WO2022105291A1 - Construction machinery motion attitude control method and apparatus, device, and storage medium - Google Patents

Abstract

A construction machinery motion attitude control method and apparatus, a device, and a storage medium, the method comprising: receiving preset motion parameters of a target moving part transmitted by means of a field bus (201); on the basis of the preset motion parameters, controlling the operation of a motor corresponding to the target moving part (202); receiving a feedback signal of an encoder of the motor (203); parsing the feedback signal to obtain actual motion parameters of the target moving part (204); comparing the actual motion parameters of the target moving part with the preset motion parameters to obtain a comparison result (205); and, on the basis of the comparison result, correcting the motion attitude of the target moving part (206).

Description

Construction machinery motion attitude control method, device, equipment and storage medium

This application claims the priority of the Chinese patent application filed on November 17, 2020 with the application number 202011286183.X and the title of the invention is "Construction Machinery Movement Attitude Control Method, Device, Equipment and Storage Medium", all of which are The contents are incorporated herein by reference.

technical field

The present application relates to the technical field of construction machinery, and in particular to a method, device, equipment and storage medium for controlling the motion and attitude of construction machinery.

Background technique

Construction machinery is an important part of the equipment industry, and is the necessary mechanical equipment for earthwork construction projects, road construction and maintenance, mobile lifting and loading and unloading operations and comprehensive mechanized construction projects required for various construction projects.

The movement of the moving parts of traditional construction machinery is mainly controlled by the driver. The longitudinal control is realized by driving the axles or wheels through the gearbox, and the steering of the wheels is realized through the linkage of the steering wheel and the steering oil pump, that is, the lateral control, through the hydraulic pressure. The system realizes the telescopic lift control of the working arm.

However, with the increasing demand for unmanned operation and intelligent control, the moving parts of traditional construction machinery rely on the driver to control, and the control accuracy controlled by the driver has not reached the current level of intelligent or unmanned control. requirements for precise control.

technical problem

The present application provides a method, device, device and storage medium for controlling the motion and attitude of construction machinery, aiming to solve the problem in the prior art that each moving part of traditional construction machinery relies on the driver to control, and the control accuracy controlled by the driver cannot reach At present, the problem of intelligent or unmanned requirements for precise control has realized the precise control of the moving parts of construction machinery.

technical solutions

In a first aspect, the present application provides a method for controlling motion and attitude of construction machinery, which is applied to a controller of a target moving part, where the controller of the target moving part is located in a motion attitude control system of construction machinery, and the method includes:

Receive the preset motion parameters of the target moving part transmitted through the field bus;

Control the motor corresponding to the target moving part to work according to the preset motion parameters of the target moving part;

receiving a feedback signal from the encoder of the motor;

Analyzing the feedback signal of the encoder to obtain the actual motion parameters of the target moving part;

comparing the actual motion parameter of the target moving part with the preset motion parameter of the target moving part to obtain a comparison result;

The movement posture of the target moving part is corrected according to the comparison result.

Further, controlling the motor corresponding to the target moving part to work according to the preset motion parameters of the target moving part includes:

According to the preset motion parameters of the target moving part, the ideal working parameters of the motor corresponding to the target moving part are obtained by conversion;

The motor is controlled to work according to the ideal working parameters of the motor.

Further, analyzing the feedback signal of the encoder to obtain the actual motion parameters of the target moving part, including:

Analyze the feedback signal of the encoder to obtain the actual working parameters of the motor;

According to the actual working parameters of the motor, the actual motion parameters of the target moving part are obtained by conversion.

Further, the target moving part is a traveling mechanism, the motor corresponding to the target moving part is the first motor, the encoder of the motor is the first encoder, and the feedback signal of the encoder is analyzed to obtain the result. The actual working parameters of the motor; according to the actual working parameters of the motor, the actual motion parameters of the target moving part are obtained by conversion, including:

Analyzing the feedback signal of the first encoder to obtain the actual working parameters of the first motor;

The actual motion parameters of the traveling mechanism are obtained by converting the actual working parameters of the first motor with the physical parameters of the traveling mechanism. The actual motion parameters of the traveling mechanism include longitudinal displacement, traveling mechanism speed and traveling mechanism acceleration. .

Further, the target moving part is a steering mechanism, the motor corresponding to the target moving part is a second motor, the encoder of the motor is a second encoder, and the feedback signal of the encoder is analyzed to obtain the result. The actual working parameters of the motor; according to the actual working parameters of the motor, the actual motion parameters of the target moving part are obtained by conversion, including:

Analyzing the feedback signal of the second encoder to obtain the actual working parameters of the second motor;

The actual working parameters of the second motor are converted with the physical parameters of the steering mechanism to obtain the actual motion parameters of the steering mechanism. The actual motion parameters of the steering mechanism include the steering angle, the angular velocity of the steering mechanism, and the steering mechanism angle. acceleration.

Further, the target moving part is a loading mechanism, the motor corresponding to the target moving part is a third motor, the encoder of the motor is a third encoder, and the feedback signal of the encoder is analyzed to obtain the result. The actual working parameters of the motor; according to the actual working parameters of the motor, the actual motion parameters of the target moving part are obtained by conversion, including:

Analyzing the feedback signal of the third encoder to obtain the actual working parameters of the third motor;

The actual working parameters of the third motor are converted with the parameters of the deceleration mechanism of the loading mechanism to obtain the actual motion parameters of the loading mechanism. The actual motion parameters of the loading mechanism include the direction of movement of the loading mechanism and the movement speed of the loading mechanism and the current position of the loading mechanism.

Further, the target moving part is a lifting mechanism, the motor corresponding to the target moving part is the fourth motor, the encoder of the motor is the fourth encoder, and the feedback signal of the encoder is analyzed to obtain. The actual working parameters of the motor; according to the actual working parameters of the motor, the actual motion parameters of the target moving part are obtained by conversion, including:

Analyze the feedback signal of the fourth encoder to obtain the actual working parameters of the fourth motor;

The actual working parameters of the fourth motor are converted with the parameters of the deceleration mechanism of the lifting mechanism to obtain the actual motion parameters of the lifting mechanism. The actual motion parameters of the lifting mechanism include the moving direction of the lifting mechanism, Lifting mechanism movement speed and current position of lifting mechanism.

Further, the construction machinery motion attitude control system further includes a vehicle controller that is connected in communication with the target moving part controller, the vehicle controller is connected with a navigation and positioning system, and the method further includes:

Send the actual motion parameters of the target moving parts to the vehicle controller, and the vehicle controller is used to compare the actual motion parameters with the measurement parameters of the navigation and positioning system to realize the positioning of the construction machinery and idling state detection.

In a second aspect, the application also provides a motion attitude control device for a construction machine, comprising:

The first receiving module is used for receiving preset motion parameters of the target moving part transmitted through the field bus;

a control module, configured to control the motor corresponding to the target moving part to work according to the preset motion parameters of the target moving part;

a second receiving module, configured to receive the feedback signal of the encoder of the motor;

an analysis module for analyzing the feedback signal of the encoder to obtain the actual motion parameters of the target moving part;

a comparison module, configured to compare the actual motion parameter of the target moving part with the preset motion parameter of the target moving part to obtain a comparison result;

A correction module, configured to correct the motion posture of the target moving part according to the comparison result.

Further, the control module is specifically used for:

According to the preset motion parameters of the target moving part, the ideal working parameters of the motor corresponding to the target moving part are obtained by conversion;

The motor is controlled to work according to the ideal working parameters of the motor.

Further, the parsing module is specifically used for:

Analyze the feedback signal of the encoder to obtain the actual working parameters of the motor;

According to the actual working parameters of the motor, the actual motion parameters of the target moving part are obtained by conversion.

Further, the device further includes a sending module, and the sending module is specifically configured to:

Send the actual motion parameters of the target moving parts to the vehicle controller, and the vehicle controller is used to compare the actual motion parameters with the measurement parameters of the navigation and positioning system to realize the positioning of the construction machinery and idling state detection.

In a third aspect, the present application also provides a device, the device comprising:

one or more processors;

memory; and

One or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the method of any one of the first aspects.

In a fourth aspect, the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is loaded by a processor to execute the method described in any one of the first aspect steps in .

beneficial effect

Compared with the prior art, the present application adopts a wire-controlled control method, and uses the field bus to transmit control data to control the operation of the motor corresponding to the target moving part, and the target moving part is controlled by the encoder of the motor corresponding to the target moving part. The real-time feedback monitoring of the motion parameters of the machine is carried out in order to correct the motion posture of the target moving parts in real time, realize unmanned control, and greatly improve the control accuracy of the moving parts of construction machinery.

Description of drawings

FIG. 1 is a schematic diagram of a scene of a construction machinery motion attitude control system provided by an embodiment of the present application.

FIG. 2 is a schematic flowchart of an embodiment of a method for controlling motion and attitude of a construction machine provided in an embodiment of the present application.

FIG. 3 is a schematic flowchart of an embodiment of step 202 in the embodiment of the present application.

FIG. 4 is a schematic flowchart of an embodiment of step 204 in the embodiment of the present application.

FIG. 5 is a schematic flowchart of an embodiment of step 401 and step 402 in this embodiment of the present application.

FIG. 6 is a schematic flowchart of another embodiment of step 401 and step 402 in the embodiment of the present application.

FIG. 7 is a schematic diagram of equivalent calculation of actual motion parameters of steering wheels in the embodiment of the present application.

FIG. 8 is a schematic flowchart of another embodiment of step 401 and step 402 in the embodiment of the present application.

FIG. 9 is a schematic flowchart of another embodiment of step 401 and step 402 in the embodiment of the present application.

FIG. 10 is a schematic diagram of another scene of the construction machinery motion attitude control system provided by the embodiment of the present application.

FIG. 11 is a schematic structural diagram of an embodiment of the apparatus for controlling motion and attitude of a construction machine provided in the embodiment of the present application.

FIG. 12 is a schematic structural diagram of an embodiment of the device provided in the embodiment of the present application.

Embodiments of the present invention

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation shown in the drawings Or the positional relationship is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more of said features. In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined.

In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the present application. In the following description, details are set forth for the purpose of explanation. It is to be understood that one of ordinary skill in the art can realize that the present application may be practiced without the use of these specific details. In other instances, well-known structures and procedures have not been described in detail so as not to obscure the description of the present application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown but is to be accorded the widest scope consistent with the principles and features disclosed herein.

The following first introduces some basic concepts involved in the embodiments of the present application:

Field Bus (FB): FB is an industrial data bus, which is the underlying data communication network in the field of automation. The information transmission between these field control devices and advanced control systems has a series of advantages such as simplicity, reliability, economy and practicality. Commonly used field bus types are program bus network (Process Field Bus, Profibus), Ethernet control automation technology system (Ether Control Automation Technology, EtherCAT), control network (Control Net, Controlnet), serial communication RS485/RS232 bus, control Control Area Network (CAN) bus, etc.

Inertial Navigation System (INS): INS is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. Its working environment includes not only the air, the ground, but also underwater. The basic working principle of INS is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it with time, and transforming it into the navigation coordinate system, the speed in the navigation coordinate system can be obtained. , yaw angle and position.

The inertial navigation system belongs to the reckoning navigation method, that is, the position of the next point is calculated from the position of a known point according to the heading angle and speed of the moving body measured continuously, so the current position of the moving body can be continuously measured. It is a navigation parameter calculation system with gyroscope and accelerometer as sensitive devices. The system establishes a navigation coordinate system according to the output of the gyroscope, and calculates the speed and position of the moving body in the navigation coordinate system according to the output of the accelerometer. The gyroscope in the inertial navigation system is used to form a navigation coordinate system, so that the measurement axis of the accelerometer is stabilized in the coordinate system, and the heading and attitude angle are given; The velocity can be obtained by one integration, and the displacement can be obtained by integrating the velocity once over time.

Vehicle Control Unit (VCU): VCU is currently commonly used in new energy vehicles. As the central control unit of new energy vehicles, it is the core of the entire control system. VCU collects motor and battery status, collects accelerator pedal signals, controls Actuator signals, actuators and sensor signals are used to comprehensively analyze the driver's intention to make corresponding judgments, and then monitor the actions of the lower-level component controllers, which are responsible for the normal driving of the car, the feedback of braking energy, the engine and power of the vehicle. Battery energy management, network management, fault diagnosis and processing, vehicle status monitoring, etc., so as to ensure the normal and stable operation of the vehicle in a state of better power, higher economy and reliability.

The embodiments of the present application provide a method, device, device, and storage medium for controlling the motion and attitude of a construction machine, which will be described in detail below.

Please refer to FIG. 1. FIG. 1 is a schematic diagram of a scene of a construction machinery motion attitude control system provided by an embodiment of the application. The construction machinery motion attitude control system may include: a remote controller 100, a vehicle controller 200, and a target moving part The controller 300, the motor 400 corresponding to the target moving part, and the encoder (Motor Encoder, ME) 500 corresponding to the motor 400 of the target moving part, the target moving part controller 300 is integrated with a construction machinery motion attitude control device. Referring to FIG. 1 , data transmission is performed between the remote controller 100 , the vehicle controller 200 and the target moving part controller 300 through the field bus. The motor 400 corresponding to the target moving part and the encoder 500 corresponding to the motor 400 of the target moving part The communication connection can be made through the communication data line. It should be noted that there may be multiple target moving part controllers 300 in this embodiment of the present application, and each target moving part controller 300 corresponds to one moving part of the construction machinery, so the specific number of target moving part controllers 300 is based on actual The application scenario is selected, which is not limited here.

In this embodiment of the present application, the remote controller 100 may be a general-purpose computer device or a special-purpose computer device. In a specific implementation, the remote controller 100 may be a desktop computer, a portable computer, a network server, a PDA (Personal Digital Assistant, PDA), a mobile phone, a tablet computer, a communication device, an embedded device, etc. This embodiment does not limit the remote control type of device 100.

In the embodiment of the present application, data transmission is performed between the vehicle controller 200 and the remote controller 100 through the field bus, and the operator sets the preset motion parameters of the target moving part on the remote controller 100, and the remote controller 100 receives the The preset motion parameters are preset, and the preset motion parameters are transmitted to the vehicle controller 200 through the field bus. The vehicle controller 200 in this embodiment can also be a general-purpose computer device or a dedicated computer device. In a specific implementation, the vehicle controller 200 may be a desktop computer, a portable computer, a network server, a handheld computer, a mobile phone, a tablet computer, a communication device, an embedded device, etc. This embodiment does not limit the type of the vehicle controller 200 .

In the embodiment of the present application, the target moving part controller 300 is mainly used to receive the preset motion parameters of the target moving part transmitted through the field bus; according to the preset motion parameters of the target moving part, control the corresponding The motor 400 works; the feedback signal of the encoder 500 of the motor 400 is received; the feedback signal of the encoder 500 is analyzed to obtain the actual motion parameters of the target moving part; The preset motion parameters of the target moving part are compared to obtain a comparison result; the motion posture of the target moving part is corrected according to the comparison result.

In this embodiment of the present application, the target moving part controller 300 may be a dedicated computer device. In a specific implementation, the target moving part controller 300 may be an embedded device, a dedicated integrated device, etc. This embodiment does not limit the target moving part controller 300 types.

In the embodiment of the present application, the motor 400 corresponding to the target moving part may be one of the types of motors commonly used at present, such as a servo motor, a stepping motor, etc.; the encoder 500 corresponding to the motor 400 of the target moving part may be commonly used at present One of the types of encoders, such as an absolute encoder, an incremental encoder, a resolver, etc. This embodiment does not limit the types of the motor 400 and the encoder 500 .

Those skilled in the art can understand that the application environment shown in FIG. 1 is only an application scenario of the solution of the present application, and does not constitute a limitation on the application scenario of the solution of the present application. More target moving part controllers 300, motors 400 and encoders 500 are shown. For example, only one target moving part controller 300 is shown in FIG. 1. It is understood that the construction machinery motion attitude control system may also include one or A plurality of other target moving part controllers communicatively connected to the vehicle controller 200 are not specifically limited here.

It should be noted that the schematic diagram of the scene of the construction machinery motion attitude control system shown in FIG. 1 is only an example, and the construction machinery motion attitude control system and the scene described in the embodiments of the present application are for the purpose of more clearly explaining the technology of the embodiments of the present application. The solution does not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those of ordinary skill in the art know that with the evolution of the motion attitude control system of construction machinery and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are suitable for Similar technical issues apply.

First, an embodiment of the present application provides a method for controlling the motion and attitude of a construction machine. The execution body of the method for controlling the motion and attitude of the construction machine is a device for controlling the motion and attitude of the construction machine. The target moving part controller 300 is located in a construction machinery movement attitude control system, and the construction machinery movement attitude control method includes: receiving preset movement parameters of the target moving part transmitted through a field bus; according to the preset movement parameters of the target moving part , control the motor 400 corresponding to the target moving part to work; receive the feedback signal of the encoder 500 of the motor 400; analyze the feedback signal of the encoder 500 to obtain the actual motion parameters of the target moving part; The actual motion parameter of the target moving part is compared with the preset motion parameter of the target moving part to obtain a comparison result; the motion posture of the target moving part is corrected according to the comparison result.

As shown in FIG. 2 , it is a schematic flowchart of an embodiment of the method for controlling the motion and attitude of a construction machine in the embodiment of the present application. The method for controlling the motion and attitude of the construction machine includes:

201. Receive preset motion parameters of the target motion component transmitted through the field bus.

In this embodiment, the operator sets the preset motion parameters of the target moving part on the remote controller 100, the remote controller 100 receives the preset motion parameters, and transmits the preset motion parameters to communicate with it through the field bus The whole vehicle controller 200, the whole vehicle controller 200 receives the preset motion parameter, analyzes it, judges the type of the moving part corresponding to the preset motion parameter, and then transmits the preset motion parameter to the corresponding Target moving part controller 300 . The field bus in the embodiment of the present application adopts a controller area network (Control Area Network, CAN) bus. It should be noted that other types of field bus are also applicable to the present application, which is not specifically limited here.

In a specific embodiment, the preset motion parameters of the target moving part include the moving direction, motion speed, displacement, etc. of the target moving part. It should be noted that the method of receiving the preset motion parameters of the target moving part may be passive reception, That is, when the vehicle controller 200 sends data to the target moving part controller 300, it can be received, or it can be acquired actively at a certain time interval. Access to obtain the preset motion parameters of the target moving part. When the preset motion parameters change, it will re-acquire and replace the current parameters. If the preset motion parameters have not changed, the current parameters will remain unchanged, and the preset motion parameters will be obtained. The specific method is not limited here.

202. Control the motor 400 corresponding to the target moving part to work according to the preset motion parameters of the target moving part.

In this embodiment, one moving part of the construction machinery corresponds to one moving part controller, one moving part controller corresponds to one motor, and each motor is equipped with a corresponding encoder. Therefore, the moving part, the moving part controller There is a one-to-one correspondence between the motors corresponding to the moving parts and the encoders corresponding to the motors of the moving parts. After the target moving part controller 300 receives the preset motion parameters of the target moving part, it analyzes it, and controls the motor 400 corresponding to the target moving part to work according to the analysis result. In this embodiment, the analysis result may be the application of the motor 400 Number of turns, speed, acceleration, etc.

203 . Receive a feedback signal from the encoder 500 of the motor 400 .

Since in the embodiment of the present application, there is a one-to-one correspondence between the moving parts of the construction machinery, the moving part controllers, the motors corresponding to the moving parts, and the encoders corresponding to the motors of the moving parts, therefore, when the motor 400 corresponding to the target moving parts starts After working, the encoder 500 of the motor 400 starts to monitor the working state of the motor in real time, and feeds the monitored working state parameters to the target moving part controller 300, where the working state parameters can be the actual working state of the motor 400. The number of turns, actual rotational speed, actual rotational acceleration, etc.

204. Analyze the feedback signal of the encoder 500 to obtain the actual motion parameter of the target moving part.

In this embodiment, after receiving the feedback signal of the encoder 500 of the corresponding motor 400 of the target moving part, the controller 300 of the target moving part analyzes the feedback signal, and calculates the actual motion of the target moving part through relevant calculation and conversion. The parameter, the actual motion parameter here, may include the actual motion direction, actual motion speed, actual motion acceleration, etc. of the target moving component.

205. Compare the actual motion parameter of the target moving part with the preset motion parameter of the target moving part to obtain a comparison result.

In the embodiment of the present application, the target moving part controller 300 compares the actual motion parameter estimated by the feedback signal from the encoder 500 and the preset motion parameter from the vehicle controller 200 to obtain the comparison result, The comparison result reflects the difference between the actual motion of the target moving part and the preset target.

206. Correct the motion posture of the target moving part according to the comparison result.

In this embodiment of the present application, the target moving part controller 300 determines that one or some working parameters of the motor 400 corresponding to the target moving part need to be adjusted according to the comparison result obtained in step 205, and then corrects its current working parameters so that the target moving part needs to be adjusted. The movement of the target is consistent with the preset, and the correction of the movement posture of the target moving part is completed.

In the embodiment of the present application, the wire control method is adopted, and the field bus is used to transmit control data to control the operation of the motor 400 corresponding to the target moving part, and the target moving part is controlled by the encoder 500 of the motor 400 corresponding to the target moving part. The real-time feedback monitoring of the motion parameters of the machine is carried out in order to correct the motion posture of the target moving parts in real time, realize unmanned control, and greatly improve the control accuracy of the moving parts of construction machinery.

As shown in FIG. 3 , in some embodiments of the present application, the step 202 of controlling the motor 400 corresponding to the target moving part to work according to the preset motion parameters of the target moving part may further include:

301. According to preset motion parameters of the target moving part, convert to obtain ideal working parameters of the motor 400 corresponding to the target moving part.

In a specific embodiment, the bearing of the motor 400 corresponding to the target moving part is sleeved with a drive reduction gear, and the target moving part is connected with a driven reduction gear adapted to the drive reduction gear. When the motor 400 rotates, the sleeve is connected The driving reduction gear on its bearing will rotate with the bearing, and the driving reduction gear will drive the driven reduction gear to rotate, thereby driving the target moving part to move. Therefore, the preset motion parameters of the target moving part, such as the preset movement direction , preset motion speed, preset motion acceleration, etc., need to be converted with the parameters of the driving reduction gear and the driven reduction gear to obtain the ideal working parameters of the motor 400, such as the ideal rotation direction, ideal rotation number, ideal rotation speed Wait.

302 . Control the motor 400 to work according to the ideal working parameters of the motor 400 .

In this embodiment, the target moving part controller 300 sends a control command to the motor 400 according to the ideal working parameters obtained in step 301, and controls the motor 400 to work through the control command.

As shown in FIG. 4 , in some embodiments of the present application, in the step 204, the feedback signal of the encoder 500 of the motor 400 is analyzed to obtain the actual motion parameters of the target moving part, which may further include:

401 . Analyze the feedback signal of the encoder 500 of the motor 400 to obtain the actual working parameters of the motor 400 .

In a specific embodiment, the feedback signal of the encoder 500 can reflect the actual working parameters of the motor, such as the actual number of turns, the actual rotation direction, the actual rotational speed, and the like.

402. Obtain the actual motion parameters of the target moving part according to the actual working parameters of the motor 400.

The same as the situation in step 301, the bearing of the motor 400 corresponding to the target moving part in this embodiment is sleeved with an active reduction gear, and the target moving part is connected with a driven reduction gear adapted to the active reduction gear. When the motor 400 rotates At the time of rotation, the driving reduction gear sleeved on the bearing will rotate together with the bearing, and the driving reduction gear will drive the driven reduction gear to rotate, thereby driving the target moving part to move. Therefore, the actual working parameters of the motor 400, such as the actual rotation The actual motion parameters of the target moving parts, such as the actual motion direction, actual motion speed, and actual motion acceleration, can only be obtained after conversion with the parameters of the driving reduction gear and the driven reduction gear. Wait.

As shown in FIG. 5 , in some embodiments of the present application, the target moving part is a traveling mechanism, the motor 400 corresponding to the target moving part is a first motor, and an encoder 500 of the motor 400 is a first encoder , by analyzing the feedback signal of the encoder 500 to obtain the actual working parameters of the motor 400; according to the actual working parameters of the motor 400, converting to obtain the actual motion parameters of the target moving part, which may further include:

501. Analyze the feedback signal of the first encoder to obtain actual working parameters of the first motor.

Usually, the running mechanism of a construction machine is four wheels of the construction machine. In the embodiment of the present application, each wheel is equipped with a corresponding motor and an encoder. It is assumed that the feedback signal of the first encoder is: the output of the first encoder A-phase, B-phase and Z-phase three pulse signals, A-phase pulse signal and B-phase pulse signal have a phase difference of 90°, Z-phase pulse signal is single-turn pulse output. The actual speed of the first motor is obtained by capturing the values of the A-phase pulse signal and the B-phase pulse signal within a certain time t; The actual rotation direction; the Z-phase pulse signal is accumulated within a certain time t to obtain the actual number of turns of the first motor.

502. Convert the actual working parameters of the first motor and the physical parameters of the traveling mechanism to obtain the actual motion parameters of the traveling mechanism, where the actual motion parameters of the traveling mechanism include longitudinal displacement, traveling mechanism speed, and traveling mechanism. mechanism acceleration.

In the embodiment of the present application, the physical parameters of the running mechanism are the physical parameters of the wheels of the construction machinery, assuming that the wheel radius is R, the first reduction ratio is η ₁ , the first driving reduction gear: the first driven reduction gear=1: η ₁ , the longitudinal displacement of the wheel is S ₁ , the wheel speed is V ₁ , the wheel acceleration is aa ₁ , the actual rotational speed of the first motor is n ₁ , the actual number of revolutions of the first motor is z ₁ , and the wheel acceleration aa is updated every 0.5s ₁ , then:

S ₁ =2πR×z ₁ /η ₁ ;

V ₁ =n ₁ /η ₁ ;

aa ₁ =|V ₁₁ -V ₁₂ |/0.5S ₁ ;

Among them, V ₁₁ and V ₁₂ are the wheel speeds before 0.5s and after 0.5s respectively;

The actual motion parameters of the wheel, such as the wheel longitudinal displacement S ₁ , the wheel speed V ₁ and the wheel acceleration aa ₁ , are obtained from the above formula, so as to obtain the actual motion parameters of the running gear, such as the longitudinal displacement of the running gear, the running gear speed and the running gear acceleration.

In the embodiment of the present application, it is possible to judge whether the construction vehicle has an abnormal state such as slippage or idling through the actual motion parameters of the running mechanism. Specifically, when the construction vehicle is in a normal driving state, the speeds of the four wheels are approximately equal. If the speed of the wheel is much higher than the speed of the other three wheels, it can be judged that the wheel is idling or slipping.

As shown in FIG. 6 , in some embodiments of the present application, the target moving part is a steering mechanism, the motor 400 corresponding to the target moving part is a second motor, and the encoder 500 of the motor 400 is a second encoder , by analyzing the feedback signal of the encoder 500 to obtain the actual working parameters of the motor 400; according to the actual working parameters of the motor 400, obtaining the actual motion parameters of the target moving part, which may further include:

601. Analyze the feedback signal of the second encoder to obtain actual working parameters of the second motor.

In a specific implementation, one or both of the front wheels of the construction machine have a steering function. In the embodiment of the present application, it is assumed that both front wheels have a steering function, so both front wheels are steering wheels, which constitutes this embodiment. In the steering mechanism of the example, each steering wheel is equipped with a corresponding motor and an encoder, and the steering wheel is connected with the steering screw of the steering electric cylinder. Assume that the feedback signal of the second encoder is: the second encoder outputs A phase, B-phase and Z-phase three pulse signals, A-phase pulse signal and B-phase pulse signal have a phase difference of 90°, Z-phase pulse signal is a single-turn pulse output. By accumulating the Z-phase pulse signal within a certain time t, the actual number of turns of the second motor is obtained, and the displacement of the steering screw is calculated according to the actual number of turns of the second motor.

602. Convert the actual working parameters of the second motor and the physical parameters of the steering mechanism to obtain the actual motion parameters of the steering mechanism, where the actual motion parameters of the steering mechanism include steering angle, steering mechanism angular velocity and steering Mechanism angular acceleration.

Referring to Figure 7, AC is the steering screw of the steering electric cylinder. The steering screw is retractable, and point O is the hinge point. It can be seen from Figure 7(b) that the steering screw moves from the AC position to the AB position. 7(b) is equivalent to Fig. 7(a). According to the steering structure, AC, AO, BO, CO can be known, and AB=AC ± steering screw displacement. According to the cosine theorem of trigonometric functions, it can be obtained:

c=a-b

Among them, the steering angle is c, and within the time precision t, the steering wheel angular velocity α and the steering wheel angular acceleration β are calculated, specifically: α=(c1-c2)|t, β=(α1-α2)/t, where, c1, c2, α1, and α2 are the steering angle after the time precision t, the steering angle before the time precision t, the steered wheel angular velocity after the time precision t, and the steered wheel angular velocity before the time precision t.

The actual motion parameters of the steering wheel, such as the steering angle c, the steering wheel angular velocity α and the steering wheel angular acceleration β, are obtained from the above formula, so as to obtain the actual motion parameters of the steering mechanism, such as the steering angle, the steering mechanism angular velocity and the steering mechanism angular acceleration.

As shown in FIG. 8 , in some embodiments of the present application, the target moving part is a loading mechanism, the motor 400 corresponding to the target moving part is a third motor, and the encoder 500 of the motor 400 is a third encoder , by analyzing the feedback signal of the encoder 500 to obtain the actual working parameters of the motor 400; according to the actual working parameters of the motor 400, obtaining the actual motion parameters of the target moving part, which may further include:

801. Analyze the feedback signal of the third encoder to obtain actual working parameters of the third motor.

In a specific embodiment, the loading mechanism of the construction machinery can be a hopper. Generally, the hopper of the construction machinery is equipped with one or two turning motors, that is, the third motor. It is assumed that the feedback signal of the third encoder is: the third encoding The device outputs three pulse signals of A-phase, B-phase and Z-phase. The phase difference between the A-phase pulse signal and the B-phase pulse signal is 90°, and the Z-phase pulse signal is a single-turn pulse output. The actual speed of the third motor is obtained by capturing the values of the A-phase pulse signal and the B-phase pulse signal within a certain time t; The actual rotation direction; the Z-phase pulse signal is accumulated within a certain time t to obtain the actual number of turns of the third motor.

802. Convert the actual working parameters of the third motor with the parameters of the deceleration mechanism of the loading mechanism to obtain the actual motion parameters of the loading mechanism, where the actual motion parameters of the loading mechanism include the direction of movement of the loading mechanism, the loading mechanism Movement speed and current position of the loading mechanism.

In the embodiment of the present application, the deceleration mechanism of the loading mechanism includes a loading deceleration gear, the actual working parameters of the third motor are converted with the parameters of the loading deceleration gear, and the method for obtaining the actual motion parameters of the loading mechanism is the same as step 502, All are decelerated by the reduction gear, which is linearly reduced according to the reduction ratio. Assuming that the vertical displacement of the hopper is S ₂ , the third reduction ratio is η ₂ , the third driving reduction gear: The third driven reduction gear = 1: η ₂ , and the speed of the hopper is V ₂ , the hopper acceleration is aa ₂ , the actual speed of the third motor is n ₂ , the actual number of revolutions of the third motor is z ₂ , and the hopper acceleration aa ₂ is updated every 0.5s, then:

V ₂ =n ₂ /η ₂ ;

aa ₂ =|V ₂₁ -V ₂₂ |/0.5S ₂ ;

Among them, V ₂₁ and V ₂₂ are the hopper speeds before and after 0.5s respectively;

According to the current position of the rotor of the third motor, the current position of the loading mechanism can be calculated and calculated according to the number of pulses sent by the third encoder from the zero position to the current position. For example, the number of pulses sent by the third motor for one revolution is 100, and the number of pulses sent from the zero position to the current position is 40, the current position of the rotor of the third motor is 0.4z ₂ , and the current position of the loading mechanism is 0.4z ₂ .

The actual working parameters of the hopper are obtained from the above formula, for example, the movement direction of the hopper is upward or downward, the movement speed of the hopper V ₂ , the acceleration of the hopper movement aa ₂ and the current position of the hopper, that is, the actual movement parameters of the loading mechanism, such as the movement of the loading mechanism Direction, speed of movement of the loading mechanism and current position of the loading mechanism.

As shown in FIG. 9 , in some embodiments of the present application, the target moving part is a lifting mechanism, the motor 400 corresponding to the target moving part is a fourth motor, and the encoder 500 of the motor 400 is a fourth code The encoder parses the feedback signal of the encoder 500 to obtain the actual working parameters of the motor 400; according to the actual working parameters of the motor 400, obtains the actual motion parameters of the target moving part, which may further include:

901. Analyze the feedback signal of the fourth encoder to obtain actual working parameters of the fourth motor.

In a specific embodiment, the lifting mechanism of the construction machinery can be a working arm. Generally, the working arm of the construction machinery is equipped with one or two lifting motors, namely the fourth motor. It is assumed that the feedback signal of the fourth encoder is : The fourth encoder outputs three pulse signals of A-phase, B-phase and Z-phase. The phase difference between the A-phase pulse signal and the B-phase pulse signal is 90°, and the Z-phase pulse signal is a single-turn pulse output. The actual speed of the fourth motor is obtained by capturing the values of the A-phase pulse signal and the B-phase pulse signal within a certain time t; The actual rotation direction; the Z-phase pulse signal is accumulated within a certain time t to obtain the actual number of turns of the fourth motor.

902. Convert the actual working parameters of the fourth motor with the parameters of the deceleration mechanism of the lifting mechanism to obtain the actual motion parameters of the lifting mechanism, where the actual motion parameters of the lifting mechanism include the motion of the lifting mechanism Direction, lift speed and lift current position.

In the embodiment of the present application, the reduction mechanism of the lifting mechanism includes a lifting reduction gear, the actual working parameters of the fourth motor are converted with the parameters of the lifting reduction gear, and the method for obtaining the actual motion parameters of the working arm is the same as the Step 502 is the same, both are decelerated by the reduction gear and linearly reduced according to the reduction ratio. Similarly, assuming that the vertical displacement of the working arm is S ₃ , the fourth reduction ratio is η ₃ , the fourth driving reduction gear: the fourth driven reduction gear= 1: η ₃ , the speed of the working arm is V ₃ , the acceleration of the working arm is aa ₃ , the actual speed of the fourth motor is n ₃ , the actual number of revolutions of the fourth motor is z ₃ , and the wheel acceleration aa ₃ is updated every 0.5s, then :

V ₃ =n ₃ /η ₃ ;

aa ₃ =|V ₃₁ -V ₃₂ |/0.5S ₃ ;

Among them, V ₃₁ and V ₃₂ are the working arm speeds before 0.5s and after 0.5s, respectively;

According to the current position of the rotor of the fourth motor, the current position of the lifting mechanism can be calculated, and it can be calculated according to the number of pulses sent by the fourth encoder from the zero position to the current position, for example, the number of pulses sent by the fourth motor for one revolution is 100, and the number of pulses sent from the zero position to the current position is 30, the current position of the rotor of the fourth motor is 0.3z ₃ , and the current position of the lifting mechanism is 0.3z ₃ .

The actual working parameters of the working arm are obtained from the above formulas, such as whether the working arm movement direction is rising or falling, the working arm movement speed V ₃ , the working arm movement acceleration aa ₃ and the current position of the working arm, that is, the actual movement parameters of the lifting mechanism are obtained, Such as the moving direction of the lifting mechanism, the moving speed of the lifting mechanism and the current position of the lifting mechanism.

As shown in FIG. 10 , a schematic diagram of another scene of the construction machinery motion attitude control system provided by the embodiment of the application, the vehicle controller 200 in the construction machinery motion attitude control system is communicatively connected with the navigation and positioning system 600 , and the method Can also include:

Send the actual motion parameters of the target moving parts to the vehicle controller 200, and the vehicle controller 200 is used to compare the actual motion parameters with the measurement parameters of the navigation and positioning system 600 to achieve Positioning and idling state detection of construction machinery.

In this embodiment of the present application, the navigation and positioning system 600 may be an inertial navigation system, which includes a positioning receiver and an antenna, the positioning receiver includes a positioning system receiving and processing board and an inertial measurement unit, and the inertial measurement unit may be a six-axis gyroscope . The navigation and positioning system 600 can also be connected with an automatic driving controller, which can be communicated with the vehicle controller 200 and the remote controller 100 respectively. The navigation and positioning system 600 can obtain the vehicle speed and acceleration of the engineering vehicle through the inertial measurement unit. , displacement, and the body posture under the three-dimensional coordinate system with the body of the engineering vehicle as the origin. The vehicle controller 200 receives the actual motion parameters of the target moving parts transmitted by the target moving parts controller 300, and corroborates the actual motion parameters with the measurement parameters from the navigation and positioning system 600, which can further improve the positioning accuracy of the engineering vehicle. . Especially in caves or under bridges, when GPS/GNSS/Beidou signals are lost, the actual position of the construction vehicle can be estimated through the monitoring data of the six-axis gyroscope of the navigation and positioning system 600 . At the same time, by comparing the actual motion parameters of the traveling mechanism obtained by the above calculation, such as the speed of the traveling mechanism, with the speed of the construction vehicle obtained by the navigation and positioning system, it is also possible to detect whether the construction machinery is idling.

In order to better implement the method for controlling the motion attitude of the construction machinery in the embodiments of the present application, on the basis of the method for controlling the motion attitude of the construction machinery, an embodiment of the present application further provides a device for controlling the motion attitude of the construction machinery, wherein the motion attitude of the construction machinery is The control device is applied to the target moving part controller 300, and the target moving part controller 300 is located in the construction machinery movement attitude control system. As shown in FIG. 11 , the construction machinery movement attitude control device 1100 includes:

The first receiving module 1101 is used for receiving preset motion parameters of the target moving part transmitted through the field bus;

a control module 1102, configured to control the motor 400 corresponding to the target moving part to work according to the preset motion parameters of the target moving part;

The second receiving module 1103 is configured to receive the feedback signal of the encoder 500 of the motor 400;

The analysis module 1104 is used to analyze the feedback signal of the encoder 500 to obtain the actual motion parameters of the target moving part;

a comparison module 1105, configured to compare the actual motion parameter of the target moving part with the preset motion parameter of the target moving part to obtain a comparison result;

A correction module 1106, configured to correct the motion posture of the target moving part according to the comparison result.

In the embodiment of the present application, the control module 1102 adopts the wire-controlled control mode, uses the field bus to transmit control data to control the operation of the motor 400 corresponding to the target moving part, and the second receiving module 1103 receives the feedback from the target encoder 500 in real time. Signal, the analysis module 1104 analyzes the feedback signal in real time, and monitors the motion parameters of the target moving parts, so as to correct the motion posture of the target moving parts in real time, realize unmanned control, and greatly improve the control of the moving parts of construction machinery. precision.

In some embodiments of the present application, the control module 1102 is specifically configured to:

According to the preset motion parameters of the target moving part, the ideal working parameters of the motor 400 corresponding to the target moving part are obtained;

The corresponding motor 400 of the target moving part is controlled to work according to the ideal working parameters of the motor 400 .

In some embodiments of the present application, the parsing module is specifically used for:

Analyze the feedback signal of the encoder 500 to obtain the actual working parameters of the motor 400;

According to the actual working parameters of the motor 400, the actual motion parameters of the target moving part are obtained.

In some embodiments of the present application, the construction machinery motion attitude control device 1100 further includes a sending module 1107, and the sending module 1107 is specifically used for:

Send the actual motion parameters of the target moving parts to the vehicle controller 200, and the vehicle controller 200 is used to compare the actual motion parameters with the measurement parameters of the navigation and positioning system 600 to achieve Positioning and idling state detection of construction machinery.

The embodiments of the present application further provide a device that integrates any of the construction machinery motion attitude control devices provided by the embodiments of the present application, and the device includes:

one or more processors;

memory; and

One or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor as described in any one of the foregoing embodiments of the construction machinery motion attitude control method embodiment The steps in the motion attitude control method of construction machinery.

The embodiments of the present application further provide a device that integrates any of the construction machinery motion attitude control devices provided by the embodiments of the present application. As shown in FIG. 12 , it shows a schematic structural diagram of a device involved in an embodiment of the present application, specifically:

The device may include a processor 1201 of one or more processing cores, a memory 1202 of one or more computer-readable storage media, a power supply 1203 and an input unit 1204 and other components. Those skilled in the art can understand that the device structure shown in FIG. 12 does not constitute a limitation to the device, and may include more or less components than the one shown, or combine some components, or arrange different components. in:

The processor 1201 is the control center of the device, using various interfaces and lines to connect various parts of the entire device, by running or executing the software programs and/or modules stored in the memory 1202, and calling the data stored in the memory 1202, Execute various functions of the device and process data to monitor the device as a whole. Optionally, the processor 1201 may include one or more processing cores; the processor 1201 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP) ), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. Preferably, the processor 1201 can integrate an application processor and a modulation and demodulation processor, wherein the application processor mainly processes the operating system, User interface and applications, etc., the modem processor mainly handles wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 1201.

The memory 1202 can be used to store software programs and modules, and the processor 1201 executes various functional applications and data processing by running the software programs and modules stored in the memory 1202 . The memory 1202 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; Data created by the use of the server, etc. Additionally, memory 1202 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, memory 1202 may also include a memory controller to provide processor 1201 access to memory 1202 .

The device also includes a power supply 1203 for supplying power to various components. Preferably, the power supply 1203 can be logically connected to the processor 1201 through a power management system, so as to manage charging, discharging, and power consumption management functions through the power management system. The power source 1203 may also include one or more DC or AC power sources, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and any other components.

The device may also include an input unit 1204 that may be used to receive input numerical or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and functional control.

Although not shown, the server may also include a display unit and the like, which will not be described herein again. Specifically, in this embodiment, the processor 1201 in the device loads the executable files corresponding to the processes of one or more application programs into the memory 1202 according to the following instructions, and the processor 1201 executes them and stores them in the memory 1202, so as to realize various functions, as follows:

Receive the preset motion parameters of the target moving part transmitted through the field bus;

controlling the motor 400 corresponding to the target moving part to work according to the preset motion parameters of the target moving part;

receiving a feedback signal from the encoder 500 of the motor 400;

Analyzing the feedback signal of the encoder 500 to obtain the actual motion parameters of the target moving part;

comparing the actual motion parameter of the target moving part with the preset motion parameter of the target moving part to obtain a comparison result;

The movement posture of the target moving part is corrected according to the comparison result.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by instructions, or by instructions that control relevant hardware, and the instructions can be stored in a computer-readable storage medium, and loaded and executed by the processor.

To this end, an embodiment of the present application provides a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM, Read Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, etc. . A computer program is stored thereon, and the computer program is loaded by the processor to execute the steps in any of the construction machinery motion attitude control methods provided in the embodiments of the present application. For example, the computer program being loaded by the processor may perform the following steps:

Receive the preset motion parameters of the target moving part transmitted through the field bus;

controlling the motor 400 corresponding to the target moving part to work according to the preset motion parameters of the target moving part;

receiving a feedback signal from the encoder 500 of the motor 400;

Analyzing the feedback signal of the encoder 500 to obtain the actual motion parameters of the target moving part;

comparing the actual motion parameter of the target moving part with the preset motion parameter of the target moving part to obtain a comparison result;

The movement posture of the target moving part is corrected according to the comparison result.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the above detailed description of other embodiments, and details are not repeated here.

During specific implementation, the above units or structures can be implemented as independent entities, or can be arbitrarily combined to be implemented as the same or several entities. The specific implementation of the above units or structures can refer to the previous embodiments. Repeat.

A method, device, device, and storage medium for controlling the motion and attitude of a construction machine provided by the embodiments of the present application have been described above in detail. The principles and implementations of the present application are described with specific examples in this article. The description is only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, there will be changes in the specific embodiment and the scope of application. In summary, The contents of this specification should not be construed as limiting the application.

It can be understood that for those of ordinary skill in the art, equivalent replacements or changes can be made according to the technical solutions of the present application and the inventive concept thereof, and all these changes or replacements should belong to the protection scope of the appended claims of the present application.

Claims (11)

1. A construction machinery motion attitude control method, wherein, applied to a target moving part controller, the target moving part controller is located in a construction machinery motion attitude control system, and the method comprises:

   Receive the preset motion parameters of the target moving part transmitted through the field bus;

   Control the motor corresponding to the target moving part to work according to the preset motion parameters of the target moving part;

   receiving a feedback signal from the encoder of the motor;

   Analyzing the feedback signal of the encoder to obtain the actual motion parameters of the target moving part;

   comparing the actual motion parameter of the target moving part with the preset motion parameter of the target moving part to obtain a comparison result;

   The movement posture of the target moving part is corrected according to the comparison result.
2. The method according to claim 1, wherein the controlling the motor corresponding to the target moving part to work according to the preset motion parameters of the target moving part comprises:

   According to the preset motion parameters of the target moving part, the ideal working parameters of the motor corresponding to the target moving part are obtained by conversion;

   The motor is controlled to work according to the ideal working parameters of the motor.
3. The method according to claim 1, wherein the analyzing the feedback signal of the encoder to obtain the actual motion parameter of the target moving part, comprising:

   Analyze the feedback signal of the encoder to obtain the actual working parameters of the motor;

   According to the actual working parameters of the motor, the actual motion parameters of the target moving part are obtained by conversion.
4. The method according to claim 3, wherein the target moving part is a traveling mechanism, a motor corresponding to the target moving part is a first motor, an encoder of the motor is a first encoder, and the parsing of the The feedback signal of the encoder is used to obtain the actual working parameters of the motor; according to the actual working parameters of the motor, the actual motion parameters of the target moving part are converted and obtained, including:

   Analyzing the feedback signal of the first encoder to obtain the actual working parameters of the first motor;

   The actual motion parameters of the traveling mechanism are obtained by converting the actual working parameters of the first motor with the physical parameters of the traveling mechanism. The actual motion parameters of the traveling mechanism include longitudinal displacement, traveling mechanism speed and traveling mechanism acceleration. .
5. The method according to claim 3, wherein the target moving part is a steering mechanism, a motor corresponding to the target moving part is a second motor, an encoder of the motor is a second encoder, and the parsing of the The feedback signal of the encoder is used to obtain the actual working parameters of the motor; according to the actual working parameters of the motor, the actual motion parameters of the target moving part are converted and obtained, including:

   Analyzing the feedback signal of the second encoder to obtain the actual working parameters of the second motor;

   The actual working parameters of the second motor are converted with the physical parameters of the steering mechanism to obtain the actual motion parameters of the steering mechanism. The actual motion parameters of the steering mechanism include the steering angle, the angular velocity of the steering mechanism, and the steering mechanism angle. acceleration.
6. The method according to claim 3, wherein the target moving part is a loading mechanism, a motor corresponding to the target moving part is a third motor, an encoder of the motor is a third encoder, and the analyzing the The feedback signal of the encoder is used to obtain the actual working parameters of the motor; according to the actual working parameters of the motor, the actual motion parameters of the target moving part are converted and obtained, including:

   Analyzing the feedback signal of the third encoder to obtain the actual working parameters of the third motor;

   The actual working parameters of the third motor are converted with the parameters of the deceleration mechanism of the loading mechanism to obtain the actual motion parameters of the loading mechanism. The actual motion parameters of the loading mechanism include the direction of movement of the loading mechanism and the movement speed of the loading mechanism and the current position of the loading mechanism.
7. The method according to claim 3, wherein the target moving part is a lifting mechanism, the motor corresponding to the target moving part is a fourth motor, an encoder of the motor is a fourth encoder, and the parsing code According to the feedback signal of the motor, the actual working parameters of the motor are obtained; according to the actual working parameters of the motor, the actual motion parameters of the target moving part are obtained by conversion, including:

   Analyze the feedback signal of the fourth encoder to obtain the actual working parameters of the fourth motor;

   The actual working parameters of the fourth motor are converted with the parameters of the deceleration mechanism of the lifting mechanism to obtain the actual motion parameters of the lifting mechanism. The actual motion parameters of the lifting mechanism include the moving direction of the lifting mechanism, Lifting mechanism movement speed and current position of lifting mechanism.
8. The method according to claim 1, wherein the construction machinery motion attitude control system further comprises a vehicle controller connected in communication with the target moving part controller, the vehicle controller is connected with a navigation and positioning system, and the The method also includes:

   Send the actual motion parameters of the target moving parts to the vehicle controller, and the vehicle controller is used to compare the actual motion parameters with the measurement parameters of the navigation and positioning system to realize the positioning of the construction machinery and idling state detection.
9. A motion attitude control device for construction machinery, comprising:

   The first receiving module is used for receiving preset motion parameters of the target moving part transmitted through the field bus;

   a control module, configured to control the motor corresponding to the target moving part to work according to the preset motion parameters of the target moving part;

   a second receiving module, configured to receive the feedback signal of the encoder of the motor;

   an analysis module for analyzing the feedback signal of the encoder to obtain the actual motion parameters of the target moving part;

   a comparison module, configured to compare the actual motion parameter of the target moving part with the preset motion parameter of the target moving part to obtain a comparison result;

   A correction module, configured to correct the motion posture of the target moving part according to the comparison result.
10. A construction machinery motion attitude control device, comprising:

    one or more processors;

    memory; and

    One or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the construction machinery motion of any one of claims 1 to 8 Attitude control method.
11. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program is loaded by a processor to execute the motion posture of a construction machine according to any one of claims 1 to 8 Steps in the control method.

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