as to enable the working arm to be parallel to the tunnel wall.
In a fifth aspect, an embodiment of the present application provides a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the work arm control method according to any one of the foregoing embodiments.
According to the working arm control method and the related device, the current overturning angle of the overturning mechanism on the working arm is obtained, one ranging unit which is not on the same side of the working arm with the current overturning mechanism is selected from the ranging units on the two sides of the working arm according to the current overturning angle to serve as a target ranging unit, and finally the working arm is controlled based on ranging data of the selected target ranging unit so that the working arm is parallel to the tunnel wall. According to the application, the distance measuring units and the angles of the turnover mechanisms are respectively arranged on two opposite sides of the working arm, so that the distance measuring data of the distance measuring units which are not shielded by the turnover mechanisms can be obtained, and when the turnover mechanisms are in any posture, the working arm can be controlled based on the accurate distance data, so that the working arm is parallel to the tunnel wall.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a tilting mechanism of a current work apparatus before and after deflection;
fig. 2 is a schematic block diagram of an electronic device according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a working device according to an embodiment of the present application;
FIG. 4 is a second schematic diagram of a working apparatus according to an embodiment of the present application;
FIG. 5 is a block schematic diagram of a work device according to an embodiment of the present application;
fig. 6 is a schematic flow chart of a method for controlling a working arm according to an embodiment of the present application;
FIG. 7 is a flow chart illustrating the sub-steps included in step S130 in FIG. 6;
fig. 8 is a block schematic diagram of a control device for a working arm according to an embodiment of the present application.
Icon: 13-a laser range finder; 100-an electronic device; 110-memory; a 120-processor; 200-working equipment; 201-a control unit; 210-a working arm; 220-a turnover mechanism; 231-a first overturning cylinder; 232-a second overturning cylinder; 241-a first ranging unit; 242-a second ranging unit; 250-a flip angle measurement unit; 260-an actuator; 261-a first deflection cylinder; 262-a second deflection cylinder; 300-a work arm control device; 310-obtaining a module; 320-selecting a module; 330-control module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
At present, when the turnover mechanism arranged on the working arm of the working equipment turns to the limit position, the turnover mechanism can cause light beams of the laser range finder on the working arm, which are used for measuring the distance between the laser range finder and the tunnel wall, so that the working arm cannot be controlled based on accurate range finding data, and the working arm is parallel to the tunnel wall. Herein, the tunnel wall refers to inner walls on the left and right sides in the tunnel.
The above-described case will be described with reference to fig. 1. Assuming that the working equipment is a percussion cutting machine, the percussion cutting machine needs to ensure that the working arm is parallel to the tunnel wall during working. The upper end of the working arm of the impact breaking cutting machine is provided with a turnover mechanism capable of turning left and right, and the turnover angle is larger. When the turnover mechanism reaches the left and right limit positions, if the laser range finder 13 is just positioned on the turnover side, the top end of the turnover mechanism is lower than the mounting position of the laser range finder 13 on the working arm, so that the turnover mechanism shields the laser beam of the laser range finder 13. As shown in fig. 1, after the turnover mechanism turns left, the top end of the turnover mechanism is lower than the mounting position of the laser range finder 13 on the left side on the working arm, so that the laser beam of the laser range finder 13 on the left side is blocked, the measurement result is affected, and further, the control cannot be performed based on accurate data so as to enable the working arm to be parallel to the tunnel wall.
In view of the above problems, embodiments of the present application provide a method and an apparatus for controlling a working arm, where when a turnover mechanism is in any posture, the working arm can be controlled based on accurate distance data, so that the working arm is kept parallel to a tunnel wall.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 2, fig. 2 is a block diagram of an electronic device 100 according to an embodiment of the application. The electronic device 100 may be a control device of a work device. The electronic device 100 may include a memory 110 and a processor 120. The elements of the memory 110 and the processor 120 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
Wherein the memory 110 is used for storing programs or data. The Memory 110 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-OnlyMemory, PROM), erasable Read Only Memory (Erasable Programmable Read-OnlyMemory, EPROM), electrically erasable Read Only Memory (Electric Erasable ProgrammableRead-Only Memory, EEPROM), and the like.
The processor 120 is used to read/write data or programs stored in the memory 110 and perform corresponding functions. For example, the memory 110 stores therein a boom control apparatus 300, and the boom control apparatus 300 includes at least one software function module that may be stored in the memory 110 in the form of software or firmware (firmware). The processor 120 executes various functional applications and data processing by running software programs and modules stored in the memory 110, such as the arm control device 300 in the embodiment of the present application, that is, implements the arm control method in the embodiment of the present application.
It should be understood that the structure shown in fig. 2 is merely a schematic diagram of the structure of the electronic device 100, and that the electronic device 100 may further include more or fewer components than those shown in fig. 2, or have a different configuration than that shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 3-5, an embodiment of the present application further provides a working apparatus 200, where the working apparatus 200 may be a burst cutting apparatus or other apparatus requiring that the working arm be parallel to the tunnel wall. As shown in fig. 3 to 5, the working apparatus 200 may include a control unit 201, a working arm 210, a tilting mechanism 220, a tilting cylinder, a first ranging unit 241, a second ranging unit 242, and a tilting angle measuring unit 250.
The tilting mechanism 220 is provided on the work arm 210. The turning mechanism 220 may be driven by the turning cylinder to turn around the working arm 210 to the left or right of the working arm 210. The specific setting positions and the number of the overturning oil cylinders can be set according to actual requirements. For example, as shown in fig. 4, the working device includes a first tilting cylinder 231 and a second tilting cylinder 232, and the tilting mechanism is tilted leftward or rightward under the action of the first tilting cylinder 231 and the second tilting cylinder 232.
The turning angle measuring unit 250 is configured to measure and obtain a current turning angle of the turning mechanism. The flip angle measuring unit 250 may be, but is not limited to, a flip encoder. The specific setting position of the flip angle measuring unit 250 may be set in association with the actual situation. For example, as shown in fig. 4, the roll angle measuring unit 250 is disposed near the roll cylinder.
The first ranging unit 241 and the second ranging unit 242 are provided on the work arm 210. The first ranging unit 241 is disposed on a first side of the working arm 210, the second ranging unit is disposed on a second side of the working arm 210, and the first side and the second side are two sides of the working arm 210 opposite to each other in a length extending direction. That is, one ranging unit is mounted to each of the left and right sides of the working arm 210. The first ranging unit 241 and the second ranging unit 242 are used for measuring the distance between the working arm 210 and the tunnel wall.
As shown in fig. 3 and 4, in the present embodiment, each of the first ranging unit 241 and the second ranging unit 242 includes a plurality of distance measuring devices distributed along the length direction of the work arm 210. The distance measurer may be, but is not limited to, a laser rangefinder, an ultrasonic sensor, or other device capable of measuring distance. The specific mounting positions and the specific number of the distance measuring devices in the first distance measuring unit 241 and the second distance measuring unit 242 on the working arm 210 may be specifically set in combination with actual requirements.
As a possible implementation manner, in order to ensure that whether the working arm is parallel to the tunnel wall or not can be accurately determined and to avoid the increase of cost caused by the arrangement of more distance measuring devices, as shown in fig. 3 and fig. 4, the first distance measuring unit 241 may include a distance measuring device 2401a and a distance measuring device 2401b, where the distance measuring device 2401a and the distance measuring device 2401b are distributed along the length direction of the working arm 210; the second distance measuring unit 242 may include a distance measuring device 2401c and a distance measuring device 2401d, and the distance measuring device 2401c and the distance measuring device 2401d may be distributed along the longitudinal direction of the arm 210. That is, each ranging unit includes only two distance measuring devices distributed along the length direction of the work arm 210.
The control unit 201 is communicatively connected to the first ranging unit 241, the second ranging unit 242, and the flip angle measuring unit 250, and is configured to determine, according to the received data, ranging data of the ranging unit that is not blocked by the flip mechanism 220, and control the working arm 210 according to the ranging data, so that the working arm is parallel to the tunnel wall. Repeating this process ensures that the arm 210 remains parallel to the tunnel wall.
As shown in fig. 3 to 4, in this embodiment, the working apparatus 200 may further include an actuator 260 for driving the working arm 210 to deflect, where the actuator 260 is communicatively connected to the control unit 201, and is configured to drive the working arm 210 to deflect under the control of the control unit 201, so that the working arm 210 is parallel to the tunnel wall.
The specific components of the actuator 260 may be set according to actual requirements. For example, the actuator 260 may include a first deflection cylinder 261 and a second deflection cylinder 262, the first deflection cylinder 261 being located on the first side and the second deflection cylinder 262 being located on the second side. The control command sent by the control unit 201 can control the extension and retraction of the first deflection cylinder 261 and the second deflection cylinder 262 and the corresponding speed, so as to drive the working arm 210 to deflect, so that the working arm 210 is parallel to the tunnel wall.
As a possible implementation manner, the actuator 260 may further include an electro-hydraulic proportional adjustment valve, where the electro-hydraulic proportional adjustment valve is used to drive the first deflection cylinder 261 and the second deflection cylinder 262 to extend and retract based on a certain speed based on a control instruction of the control unit 201.
Referring to fig. 6, fig. 6 is a flowchart of a method for controlling a work arm according to an embodiment of the application. The working arm control method can be applied to the working equipment, the working equipment can comprise a working arm, a turnover mechanism, a first ranging unit and a second ranging unit, the turnover mechanism is arranged on the working arm, the first ranging unit and the second ranging unit respectively comprise a plurality of distance measuring devices distributed along the length direction of the working arm, the first ranging unit is arranged on a first side of the working arm, and the second ranging unit is arranged on a second side of the working arm. The specific flow of the arm control method is described in detail below. In this embodiment, the method may include steps S110 to S130.
Step S110, obtaining the current turnover angle of the turnover mechanism on the working arm.
In this embodiment, a flip angle measuring unit may be provided in the working apparatus, and the current flip angle of the flip mechanism may be obtained by measurement by the flip angle measuring unit. The current tilting angle of the tilting mechanism may also be obtained by other means, and the specific way of obtaining the current tilting angle is not limited here.
Step S120, determining a target ranging unit from the first ranging unit and the second ranging unit according to the current turning angle.
In this embodiment, whether the turnover mechanism turns over currently and whether the turnover mechanism turns over to the first side or the second side may be determined according to the current turnover angle, and then, in combination with the determined current state of the turnover mechanism, one ranging unit is selected from the first ranging unit and the second ranging unit to be used as the target ranging unit. The target ranging unit and the current tilting mechanism are not arranged on the same side of the working arm, so that the target ranging unit is not shielded by the tilting mechanism.
For example, if the tilting mechanism is currently tilting to the first side, the second ranging unit located at the second side is taken as the target ranging unit. And if the turnover mechanism turns to the second side at present, taking the first ranging unit positioned on the first side as the target ranging unit. If the turnover mechanism is not turned over currently, any one ranging unit of the first ranging unit and the second ranging unit can be used as the target ranging unit.
And step S130, controlling the working arm according to the ranging data of the target ranging unit so as to enable the working arm to be parallel to the tunnel wall.
And under the condition that the target ranging unit is determined, controlling the posture of the working arm according to the ranging data of the target ranging unit so as to enable the working arm to be parallel to the tunnel wall. The distance measurement data of the target distance measurement unit includes a plurality of distance values, each distance value represents a distance between the measured working arm and the tunnel wall, and based on the plurality of distance values measured along the length direction of the working arm, whether the working arm is parallel to the tunnel wall or not and an adjustment to be performed when the working arm is not parallel to the tunnel wall can be determined.
According to the application, the distance measuring units comprising a plurality of distance measuring devices and the angles of the turnover mechanism are respectively arranged on two opposite sides of the working arm, so that the problem that the turnover mechanism shields the distance measuring devices can be solved, and the distance measuring data of the distance measuring units which are not shielded by the turnover mechanism can be obtained. Therefore, when the turnover mechanism is in any posture, the working arm can be controlled based on accurate distance data, so that the working arm is parallel to the tunnel wall.
As a possible implementation, the target ranging unit may be quickly determined as follows. The first turning angle range corresponding to the first side and the second turning angle range corresponding to the second side may be stored in advance. Under the condition that the current turning angle of the turning mechanism is obtained, whether the turning mechanism turns to the first side or the second side currently can be determined according to the first turning angle range, the second turning angle range and the current turning angle.
When the current turning angle is within the first turning angle range, it may be determined that the turning mechanism is turned to the first side at present, and at this time, it may be determined that the second ranging unit is the target ranging unit. When the current turning angle is within a second turning angle range, it may be determined that the turning mechanism is turned to the second side at present, and at this time, it may be determined that the first ranging unit is the target ranging unit. When the current turning angle is not in the first turning angle range and is not in the second turning angle range, it can be determined that the turning mechanism is not turned currently, and at this time, one ranging unit can be arbitrarily selected from the first ranging unit and the second ranging unit to serve as the target ranging unit.
The first preset turning angle range and the second preset turning angle range can form a coherent turning angle range, namely no interval exists between the two ranges; there may also be a space between the two ranges. If there is no space between the two ranges, there is no case where the current flip angle is not located in the first flip angle range and is not located in the second flip angle range. If there is a gap between the two ranges, there may be a case where the current flip angle is not located in the first flip angle range and is not located in the second flip angle range. The first preset turning angle range and the second preset turning angle range can be specifically set in combination with actual requirements.
For example, when the turnover mechanism turns left (i.e., turns left to the work arm), the turnover angle is less than 0; when the turnover mechanism turns right (namely turns to the right side of the working arm), the turnover angle is more than or equal to 0. Then, when the measured current turning angle of the turning mechanism is smaller than 0, it can be determined that the turning mechanism turns left at this time, in this case, the ranging unit on the right side of the working arm can be used as the target ranging unit, so that the situation that the control effect of the working arm is poor due to inaccurate left ranging data caused by shielding the ranging unit on the left side when the turning mechanism turns left at a larger angle can be avoided. When the current turning angle of the turning mechanism obtained through measurement is greater than or equal to 0, the turning mechanism can be determined to turn right at the moment, and in this case, the ranging unit on the left side of the working arm can be used as a target ranging unit, so that the situation that the control effect of the working arm is poor due to inaccurate right ranging data caused by shielding the ranging unit on the right side when the turning angle of the turning mechanism is larger to the right can be avoided.
As a possible implementation, in the case that the plurality of distance values measured by the target ranging unit are different, it is determined that the posture of the working arm needs to be adjusted so as to keep the working arm parallel to the tunnel wall.
As another possible implementation, the control of the work arm may be performed in the manner shown in fig. 7. Referring to fig. 7, fig. 7 is a flowchart illustrating the sub-steps included in step S130 in fig. 6. In this embodiment, step S130 may include sub-steps S131 to S134.
And sub-step S131, calculating a distance difference value according to the distance measurement data of the target distance measurement unit.
In an embodiment, the ranging data of the target ranging unit includes a plurality of distance values, and one or more distance difference values may be calculated according to the plurality of distance values. For example, if the ranging data of the target ranging unit includes only two distance values, the two distance values may be subtracted to obtain a distance difference value. When the ranging data of the target ranging unit includes more than two distance values, the maximum distance value and the minimum distance value may be subtracted to obtain a distance difference value, or the more than two distance values may be subtracted to obtain a plurality of distance difference values. Wherein the calculated distance difference is a value of 0 or more.
And step S132, judging whether the distance difference value is smaller than a target preset distance difference value corresponding to the target ranging unit.
In this embodiment, a preset distance difference value may be preset, and the preset distance difference values corresponding to the first ranging unit and the second ranging unit may be the same or different, which may be specifically set in combination with actual requirements. The preset distance difference value corresponding to one distance measuring unit can be only one or a plurality of distance measuring units. For example, one distance measuring unit corresponds to two preset distance differences, wherein one preset distance difference corresponds to a distance value measured by a distance measuring device close to the front end of the working arm subtracted by a distance value measured by a distance measuring device not close to the front end of the working arm, and the other preset distance difference corresponds to a distance value measured by a distance measuring device not close to the front end of the working arm subtracted by a distance value measured by a distance measuring device close to the front end of the working arm.
Under the condition that one ranging unit corresponds to one preset distance difference value, the target preset distance difference value can be determined according to the target ranging unit corresponding to the distance difference value. Under the condition that one distance measuring unit corresponds to a plurality of preset distance differences, a specific calculation mode of the distance differences is combined to determine the target preset distance differences.
If the distance difference is smaller than the preset distance difference, it may be determined that the distance difference is smaller than the target preset distance difference. Under the condition that a plurality of distance differences are obtained through calculation, if the plurality of distance differences are smaller than the preset distance difference, it can be determined that the distance difference is smaller than the target preset distance difference. At this time, sub-step S133 may be performed.
Substep S133, determining that the work arm does not need to be adjusted.
The distance difference value is smaller than the target preset distance difference value, which indicates that the working arm is parallel or nearly parallel to the tunnel wall, and the working arm can be prevented from being damaged due to frequent adjustment of the working arm.
Under the condition that only one distance difference value is calculated, if the distance difference value is not smaller than the preset distance difference value, the distance difference value can be determined to be not smaller than the target preset distance difference value. Under the condition that a plurality of distance differences are obtained through calculation, if the distance difference value which is not smaller than the preset distance difference value exists in the plurality of distance difference values, the distance difference value can be determined to be not smaller than the target preset distance difference value. At this point, sub-step S134 may be performed.
Substep S134, adjusting the working arm according to the distance difference value, so that the working arm is parallel to the tunnel wall.
And determining the direction in which the working arm needs to deflect according to the distance difference value, and further controlling the working arm so that the working arm is parallel to the tunnel wall. It should be noted that, the steps S110 to S130 are continuously and circularly performed, and after one adjustment, the working arm may not be parallel to the tunnel wall, and by continuously performing the steps S110 to S130, the working arm may be parallel to the tunnel wall through multiple adjustments.
In this embodiment, the working device may include an actuator for driving the working arm to deflect, and a control instruction may be output to the actuator according to a distance difference value calculated by the ranging data of the target ranging unit, so that the actuator drives the working arm to deflect to reduce an included angle between the working arm and the tunnel wall.
Alternatively, as a possible implementation manner, as shown in fig. 3 and fig. 4, the actuating mechanism includes a first deflection cylinder and a second deflection cylinder, and the working arm is driven to deflect under the combined action of the first deflection cylinder and the second deflection cylinder. The first deflection oil cylinder is located on the first side, and the second deflection oil cylinder is located on the second side. And controlling the first deflection cylinder to retract and the second deflection cylinder to extend when the distance difference value indicates that the front end of the working arm is close to the tunnel wall on the second side and the tail end of the working arm is close to the tunnel wall on the first side. And controlling the first deflection cylinder to extend and the second deflection cylinder to retract when the distance difference value indicates that the front end of the working arm is close to the tunnel wall on the first side and the tail end of the working arm is close to the tunnel wall on the second side. Therefore, the first deflection oil cylinder and the second deflection oil cylinder can be controlled to drive the working arm to deflect, so that the included angle between the working arm and the tunnel wall is reduced.
The control instructions for controlling the first deflection oil cylinder and the second deflection oil cylinder indicate the action speed of the executing mechanism, and the larger the distance difference value is, the faster the action speed of the executing mechanism is. That is, the control command adjusts the actuation speed of the actuator, and the greater the distance difference, the faster the actuation speed of the actuator after adjustment. In this way, the included angle between the working arm and the tunnel wall is conveniently and rapidly reduced, so that the working arm is rapidly parallel to the tunnel wall.
Wherein, optionally, the actuating mechanism further comprises an electrohydraulic proportional regulating valve, and the electrohydraulic proportional regulating valve receives the control command and controls the first deflection cylinder and the second deflection cylinder according to the control command.
The control instruction comprises a current value, and the current value is calculated according to the distance difference value. The calculation formula of the current value in the control instruction is as follows:
wherein OUT represents the current value In the control command, in represents the distance difference value, in_min represents the minimum distance difference value calculated based on the distance measuring unit, in_max represents the maximum distance difference value calculated based on the distance measuring unit, out_min represents the minimum action current of the electro-hydraulic proportional control valve, and Out_max represents the maximum action current of the electro-hydraulic proportional control valve.
The following describes an example of the arm control method described above with reference to fig. 3 and 4.
In this example, one laser rangefinder is mounted on the left and right sides of the working arm of the working apparatus, that is, 4 laser rangefinders (i.e., distance measuring instruments 2401a, 2401b, 2401c, 2401d in fig. 3 and 4) are mounted on the working arm in total, two on each side. And the working equipment is also provided with a turnover angle measuring unit.
The left front laser distance meter and the left rear laser distance meter are used for measuring the distance between the working arm and the left tunnel wall; the right front laser range finder and the right rear laser range finder are used for measuring the distance between the working arm and the right tunnel wall. The 4 laser rangefinders may send the measured distance between the work arm and the tunnel wall to the controller input unit. The turnover angle measuring unit sends the measured current turnover angle of the turnover mechanism to the controller input unit. The controller input unit receives data of each external sensor and provides the data to the controller data processing unit. And the controller data processing unit is used for converting the data sent by the input unit according to the control requirement for enabling the working arm to be parallel to the tunnel wall to obtain control data and transmitting the control data to the controller output unit. The controller output unit converts the control data sent by the controller data processing unit into an electric signal which can be identified by the executing mechanism and transmits the electric signal to the executing oil cylinder. The execution cylinder executes output according to the electric signal sent by the controller output unit, so that the included angle between the working arm and the tunnel wall is reduced.
A specific description of how the control is based on the received sensor data is provided below.
When the turnover mechanism turns right, namely the current turnover angle measured by the turnover angle measuring unit is greater than or equal to 0, the controller takes the measured data of the left laser range finder as a control basis, so that the data of the right laser range finder is not used because the inaccuracy of the measured data caused by shielding the right laser range finder when the turnover mechanism turns right at a large turnover angle is prevented.
Under the condition of controlling based on the measurement data of the left laser range finder, when the measurement data of the left front laser range finder is larger than the measurement data of the left rear laser range finder and the difference between the measurement data and the measurement data is larger than an adjustment dead zone value (namely a preset distance difference value), the distance between the front end of the working arm and the left tunnel wall is larger than the distance between the rear end of the working arm and the left tunnel wall. To make the working arm parallel to the left tunnel wall, the controller needs to convert the distance difference between the two laser rangefinders on the left into control data, and convert the control data into electric signals through the controller output unit to output the electric signals to the execution oil cylinder, so that the left deflection oil cylinder is retracted and the right deflection oil cylinder is extended.
If the measured data of the front left laser range finder is larger than the measured data of the rear left laser range finder, but the difference between the measured data and the measured data is smaller than the adjustment dead zone value, the operation arm is not adjusted. Therefore, by setting the dead zone value, frequent actions of the executing mechanism can be avoided, and further damage to the working arm caused by the frequent actions of the executing mechanism is avoided.
The distance difference between the front laser rangefinder and the rear laser rangefinder at the left side determines the action speed of the execution cylinder. The greater the difference value is, the faster the speed of the execution cylinder is, the smaller the difference value is, the slower the action speed of the execution cylinder is, until the distance difference value is smaller than the adjustment dead zone value, and the execution mechanism stops the action.
Under the condition of controlling based on the measurement data of the left laser range finder, when the measurement data of the left front laser range finder is smaller than the measurement data of the left rear laser range finder and the difference value between the measurement data of the left front laser range finder and the measurement data of the left rear laser range finder is larger than the adjustment dead zone value, the distance between the front end of the working arm and the left tunnel wall is smaller than the distance between the rear end of the working arm and the left tunnel wall. To make the working arm parallel to the left tunnel wall, the controller needs to convert the distance difference between the two laser rangefinders on the left into control data, and convert the control data into electric signals through the controller output unit to output the electric signals to the execution cylinder, so that the left deflection cylinder extends and the right deflection cylinder retracts.
The difference value of the distance between the front laser distance measuring instrument and the rear laser distance measuring instrument on the left side determines the action speed of the execution oil cylinder, the larger the difference value is, the faster the execution oil cylinder speed is, the smaller the difference value is, the slower the action speed of the execution oil cylinder is, and the execution mechanism stops acting until the distance difference value is smaller than the adjustment dead zone value.
When the turnover mechanism turns left, namely the current turnover angle measured by the turnover angle measuring unit is smaller than 0, the controller takes the measured data of the right laser range finder as a control basis, and the left laser range finder data is not used because the inaccuracy of the measured data caused by shielding the left laser range finder when the turnover mechanism turns left at a large turnover angle is prevented.
Under the condition of controlling based on the measurement data of the right laser range finder, when the measurement data of the right front laser range finder is larger than the measurement data of the right rear laser range finder and the difference between the measurement data and the measurement data is larger than the adjustment dead zone value, the distance between the front end of the working arm and the right tunnel wall is larger than the distance between the rear end of the working arm and the right tunnel wall. To make the working arm parallel to the right tunnel wall, the controller needs to convert the distance difference between the two laser rangefinders on the right into control data, and the control data is converted into an electric signal by the controller output unit to be output to the execution cylinder, so that the left deflection cylinder extends and the right deflection cylinder retracts.
The magnitude of the distance difference between the front laser range finder and the rear laser range finder on the right side determines the action speed of the execution oil cylinder, the larger the difference is, the faster the execution oil cylinder is, the smaller the difference is, the slower the action speed of the execution oil cylinder is, and the execution mechanism stops acting until the distance difference is smaller than the adjustment dead zone value;
Under the condition of controlling based on the measurement data of the right laser range finder, when the measurement data of the right front laser range finder is smaller than the measurement data of the right rear laser range finder and the difference between the two is larger than the adjustment dead zone value, the distance between the front end of the working arm and the right tunnel wall is smaller than the distance between the rear end of the working arm and the right tunnel wall. To make the working arm parallel to the right tunnel wall, the controller needs to convert the distance difference between the two laser rangefinders on the right into control data, and the control data is converted into an electric signal by the controller output unit to be output to the execution cylinder, so that the left deflection cylinder is retracted and the right deflection cylinder is extended.
The difference value of the distances between the front laser range finder and the rear laser range finder on the right side determines the action speed of the execution oil cylinder, the larger the difference value is, the faster the execution oil cylinder speed is, the smaller the difference value is, the action speed of the execution oil cylinder is lower, and the execution mechanism stops acting until the difference value of the distances is smaller than the adjustment dead zone value.
The calculation formula for generating the control data by the controller through conversion is as follows:
wherein OUT represents a control output value, namely an actual value output to the electro-hydraulic proportional valve, in represents an absolute value of a result obtained by subtracting a rear laser range finder measured value from a current front laser range finder measured value, in_min represents a minimum value of an absolute value of a result obtained by subtracting a rear laser range finder measured value from a front laser range finder measured value, in_max represents a maximum value of an absolute value of a result obtained by subtracting a rear laser range finder measured value from a front laser range finder measured value, out_min represents a minimum action current of the electro-hydraulic proportional control valve, and Out_max represents a maximum action current of the electro-hydraulic proportional control valve.
According to the control method for the working arm, which is provided by the embodiment of the application, the working arm of the working equipment can be continuously parallel to the tunnel wall, and can be quickly and stably adjusted to the target state even under the condition that the distance difference value measured by the distance measuring unit of the working arm is large, so that the problem that the parallelism error between the working arm and the tunnel is large when the working arm is judged by naked eyes in the past is effectively solved; in addition, the method is operated and adjusted in real time, and even if the parallelism of the working arm and the tunnel wall is changed in the process of executing normal production of the working equipment, the adjustment can be performed in real time, so that the working efficiency is greatly improved.
In order to perform the corresponding steps in the foregoing embodiments and the various possible manners, an implementation manner of the arm control apparatus 300 is given below, and alternatively, the arm control apparatus 300 may employ the device structure of the electronic device 100 shown in fig. 2. Further, referring to fig. 8, fig. 8 is a block diagram of a control device 300 for an arm according to an embodiment of the application. It should be noted that, the basic principle and the technical effects of the working arm control device 300 provided in this embodiment are the same as those of the above embodiment, and for brevity, reference should be made to the corresponding contents of the above embodiment. The working arm control device 300 may be applied to a working apparatus, where the working apparatus may include a working arm, a turnover mechanism, a first ranging unit and a second ranging unit, where the turnover mechanism is disposed on the working arm, the first ranging unit and the second ranging unit respectively include a plurality of distance measuring devices distributed along a length direction of the working arm, the first ranging unit is disposed on a first side of the working arm, and the second ranging unit is disposed on a second side of the working arm. The work arm control device 300 may include: the obtaining module 310, the selecting module 320 and the controlling module 330.
The obtaining module 310 is configured to obtain a current turning angle of the turning mechanism on the working arm.
The selecting module 320 is configured to determine a target ranging unit from the first ranging unit and the second ranging unit according to the current flip angle. Wherein the target ranging unit and the current tilting mechanism are not on the same side of the working arm.
The control module 330 is configured to control the working arm according to the ranging data of the target ranging unit, so that the working arm is parallel to the tunnel wall.
Alternatively, the above modules may be stored in the memory 110 shown in fig. 2 or solidified in an Operating System (OS) of the electronic device 100 in the form of software or Firmware (Firmware), and may be executed by the processor 120 in fig. 2. Meanwhile, data, codes of programs, and the like, which are required to execute the above-described modules, may be stored in the memory 110.
The embodiment of the application also provides a readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method of controlling a work arm.
In summary, the embodiments of the present application provide a method and an apparatus for controlling a working arm, which includes first obtaining a current turning angle of a turning mechanism on the working arm, then selecting, from ranging units located on two sides of the working arm, a ranging unit that is not located on the same side of the working arm as a target ranging unit according to the current turning angle, and finally controlling the working arm based on ranging data of the selected target ranging unit, so that the working arm is parallel to a tunnel wall. According to the application, the distance measuring units and the angles of the turnover mechanisms are respectively arranged on two opposite sides of the working arm, so that the distance measuring data of the distance measuring units which are not shielded by the turnover mechanisms can be obtained, and when the turnover mechanisms are in any posture, the working arm can be controlled based on the accurate distance data, so that the working arm is parallel to the tunnel wall.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only of alternative embodiments of the present application and is not intended to limit the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (9)
1. A method of controlling a work arm, the method comprising:
obtaining a current turnover angle of a turnover mechanism on the working arm;
determining a target ranging unit from a first ranging unit and a second ranging unit according to the current turning angle, wherein the first ranging unit and the second ranging unit respectively comprise a plurality of distance measuring devices distributed along the length direction of the working arm, the first ranging unit is arranged on a first side of the working arm, and the second ranging unit is arranged on a second side of the working arm; when the current turning angle is in a first turning angle range corresponding to the first side, determining that the turning mechanism turns towards the first side currently, and determining that the second ranging unit is the target ranging unit; when the current turning angle is in a second turning angle range corresponding to the second side, determining that the turning mechanism turns towards the second side currently, and determining that the first ranging unit is the target ranging unit;
and controlling the working arm according to the ranging data of the target ranging unit so as to enable the working arm to be parallel to the tunnel wall.
2. The method of claim 1, wherein controlling the work arm based on ranging data of the target ranging unit comprises:
and outputting a control instruction to an executing mechanism according to the distance difference value calculated by the distance measurement data of the target distance measurement unit, so that the executing mechanism drives the working arm to deflect to reduce the included angle between the working arm and the tunnel wall.
3. The method of claim 2, wherein the actuator includes a first deflection cylinder and a second deflection cylinder, the first deflection cylinder being located on the first side and the second deflection cylinder being located on the second side, the outputting a control command to the actuator based on a distance difference calculated from ranging data of the target ranging unit, comprising:
controlling the first deflection cylinder to retract and the second deflection cylinder to extend when the distance difference value indicates that the front end of the working arm is close to the tunnel wall on the second side and the tail end of the working arm is close to the tunnel wall on the first side;
and controlling the first deflection cylinder to extend and the second deflection cylinder to retract when the distance difference value indicates that the front end of the working arm is close to the tunnel wall on the first side and the tail end of the working arm is close to the tunnel wall on the second side.
4. The method of claim 2, wherein the control command is for indicating a speed of action of the actuator, the greater the distance difference, the faster the speed of action of the actuator.
5. The method according to claim 1, wherein controlling the work arm so that the work arm is parallel to a tunnel wall according to ranging data of the target ranging unit includes:
according to the ranging data of the target ranging unit, calculating to obtain a distance difference value;
judging whether the distance difference value is smaller than a target preset distance difference value corresponding to the target ranging unit;
under the condition that the distance difference value is smaller than the target preset distance difference value, the operation arm is determined to be unnecessary to adjust;
and under the condition that the distance difference value is not smaller than the target preset distance difference value, adjusting the working arm according to the distance difference value so as to enable the working arm to be parallel to the tunnel wall.
6. A work arm control device, the device comprising:
the obtaining module is used for obtaining the current turnover angle of the turnover mechanism on the working arm;
the selection module is used for determining a target ranging unit from a first ranging unit and a second ranging unit according to the current overturning angle, wherein the first ranging unit and the second ranging unit respectively comprise a plurality of distance measuring devices distributed along the length direction of the working arm, the first ranging unit is arranged on the first side of the working arm, and the second ranging unit is arranged on the second side of the working arm; when the current turning angle is in a first turning angle range corresponding to the first side, determining that the turning mechanism turns towards the first side currently, and determining that the second ranging unit is the target ranging unit; when the current turning angle is in a second turning angle range corresponding to the second side, determining that the turning mechanism turns towards the second side currently, and determining that the first ranging unit is the target ranging unit;
And the control module is used for controlling the working arm according to the ranging data of the target ranging unit so as to enable the working arm to be parallel to the tunnel wall.
7. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor, the processor executable instructions to implement the work arm control method of any one of claims 1-5.
8. The working equipment is characterized by comprising a working arm, a turnover mechanism, a first distance measuring unit, a second distance measuring unit, a turnover angle measuring unit and a control unit,
the turnover mechanism is arranged on the working arm;
the turnover angle measuring unit is used for measuring and obtaining the current turnover angle of the turnover mechanism;
the first ranging unit and the second ranging unit respectively comprise a plurality of distance measuring devices distributed along the length direction of the working arm, the first ranging unit is arranged on the first side of the working arm, the second ranging unit is arranged on the second side of the working arm, and the first ranging unit and the second ranging unit are used for measuring and obtaining the distance between the first ranging unit and the tunnel wall;
The control unit is in communication connection with the turnover angle measuring unit, the first ranging unit and the second ranging unit, and is used for determining ranging data of the ranging unit which is not shielded by the turnover mechanism according to the received current turnover angle, and controlling the working arm according to the determined ranging data so as to enable the working arm to be parallel to the tunnel wall; the method for determining the ranging unit which is not shielded by the turnover mechanism by the control unit comprises the following steps: when the current turning angle is in a first turning angle range corresponding to the first side, determining that the turning mechanism turns towards the first side currently, and determining that the second ranging unit is a ranging unit which is not shielded by the turning mechanism; when the current turning angle is in a second turning angle range corresponding to the second side, determining that the turning mechanism turns towards the second side currently, and determining that the first ranging unit is a ranging unit which is not shielded by the turning mechanism.
9. A readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the work arm control method according to any one of claims 1-5.
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