WO2022257537A1 - 一种基于电子围墙的工程机械控制方法、装置及工程机械 - Google Patents

一种基于电子围墙的工程机械控制方法、装置及工程机械 Download PDF

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Publication number
WO2022257537A1
WO2022257537A1 PCT/CN2022/082043 CN2022082043W WO2022257537A1 WO 2022257537 A1 WO2022257537 A1 WO 2022257537A1 CN 2022082043 W CN2022082043 W CN 2022082043W WO 2022257537 A1 WO2022257537 A1 WO 2022257537A1
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current
electronic fence
working device
outermost point
contribution
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PCT/CN2022/082043
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English (en)
French (fr)
Inventor
刘建伟
曾超
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上海三一重机股份有限公司
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Publication of WO2022257537A1 publication Critical patent/WO2022257537A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant

Definitions

  • the present application relates to the technical field of engineering machinery, in particular to an electronic fence-based engineering machinery control method, device and engineering machinery.
  • Construction machinery such as excavators plays a very important role in engineering construction. Taking excavators as an example, in deep foundation pits, tunnels and other construction environments with narrow spaces and blind spots, the working device of the excavator is easy to encounter obstacles, resulting in damage to obstacles or working devices. In order to avoid this situation, electronic fences are set up in each working direction of the working device of the construction machinery, so that the working device can operate within the range surrounded by the electronic fence to ensure the safety of the operation.
  • the existing construction machinery control method only limits the working speed of the part, and the working device is often composed of multiple parts For example, if you only limit the rotation speed of the upper turntable without controlling the movement of the boom, stick and bucket, it is easy to cause shock and vibration due to the sudden stop of the boom, stick and bucket at high speed, which will cause The working device breaks through the limitation of the electronic fence. Therefore, the existing construction machinery control methods cannot accurately control the construction machinery to always work within the scope of the electronic fence for safe operation, causing the electronic fence to be useless.
  • the embodiment of the present application provides a construction machinery control method, device, and construction machinery based on an electronic fence to overcome the low control precision of the construction machinery control method in the prior art, and it is difficult to ensure that the construction machinery performs safe operations in the electronic fence. question.
  • an electronic fence-based construction machinery control method including:
  • each current operation instruction is correspondingly restricted, so that the working device operates within a preset motion range.
  • the corresponding restriction on each current operation instruction based on the contribution of each current operation instruction to the change in the position of the outermost point includes:
  • restricting the current operation instruction includes:
  • control gain of the current operation instruction the control gain is used to characterize the attenuation degree of the operation instruction
  • the current operating command is limited based on the control gain.
  • the current operation instruction is maintained.
  • the construction machinery control method based on electronic fence also includes:
  • the preset distance threshold is updated based on the current moving speed and the current inertia.
  • the construction machinery control method based on electronic fence also includes:
  • an electronic fence corresponding to the working device is set.
  • the construction machinery control method based on electronic fence also includes:
  • an electronic fence corresponding to the working device is set.
  • an electronic fence-based construction machinery control device including:
  • An acquisition module configured to acquire current operating instructions corresponding to different components in the working device of the target construction machine, a current posture corresponding to the working device, and an electronic fence, the electronic fence being used to characterize the preset range of motion of the working device;
  • a first processing module configured to determine the outermost point on the working device closest to the wall surface of the electronic fence and the current distance between the outermost point and the wall surface based on the current posture
  • the second processing module is configured to separately calculate the contribution of each current operation command to the position change of the outermost point when the current distance between the outermost point and the wall is less than a preset distance threshold;
  • the third processing module is configured to limit each current operation instruction based on the contribution of each current operation instruction to the change in the position of the outermost point, so that the working device operates within a preset motion range.
  • an embodiment of the present application provides a construction machine, including: a controller,
  • the controller includes: a memory and a processor, the memory and the processor are connected to each other in communication, computer instructions are stored in the memory, and the processor performs the first aspect by executing the computer instructions , or the method described in any optional implementation manner of the first aspect.
  • the construction machine is an excavator.
  • the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to make the computer execute the first aspect, or any of the first aspects A method described in an alternative embodiment.
  • An electronic fence-based construction machinery control method, device, and construction machinery obtained in the embodiments of the present application obtain the current operating instructions corresponding to different components in the working device of the target construction machine, the current posture corresponding to the working device, and the electronic fence;
  • the current posture determines the outermost point on the working device that is closest to the wall of the electronic fence and the current distance between the outermost point and the wall; when the current distance between the outermost point and the wall is less than the preset distance threshold, calculate each current The contribution of the operation command to the change of the outermost point position; based on the contribution of each current operation command to the change of the outermost point position, each current operation command is correspondingly limited, so that the working device can work within the preset motion range.
  • the control of the working device can be made more flexible, and the control accuracy is higher, which is conducive to obtaining a larger working space , to avoid the problem that the working device passes through the electronic fence and causes damage to obstacles or construction machinery.
  • Fig. 1 is the structural representation of the engineering machinery of the embodiment of the present application.
  • FIG. 2 is a flow chart of an electronic fence-based construction machinery control method according to an embodiment of the present application
  • FIG. 3 is a specific schematic diagram of an electronic fence according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a working scene of a construction machine according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of another working scene of construction machinery according to the embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a construction machinery control device based on an electronic fence according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a controller of a construction machine according to an embodiment of the present application.
  • Construction machinery such as excavators plays a very important role in engineering construction. Taking excavators as an example, in deep foundation pits, tunnels and other construction environments with narrow spaces and blind spots, the working device of the excavator is easy to encounter obstacles, resulting in damage to obstacles or working devices. In order to avoid this situation, electronic fences are set up in each working direction of the working device of construction machinery, so that the working device can operate within the range surrounded by the electronic fence to ensure the safety of the operation.
  • the existing construction machinery control method only limits the working speed of the part, and the working device is often composed of multiple parts For example, if you only limit the rotation speed of the upper turntable without controlling the movement of the boom, stick and bucket, it is easy to cause shock and vibration due to the sudden stop of the boom, stick and bucket at high speed, which will cause The working device breaks through the limitation of the electronic fence. Therefore, the existing construction machinery control methods cannot accurately control the construction machinery to always work within the scope of the electronic fence for safe operation, causing the electronic fence to be useless.
  • the embodiment of the present application provides a construction machinery control method based on an electronic fence, which is applied to the controller of the construction machinery.
  • the construction machinery is an excavator as an example.
  • the construction machinery can also be other construction machinery such as hook machines, and this application is not limited thereto.
  • this construction machinery comprises: the vehicle body rotation angle sensor 1 that is arranged on the vehicle body, the vehicle body attitude sensor 2 and the controller 6, also includes: the boom attitude sensor 3 that is arranged on the boom, An arm attitude sensor 4 arranged on the arm and a bucket attitude sensor 5 arranged on the bucket.
  • the controller 6 is connected with each sensor arranged on the excavator, and the controller 6 receives the sensor number collected by each sensor, and controls the excavator according to the received sensor signal, wherein, the body rotation angle sensor 1 is used for measuring The relative rotation angle of the upper body and the lower body; body, boom, stick and bucket attitude sensors, used to measure the attitude of the body, boom, stick and bucket.
  • the relevant mechanical design of the excavator in the prior art which will not be repeated here.
  • the construction machinery control method based on the electronic fence provided by the embodiment of the present application is applied to the controller 6 shown in Figure 1, and the method specifically includes the following steps:
  • Step S101 Obtain the current operation instructions corresponding to different components in the working device of the target construction machine, and the current posture and electronic fence corresponding to the working device.
  • the electronic fence is used to characterize the preset action range of the working device.
  • the preset range of action may be the range within which the excavator performs safe operations. When the working device of the excavator exceeds this range, it may cause damage to the working device or contact with obstacles and cause damage to obstacles.
  • the preset motion range may also be a preset motion range suitable for the excavator to operate according to the actual operation requirements of the excavator, and the present application is not limited thereto.
  • Step S102 Based on the current posture, determine the outermost point on the working device that is closest to the wall of the electronic fence and the current distance between the outermost point and the wall.
  • the current posture includes postures of various components on the working device, such as: bucket posture, boom posture, etc., which can be obtained specifically by using various sensors provided on the construction machinery.
  • the outermost point includes: the highest point, the lowest point and the frontmost point. In practical applications, it may also include the outermost point on the side of the working device, etc. This application does not limit.
  • Step S103 When the current distance between the outermost point and the wall is smaller than the preset distance threshold, respectively calculate the contribution of each current operation command to the position change of the outermost point.
  • the contribution amount can be calculated by using the rotation matrix of the construction machine, the coordinate value of the outermost point, and the attitude angle increment to calculate the contribution amount corresponding to the handle command.
  • the rotation matrix is obtained by the attitude angle output by the sensor
  • the coordinate value of the outermost point if the outermost point is located in the bucket, the coordinate value of the point in the bucket coordinate system
  • the attitude angle increment It can be obtained by calculating the attitude angle difference of the sensor output of the two frames before and after by the controller.
  • Step S104 Based on the contribution of each current operation command to the change in the position of the outermost point, perform corresponding restrictions on each current operation command, so that the working device works within a preset motion range.
  • each current operation command is a handle command for the construction machine operator to operate the handle of the construction machine.
  • the contribution of each handle command to the change of the outermost point of the working device is what kind of position change of the outermost point will be caused by the handle command.
  • the position change is to make the outermost point approach the electronic fence or make The outermost point is far away from the electronic fence. For example, for the electronic ceiling or electronic front wall, when the calculation result of the contribution is a positive number, it will prompt the outermost point to approach the electronic fence. At this time, it is necessary to limit the operation corresponding to the contribution Instructions to prevent the working device from passing through the electronic fence.
  • the construction machinery control method based on the electronic fence provided by the embodiment of the present application can control the contribution of the change of the outermost point of the working device by using the operation instructions of different components in the working device of the construction machine, so that the working device can
  • the control is more flexible and the control accuracy is higher, which is conducive to obtaining a larger working space and avoiding the problem that the working device passes through the electronic fence and damages obstacles or construction machinery.
  • the above-mentioned electronic fence setting process is as follows:
  • Step S201 Control the working device to move to target positions in different directions.
  • the target position is the farthest position that can be moved in the current direction, such as the front of the work device.
  • Step S202 Based on the target posture of the working device at the target position, determine the coordinates of the outermost point of the working device in the current direction. Among them, the attitudes of the different parts of the target attitude working device determine the coordinates of the outermost points in the current direction of all the parts, such as the frontmost point, the highest point, and the lowest point.
  • Step S203 Based on the coordinates of the outermost points in different directions, an electronic fence corresponding to the working device is set. Through the coordinates of the outermost points in different directions, a straight line perpendicular to the direction including the outermost point can be determined as the electronic fence in the direction.
  • the operator needs to operate the working device to the desired position, and the system automatically calculates the outermost point according to the posture of the working device, and after confirmation through the panel or the handle button, this outermost point is used as the electronic fence.
  • electronic fences namely electronic ceiling, electronic floor and electronic front wall, are respectively set above, below and in front of the excavator. Therefore, the flexible setting of the electronic fence is realized, and the setting accuracy is high, which is suitable for working conditions with strict requirements on the working range of construction machinery, and is beneficial to practical engineering applications.
  • the above-mentioned electronic fence can also be set in the following way:
  • Step S21 Obtain the setting parameters of the electronic fence.
  • the operator of the excavator directly inputs the parameters of the range of motion of the working device of the excavator on the panel, such as the coordinates of the maximum range of motion in front, above and below the working device.
  • Step S22 Based on the setting parameters of the electronic fence, an electronic fence corresponding to the working device is set.
  • the moving lines in front, above and below the working device are determined according to the coordinates of the above-mentioned maximum moving range, for example, to set up an electronic ceiling, it is sufficient to directly input the height from the ground.
  • This electronic fence setting method is more convenient, and can be applied to situations where the requirements for the working range of the working device are not high.
  • step S104 specifically includes the following steps:
  • Step S301 Obtain the current contribution of the current operation command to the current outermost point position change.
  • the contribution amount corresponding to the handle command can be calculated according to the rotation matrix corresponding to the working device, the coordinate value of the outermost point, and the attitude angle increment.
  • the rotation matrix is obtained by the attitude angle output by the sensors installed on each part of the excavator, and the coordinate value of the outermost point (if the outermost point is located in the bucket, then the coordinate value of the point in the bucket coordinate system) can be obtained through the working device
  • the size of the structure is obtained, and the increment of the attitude angle can be obtained by calculating the attitude angle difference of the sensor output of the two frames before and after by the controller.
  • Step S302 Determine whether the current contribution makes the current outermost point approach the electronic fence.
  • the outermost point when the calculation result of the contribution is a positive number, the outermost point will be urged to approach the electronic fence; otherwise, the outermost point will be urged to move away from the electronic fence;
  • the calculation result of the contribution when the calculation result of the contribution is a negative number, it will push the outermost point closer to the electronic fence; otherwise, it will make the outermost point far away from the electronic fence, that is, it can be based on the current setting position of the electronic fence, and by judging the contribution To judge its influence on the change of the position of the outermost point.
  • Step S303 When the current contribution makes the current outermost point approach the electronic fence, limit the current operation instruction.
  • control gain of the current operation instruction can be determined according to the relationship between the current distance and the preset distance threshold, and the control gain is used to characterize the attenuation degree of the operation instruction; the current operation instruction is limited based on the control gain.
  • the value range of the gain is [0,1], indicating the attenuation degree of the controller to the original input handle command.
  • the original input handle command is 1000
  • the gain is 0.8
  • Step S304 When the current contribution makes the current outermost point far away from the electronic fence, maintain the current operation instruction.
  • the gain is equal to 1; when the outermost point is closer to the electronic fence, that is, when it enters the deceleration area, a) if the outermost point is judged according to the positive or negative contribution Closer to the electronic fence, the gain is less than 1.
  • the gain is proportional to the distance from the outermost point to the electronic fence, the smaller the distance, the smaller the gain; the gain is inversely proportional to the contribution, the larger the contribution, the smaller the gain; b) If the outermost point is judged to be far from For electronic fences, the gain is equal to 1, that is, the current operating instructions are maintained and not controlled.
  • the above electronic fence-based construction machinery control method before performing the above step S103, further includes the following steps:
  • Step S105 Calculate the current moving speed and current inertia of each outermost point toward the electronic fence.
  • the current moving speed refers to the speed at which the outermost point approaches the electronic fence
  • the current inertia refers to the moment of inertia of the working device relative to the rotation axis. It can be calculated by using the center of gravity of the working device, bucket load, and angular acceleration.
  • Step S106 Update the preset distance threshold based on the current moving speed and the current inertia.
  • the preset distance threshold can be obtained through interpolation table and actual vehicle calibration through the relationship between the movement speed, inertia and deceleration distance. The faster the movement speed and the greater the inertia, the greater the deceleration distance, and vice versa. .
  • the deceleration distance that is, the preset distance threshold is usually a fixed value. If it is set too large, it will affect the working space of the construction machinery, and if it is set too small, it will easily cause the construction machinery to pass through the electronic fence due to inertia. And then damage the construction machinery.
  • the embodiment of the present application calculates the current moving speed and current inertia of the working device in real time, and adjusts the deceleration distance in real time accordingly, thereby obtaining a larger working space while ensuring that the construction machinery does not pass through the electronic fence, which is beneficial to construction machinery
  • the refined operation improves the control accuracy of construction machinery and is beneficial to engineering applications.
  • the chassis of the excavator stops on a horizontal plane, and the attitude of its working device is shown in Figure 4.
  • An electronic fence or electronic ceiling is set above the working device, assuming that the highest point is located at the top of the stick and has entered the deceleration area (that is, the distance between the highest point and the electronic ceiling is less than the preset distance threshold).
  • the rotation angle of the body changes by ⁇ 0
  • the boom handle command changes the boom pitch angle by ⁇ 1
  • the stick handle command changes the arm pitch angle by ⁇ 2
  • the bucket handle command changes the bucket pitch angle by ⁇ 3.
  • the above attitude angles are defined as positive for clockwise rotation and negative for counterclockwise rotation.
  • the chassis of the excavator is on a slope, it is necessary to consider whether the slewing command makes the highest point higher or lower. If it becomes higher, the slewing speed should be limited if it is close to the electronic ceiling, and if it is lower, it should be far away from the electronic ceiling. speed.
  • the highest point does not change, that is, the contribution of the bucket handle command to the highest point is 0, so the current bucket handle command should not be limited.
  • the above analysis process is aimed at the posture of the working device shown in Figure 4.
  • the contribution corresponding to different handle commands can also be obtained through the above contribution calculation formula.
  • the adaptive adjustment contribution calculation formula can also be obtained by referring to the above process, and the present application is not limited thereto.
  • the chassis of the excavator is parked on a horizontal plane, and the posture of the working device is shown in Figure 5.
  • the electronic floor is set under the working device, the lowest point is at the tip of the bucket, and it has entered the deceleration area.
  • There is a rotation matrix Ti (i 0,1,2,3), which converts the lowest point to the ground coordinate system; the coordinate value of the lowest point relative to the bucket coordinate system is P2; within one control cycle, set the rotation handle command
  • the rotation angle of the body changes by ⁇ 0
  • the boom handle command changes the boom pitch angle by ⁇ 1
  • the stick handle command changes the arm pitch angle by ⁇ 2
  • the bucket handle command changes the bucket pitch angle by ⁇ 3.
  • the above attitude angles are defined as positive for clockwise rotation and negative for counterclockwise rotation.
  • the chassis of the excavator is on a slope, it is necessary to consider whether the lowest point of the slewing command will be higher or lower. If it is lower, the slewing speed should be limited when it is close to the electronic floor.
  • the above analysis process is aimed at the posture of the working device shown in Figure 5.
  • the contribution corresponding to different handle commands can also be obtained through the above contribution calculation formula.
  • the adaptive adjustment contribution calculation formula can also be obtained by referring to the above process, and the present application is not limited thereto.
  • the construction machinery control method based on the electronic fence provided by the embodiment of the present application can control the contribution of the change of the outermost point of the working device by using the operation instructions of different components in the working device of the construction machine, so that the working device can
  • the control is more flexible and the control accuracy is higher, which is conducive to obtaining a larger working space and avoiding the problem that the working device passes through the electronic fence and damages obstacles or construction machinery.
  • the deceleration is gentle and the impact is small, which protects the safety of the working device in all directions.
  • the deceleration distance is dynamically adjusted with the movement speed and inertia of the working device, which can prevent the working device from passing through the electronic fence due to inertia in the high-speed motion state.
  • the embodiment of the present application also provides a construction machinery control device based on an electronic fence, which is applied to the controller 6 in the construction machinery shown in Figure 1.
  • the construction machinery control device based on an electronic fence specifically includes :
  • the acquisition module 101 is used to acquire the current operation instructions corresponding to different components in the working device of the target construction machine, the current posture corresponding to the working device and the electronic fence, and the electronic fence is used to represent the preset action range of the working device. For details, refer to the above method The related description of step S101 in the embodiment will not be repeated here.
  • the first processing module 102 is used to determine the outermost point on the working device closest to the wall surface of the electronic fence and the current distance between the outermost point and the wall surface based on the current posture. For details, refer to the relevant step S102 in the above method embodiment description and will not be repeated here.
  • the second processing module 103 is used to calculate the contribution of each current operation command to the position change of the outermost point when the current distance between the outermost point and the wall is less than the preset distance threshold. For details, refer to the steps in the above method embodiment The relevant description of S103 will not be repeated here.
  • the third processing module 104 is configured to restrict each current operation instruction based on the contribution of each current operation instruction to the change in the position of the outermost point, so as to make the working device work within a preset motion range.
  • the construction machinery control device based on the electronic fence provided in the embodiment of the present application is used to implement the construction machinery control method based on the electronic fence provided in the above embodiment.
  • the implementation method is the same as the principle. For details, refer to the relevant description of the above method embodiment. No longer.
  • the construction machinery control device based on the electronic fence provided in the embodiment of the present application controls the contribution of the outermost point of the working device by using the operation instructions of different components in the working device of the construction machine,
  • the control of the working device can be made more flexible and the control accuracy is higher, which is beneficial to obtain a larger working space, and avoids the problem that the working device passes through the electronic fence and damages obstacles or construction machinery.
  • the embodiment of the present application also provides a construction machine, specifically refer to the construction machine shown in Figure 1,
  • the controller 6 in the construction machine includes: a processor 901 and a memory 902 , wherein the processor 901 and the memory 902 can be connected via a bus or in other ways.
  • the connection via a bus is taken as an example.
  • the processor 901 may be a central processing unit (Central Processing Unit, CPU).
  • the processor 901 can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate array (Field-Programmable Gate Array, FPGA) or Other chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above-mentioned types of chips.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • Other chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above-mentioned types of chips.
  • the memory 902 as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions/modules corresponding to the methods in the above method embodiments.
  • the processor 901 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory 902, that is, implements the methods in the above method embodiments.
  • the memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created by the processor 901 and the like.
  • the memory 902 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the storage 902 may optionally include storages that are remotely located relative to the processor 901, and these remote storages may be connected to the processor 901 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • One or more modules are stored in the memory 902, and when executed by the processor 901, the methods in the foregoing method embodiments are executed.
  • the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive) , abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above-mentioned types of memory.

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  • Mining & Mineral Resources (AREA)
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  • General Engineering & Computer Science (AREA)
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Abstract

本申请提供了一种基于电子围墙的工程机械控制方法、装置及工程机械，该方法包括：获取目标工程机械的工作装置中不同部件对应的当前操作指令及工作装置对应的当前姿态和电子围墙；基于当前姿态确定工作装置上与电子围墙的墙面距离最近的最外点及最外点与墙面的当前距离；在最外点与墙面的当前距离小于预设距离阈值时，分别计算各当前操作指令对最外点位置变化的贡献量；并以此对各当前操作指令进行相应的限制，以使工作装置在预设动作范围作业。通过利用工程机械的工作装置中不同部件的操作指令对工作装置最外点变化的贡献量进行控制，使工作装置控制更加灵活，控制精确度更高，有利于扩大作业空间，避免工作装置穿越电子围墙造成损坏的问题。

Description

一种基于电子围墙的工程机械控制方法、装置及工程机械
相关申请的交叉引用
本申请要求于2021年6月8日提交的申请号为202110640747.3，名称为“一种基于电子围墙的工程机械控制方法、装置及工程机械”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及工程机械技术领域，具体涉及一种基于电子围墙的工程机械控制方法、装置及工程机械。
背景技术
挖掘机等工程机械在工程建设中有着非常重要的作用。以挖掘机为例其在深基坑、隧道等空间狭小以及视线存在盲区的施工环境中，挖掘机的工作装置很容易碰到障碍物，从而造成障碍物或工作装置损坏。为了避免这种情况的发生，通过在工程机械的工作装置的各个工作方向设置电子围墙，令工作装置在电子围墙所包围范围内进行作业，以保证作业的安全。
但是，以挖掘机为例，当工作装置的某一部件位于接近电子围墙的减速控制区时，现有的工程机械控制方法，仅限制该部件的作业速度，而工作装置往往由多个部件构成，例如仅限制上转台旋转速度，而不对动臂、斗杆和铲斗的运动进行控制的话，容易出现由于动臂、斗杆和铲斗在高速运动状态下急停而产生冲击振动，进而造成工作装置突破电子围墙限制。因此，现有的工程机械控制方法无法精准控制工程机械始终工作在电子围墙的范围内进行安全作业，造成电子围墙形同虚设。
发明内容
有鉴于此，本申请实施例提供了基于电子围墙的工程机械控制方法、装置及工程机械以克服现有技术中的工程机械控制方法控制精度低，难以保证工程机械在电子围墙内进行安全作业的问题。
根据第一方面，本申请实施例提供了一种基于电子围墙的工程机械控制方法，包括：
获取目标工程机械的工作装置中不同部件对应的当前操作指令及所述工作装置对应的当前姿态和电子围墙，所述电子围墙用于表征所述工作装置的预设动作范围；
基于所述当前姿态确定所述工作装置上与所述电子围墙的墙面距离最近的最外点及所述最外点与墙面的当前距离；
在所述最外点与墙面的当前距离小于预设距离阈值时，分别计算各当前操作指令对所述最外点位置变化的贡献量；
基于各当前操作指令对所述最外点位置变化的贡献量，对各当前操作指令进行相应的限制，以使所述工作装置在预设动作范围作业。
在一个实施例中，所述基于各当前操作指令对所述最外点位置变化的贡献量，对各当前操作指令进行相应的限制，包括：
获取当前操作指令对当前最外点位置变化的当前贡献量；
判断所述当前贡献量是否使所述当前最外点位置向所述电子围墙靠近；
当所述当前贡献量使所述当前最外点位置向所述电子围墙靠近时，对所述当前操作指令进行限制。
在一个实施例中，对所述当前操作指令进行限制，包括：
根据所述当前距离与所述预设距离阈值的关系，确定所述当前操作指令的控制增益，所述控制增益用于表征操作指令的衰减程度；
基于所述控制增益对所述当前操作指令进行限制。
在一个实施例中，当所述当前贡献量使所述当前最外点位置远离所述电子围墙时，维持所述当前操作指令。
在一个实施例中，所述基于电子围墙的工程机械控制方法还包括:
分别计算各最外点向电子围墙的当前移动速度及当前惯量；
基于所述当前移动速度及当前惯量对所述预设距离阈值进行更新。
在一个实施例中，所述基于电子围墙的工程机械控制方法还包括:
控制所述工作装置运动至不同方向上的目标位置；
基于所述工作装置在所述目标位置的目标姿态，确定所述工作装置在当前方向上最外点的坐标；
基于不同方向上最外点的坐标，设置所述工作装置对应的电子围墙。
在一个实施例中，所述基于电子围墙的工程机械控制方法还包括:
获取电子围墙设置参数；
基于所述电子围墙设置参数，设置所述工作装置对应的电子围墙。
根据第二方面,本申请实施例提供了一种基于电子围墙的工程机械控制装置，包括：
获取模块，用于获取目标工程机械的工作装置中不同部件对应的当前操作指令及所述工作装置对应的当前姿态和电子围墙，所述电子围墙用于表征所述工作装置的预设动作范围；
第一处理模块，用于基于所述当前姿态确定所述工作装置上与所述电子围墙的墙面距离最近的最外点及所述最外点与墙面的当前距离；
第二处理模块，用于在所述最外点与墙面的当前距离小于预设距离阈值时，分别计算各当前操作指令对所述最外点位置变化的贡献量；
第三处理模块，用于基于各当前操作指令对所述最外点位置变化的贡献量，对各当前操作指令进行相应的限制，以使所述工作装置在预设动作范围作业。
根据第三方面,本申请实施例提供了一种工程机械，包括：控制器，
所述控制器包括：存储器和处理器，所述存储器和所述处理器之间互相通信连接，所述存储器中存储有计算机指令，所述处理器通过执行所述计算机指令，从而执行第一方面，或者第一方面任意一种可选实施方式中所述的方法。
在一个实施例中，所述工程机械为挖掘机。
根据第四方面,本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储计算机指令，所述计算机指令用于使所述计算机执行第一方面，或者第一方面任意一种可选实施方式中所述的方法。
本申请技术方案，具有如下优点：
本申请实施例提供的一种基于电子围墙的工程机械控制方法、装置及工程机械，通过获取目标工程机械的工作装置中不同部件对应的当前操作指令及工作装置对应的当前姿态和电子围墙；基于当前姿态确定工作装置上与电子围墙的墙面距离最近的最外点及最外点与墙面的当前距离；在最外点与墙面的当前距离小于预设距离阈值时，分别计算各当前操作指令对最外点位置变化的贡献量；基于各当前操作指令对最外点位置变化的贡献量，对各当前 操作指令进行相应的限制，以使工作装置在预设动作范围作业。从而通过利用工程机械的工作装置中不同部件的操作指令对工作装置最外点变化的贡献量进行控制，可以使工作装置控制更加灵活，并且控制精确度更高，有利于获得更大的作业空间，避免工作装置穿越电子围墙使障碍物或工程机械受到损坏的问题。
附图说明
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例的工程机械的结构示意图；
图2为本申请实施例的基于电子围墙的工程机械控制方法的流程图；
图3为本申请实施例的电子围墙的具体示意图；
图4为本申请实施例的工程机械的工作场景示意图；
图5为本申请实施例的工程机械的另一工作场景示意图；
图6为本申请实施例的基于电子围墙的工程机械控制装置的结构示意图；
图7为本申请实施例的工程机械的控制器的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面所描述的本申请不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
挖掘机等工程机械在工程建设中有着非常重要的作用。以挖掘机为例其在深基坑、隧道等空间狭小以及视线存在盲区的施工环境中，挖掘机的工作装置很容易碰到障碍物，从而造成障碍物或工作装置损坏。为了避免这种情 况的发生，通过在工程机械的工作装置的各个工作方向设置电子围墙，令工作装置在电子围墙所包围范围内进行作业，以保证作业的安全。
但是，以挖掘机为例，当工作装置的某一部件位于接近电子围墙的减速控制区时，现有的工程机械控制方法，仅限制该部件的作业速度，而工作装置往往由多个部件构成，例如仅限制上转台旋转速度，而不对动臂、斗杆和铲斗的运动进行控制的话，容易出现由于动臂、斗杆和铲斗在高速运动状态下急停而产生冲击振动，进而造成工作装置突破电子围墙限制。因此，现有的工程机械控制方法无法精准控制工程机械始终工作在电子围墙的范围内进行安全作业，造成电子围墙形同虚设。
基于上述问题，本申请实施例提供了一种基于电子围墙的工程机械控制方法，应用于工程机械中的控制器，需要说明的是，在本申请实施例中以工程机械是挖掘机为例进行说明，在实际应用中，该工程机械还可以是钩机等其他工程机械，本申请并不以此为限。
如图1所示，该工程机械(挖掘机)包括：设置于车身上的车身回转角度传感器1、车身姿态传感器2及控制器6，还包括：设置于动臂上的动臂姿态传感器3、设置于斗杆上的斗杆姿态传感器4以及设置于铲斗上的铲斗姿态传感器5。其中，控制器6与设置于挖掘机上的各个传感器连接，控制器6接收各个传感器采集的传感器号，并且根据接收到的传感器信号对挖掘机进行控制，其中，车身回转角度传感器1，用于测量上车身与下车身的相对回转角度；车身、动臂、斗杆和铲斗姿态传感器，用于测量车身、动臂、斗杆和铲斗姿态。挖掘机的其他具体结构可参照现有技术中挖掘机的相关机械设计，在此不再进行赘述。
如图2所示，本申请实施例提供的基于电子围墙的工程机械控制方法应用于如图1所示的控制器6，该方法具体包括如下步骤：
步骤S101：获取目标工程机械的工作装置中不同部件对应的当前操作指令及工作装置对应的当前姿态和电子围墙。
其中，该电子围墙用于表征工作装置的预设动作范围。在实际应用中，该预设动作范围可以是挖掘机进行安全作业的范围，当挖掘机的工作装置超出该范围可能会造成工作装置的损坏或触碰到障碍物而造成障碍物的损坏，此外，该预设动作范围也可以是根据挖掘机的实际作业要求预先设置的适宜 挖掘机进行作业的动作范围等，本申请并不以此为限。
步骤S102：基于当前姿态确定工作装置上与电子围墙的墙面距离最近的最外点及最外点与墙面的当前距离。
其中，该当前姿态包括工作装置上各个部件的姿态，如：铲斗姿态、动臂姿态等，具体可以利用工程机械上设置的各个传感器来获得。如图3所示，在本申请实施例中，最外点包括：最高点、最低点和最前点，在实际应用中，还可以包括工作装置侧面的最外点等，本申请并不以此为限。
步骤S103：在最外点与墙面的当前距离小于预设距离阈值时，分别计算各当前操作指令对最外点位置变化的贡献量。
具体地，贡献量可以通过利用工程机械的旋转矩阵、最外点坐标值以及姿态角增量计算出手柄指令对应的贡献量。其中，旋转矩阵通过传感器输出的姿态角获得，最外点坐标值(如最外点位于铲斗，则该点在铲斗坐标系下的坐标值)通过工作装置结构尺寸获得，姿态角增量可通过控制器计算前后两帧传感器输出的姿态角差值获得。
步骤S104：基于各当前操作指令对最外点位置变化的贡献量，对各当前操作指令进行相应的限制，以使工作装置在预设动作范围作业。
其中，各当前操作指令为工程机械操作手对工程机械的手柄进行操作的手柄指令。各手柄指令对工作装置最外点变化的贡献量,为在该手柄指令下会促使最外点发生怎样的位置变化，在本申请实施例中，位置变化为促使最外点靠近电子围墙或促使最外点远离电子围墙，示例性地，对于电子天花板或电子前墙，在贡献量的计算结果为正数时，会促使最外点向电子围墙靠近，此时需要限制该贡献量对应的操作指令，以避免工作装置穿越电子围墙，反之，在贡献量的计算结果为负数时，则无需对操作指令进行限制；对于电子底板，在贡献量的计算结果为负数时，会促使最外点向电子围墙靠近，此时需要限制该贡献量对应的操作指令，以避免工作装置穿越电子围墙，反之，在贡献量的计算结果为正数时，则无需对操作指令进行限制。
通过执行上述步骤，本申请实施例提供的基于电子围墙的工程机械控制方法，通过利用工程机械的工作装置中不同部件的操作指令对工作装置最外点变化的贡献量进行控制，可以使工作装置控制更加灵活，并且控制精确度更高，有利于获得更大的作业空间，避免工作装置穿越电子围墙使障碍物或 工程机械受到损坏的问题。
具体地，在一实施例中，上述的电子围墙的设置过程如下：
步骤S201：控制工作装置运动至不同方向上的目标位置。该目标位置为当前方向如工作装置的前方能移动到的最远位置。
步骤S202：基于工作装置在目标位置的目标姿态，确定工作装置在当前方向上最外点的坐标。其中，该目标姿态工作装置各个不同部件的姿态，确定所有部件中在当前方向最外点的坐标，如最前方点、最高点及最低点等。
步骤S203：基于不同方向上最外点的坐标，设置工作装置对应的电子围墙。通过不同方向最外点的坐标，可以确定垂直于该方向包含最外点的直线作为该方向的电子围墙。
示例性地，操作者需操作工作装置至期望位置，系统根据工作装置姿态自动计算出最外点，通过面板或手柄按键确认后，并将此最外点作为电子围墙。如图3所示，分别在挖掘机的上方、下方和前方设置电子围墙，即电子天花板、电子地板和电子前墙。从而实现了电子围墙的灵活设置，并且设置精确度高，适用于对工程机械的工作范围有严格要求的工况，有利于工程实际应用。
在另一可替换实施方式中，上述的电子围墙的还可以通过如下方式进行设置：
步骤S21：获取电子围墙设置参数。
其中，挖掘机操作手通过在面板中直接输入挖掘机工作装置的活动范围参数，如：工作装置前方、上方及下方的最大活动范围的坐标。
步骤S22：基于电子围墙设置参数，设置工作装置对应的电子围墙。
具体地，根据上述最大活动范围的坐标确定工作装置前方、上方及下方的活动线，如：设置电子天花板，直接输入距离地面的高度即可。这种电子围墙设置方式更为简便，可应用于对工作装置工作范围要求不高的情况。
具体地，在一实施例中，上述的步骤S104具体包括如下步骤：
步骤S301：获取当前操作指令对当前最外点位置变化的当前贡献量。
具体地，可以根据工作装置对应的旋转矩阵、最外点坐标值以及姿态角增量计算出手柄指令对应的贡献量。其中，旋转矩阵通过挖掘机各个部件上设置的传感器输出的姿态角获得，最外点坐标值(如最外点位于铲斗，则该 点在铲斗坐标系下的坐标值)可通过工作装置结构尺寸获得，姿态角增量可通过控制器计算前后两帧传感器输出的姿态角差值获得。贡献量的详细计算过程参加下文应用示例的相关描述，在此不再进行赘述。
步骤S302：判断当前贡献量是否使当前最外点位置向电子围墙靠近。
具体地，在本申请实施例中，对于电子天花板或电子前墙，在贡献量的计算结果为正数时，会促使最外点向电子围墙靠近，反之，会促使最外点远离电子围墙；而对于电子底板在贡献量的计算结果为负数时，会促使最外点向电子围墙靠近，反之，会促使最外点远离电子围墙，即可以依据当前电子围墙的设置位置，并通过判断贡献量的正负来判断其对最外点位置变化的影响。
步骤S303：在当前贡献量使当前最外点位置向电子围墙靠近时，对当前操作指令进行限制。
具体地，可以根据当前距离与预设距离阈值的关系，确定所当前操作指令的控制增益，控制增益用于表征操作指令的衰减程度；基于控制增益对当前操作指令进行限制。
其中，增益的取值范围为[0,1]，表示控制器对原输入手柄指令的衰减程度，如原输入手柄指令为1000，增益为0.8，实际输出的手柄指令为1000*0.8＝800，即真正执行的手柄指令只有原输入指令80％大小。当工作装置最外点不断靠近电子围墙时，令增益逐渐减小到0，则手柄指令被相应衰减，工作装置逐渐减速，最外点也就停止在电子围墙附近。
步骤S304：在当前贡献量使当前最外点位置远离电子围墙时，维持当前操作指令。
具体地，当最外点远离电子围墙，即没有进入减速区域时，增益等于1；当最外点较接近电子围墙，即进入减速区域时，a)若根据贡献量正负判断出最外点靠近电子围墙，则增益小于1。增益与最外点到电子围墙的距离成正比，距离越小增益越小；增益与贡献量大小成反比，贡献量越大增益越小；b)若根据贡献量正负判断出最外点远离电子围墙，则增益等于1，即维持当期操作指令，不对其进行控制。
具体地，在一实施例中，在执行上述步骤S103之前，上述的基于电子围墙的工程机械控制方法还包括如下步骤：
步骤S105：分别计算各最外点向电子围墙的当前移动速度及当前惯量。
具体地，当前移动速度指最外点靠近电子围墙的速度；当前惯量指工作装置相对于旋转轴的转动惯量。可通过使用工作装置重心、铲斗负载、角加速度计算获得。
步骤S106：基于当前移动速度及当前惯量对预设距离阈值进行更新。
具体地，预设距离阈值可通过运动速度、惯量与减速距离的关系可通过插值表，实车标定获得，运动速度越快、惯量越大则减速距离越大，反之则所需减速距离越小。
在实际应用中，如挖掘机的液压系统有一定的响应延时，当输出的手柄指令为0时，工作装置不会立刻停止，需要一定的减速距离逐渐减速。当工作装置最外点达到该减速距离后，控制增益会小于1，手柄指令开始被衰减，工作装置运动速度开始降低。但是在现有技术中该减速距离即预设距离阈值通常为固定值，如果设置过大，则会影响工程机械的作业空间，而如果设置过小，则容易造成工程机械由于惯性发生穿越电子围墙进而损坏工程机械的问题。本申请实施例通过实时计算工作装置的当前移动速度和当前惯量，并据此实时调整该减速距离，从而在保障工程机械不穿越电子围墙的情况下，获得更大的作业空间，有利于工程机械的精细化作业，提高了工程机械的控制精度，有利于工程应用。
下面将结合具体应用示例，对本申请实施例提供的基于电子围墙的工程机械控制方法进行详细的说明。
应用示例1
挖掘机的底盘停在水平面上，其工作装置姿态如图4所示。在工作装置上方设置电子围墙即电子天花板，假设最高点位于斗杆顶部，且已进入减速区域(即最高点与电子天花板的距离小于预设距离阈值)。设有旋转矩阵Ti(i＝0,1,2,3)，将最高点换算到地面坐标系；最高点相对于斗杆坐标系的坐标值为P1；在一个控制周期内，设回转手柄指令使车身回转角度变化Δα0，动臂手柄指令使动臂俯仰角变化Δα1，斗杆手柄指令使斗杆俯仰角变化Δα2，铲斗手柄指令使铲斗俯仰角变化Δα3。以上姿态角均规定为顺时针旋转为正，逆时针旋转为负。
下面对四个手柄指令对最高点的贡献量进行讨论。
(1)回转手柄指令
回转手柄指令对最高点贡献量ΔZ0＝(T0*P1*Δα0)|z，()|z表示取Z方向的值。
由于挖掘机放置在水平面上，因此向左或向右回转不会影响最高点的变化，即回转手柄指令对最高点的贡献量为0，即不限制回转速度。
在另一应用场景中，如果挖掘机底盘位于斜坡，则要考虑回转指令使最高点变高还是变低，若变高则靠近电子天花板应限制回转速度，若变低则远离电子天花板不限制回转速度。
(2)动臂手柄指令
动臂手柄指令对最高点贡献量ΔZ1＝(T1*P1*Δα1)|z
当动臂手柄指令使动臂抬升时，Δα1大于0，可得ΔZ1大于0，可知当前动臂手柄指令使最高点升高靠近电子天花板，由于最高点已经位于减速区域以内，故应该对当前动臂手柄指令进行限制。
当动臂手柄指令使动臂下降时，Δα1小于0，可得ΔZ1小于0，可知当前动臂手柄指令使最高点降低远离电子天花板，故无需对当前动臂手柄指令进行限制。
(3)斗杆手柄指令
斗杆手柄指令对最高点贡献量ΔZ2＝(T2*P1*Δα2)|z
当斗杆手柄指令使斗杆卸载时，Δα2大于0，可得ΔZ2大于0，可知当前斗杆手柄指令使最高点升高靠近电子天花板，由于最高点已经位于减速区域以内，故应该对当前斗杆手柄指令进行限制。
当斗杆手柄指令使斗杆挖掘时，Δα2小于0，可得ΔZ2小于0，可知当前斗杆手柄指令使最高点降低远离电子天花板，故无需对当前斗杆手柄指令进行限制。
(4)铲斗手柄指令
铲斗手柄指令对最高点贡献量ΔZ3＝0
当铲斗手柄指令使铲斗卸载或挖掘时，最高点均不产生变化，即铲斗手柄指令对最高点的贡献量为0，故不应该对当前铲斗手柄指令进行限制。
以上分析过程针对的是图4中所示工作装置姿态，当工作装置姿态产生变化时，同样可以通过上述贡献量计算公式得到不同手柄指令对应的贡献量。 对于除挖掘机以外的其他工程机械，也可以参照上述过程得到适应性的调整贡献量计算公式，本申请并不以此为限。
应用示例2
挖掘机底盘停在水平面上，工作装置姿态如图5所示。在工作装置下方设置电子地板，最低点位于铲斗齿尖，且已进入减速区域。设有旋转矩阵Ti(i＝0,1,2,3)，将最低点换算到地面坐标系；最低点相对于铲斗坐标系的坐标值为P2；在一个控制周期内，设回转手柄指令使车身回转角度变化Δα0，动臂手柄指令使动臂俯仰角变化Δα1，斗杆手柄指令使斗杆俯仰角变化Δα2，铲斗手柄指令使铲斗俯仰角变化Δα3。以上姿态角均规定为顺时针旋转为正，逆时针旋转为负。
下面对四个手柄指令对最低点的贡献量进行讨论。
(1)回转手柄指令
回转手柄指令对最低点贡献量ΔZ0＝(T0*P2*Δα0)|z，()|z表示取Z方向的值。
由于挖掘机放置在水平面上，因此向左或向右回转不会影响最低点的变化，即回转手柄指令对最低点的贡献量为0，不限制回转速度。
另一种情况，如果挖掘机底盘位于斜坡，则要考虑回转指令使最低点变高还是变低，若变低则靠近电子地板应限制回转速度，若变高则远离电子地板不限制回转速度。
(2)动臂手柄指令
动臂手柄指令对最低点贡献量ΔZ1＝(T1*P2*Δα1)|z
当动臂手柄指令使动臂抬升时，Δα1大于0，可得ΔZ1大于0，可知当前动臂手柄指令使最低点升高远离电子地板，故无需对当前动臂手柄指令进行限制。
当动臂手柄指令使动臂下降时，Δα1小于0，可得ΔZ1小于0，可知当前动臂手柄指令使最低点降低靠近电子地板，由于最低点已经位于减速区域以内，故应该对当前动臂手柄指令进行限制。
(3)斗杆手柄指令
斗杆手柄指令对最低点贡献量ΔZ2＝(T2*P2*Δα2)|z
当斗杆手柄指令使斗杆卸载时，Δα2大于0，可得ΔZ2大于0，可知当前 斗杆手柄指令使最低点升高远离电子地板，故无需对当前斗杆手柄指令进行限制。
当斗杆手柄指令使斗杆挖掘时，Δα2小于0，可得ΔZ2小于0，可知当前斗杆手柄指令使最低点降低靠近电子地板，由于最低点已经位于减速区域以内，故应该对当前斗杆手柄指令进行限制。
(4)铲斗手柄指令
铲斗手柄指令对最高点贡献量ΔZ3＝(T3*P2*Δα3)|z
当铲斗手柄指令使铲斗卸载时，Δα3大于0，可得ΔZ3大于0，可知当前铲斗手柄指令使最低点升高远离电子地板，故无需对当前铲斗手柄指令进行限制。
当铲斗手柄指令使铲斗挖掘时，Δα3小于0，可得ΔZ2小于0，可知当前铲斗手柄指令使最低点降低靠近电子地板，由于最低点已经位于减速区域以内，故应该对当前铲斗手柄指令进行限制。
以上分析过程针对的是图5中所示工作装置姿态，当工作装置姿态产生变化时，同样可以通过上述贡献量计算公式得到不同手柄指令对应的贡献量。对于除挖掘机以外的其他工程机械，也可以参照上述过程得到适应性的调整贡献量计算公式，本申请并不以此为限。
通过执行上述步骤，本申请实施例提供的基于电子围墙的工程机械控制方法，通过利用工程机械的工作装置中不同部件的操作指令对工作装置最外点变化的贡献量进行控制，可以使工作装置控制更加灵活，并且控制精确度更高，有利于获得更大的作业空间，避免工作装置穿越电子围墙使障碍物或工程机械受到损坏的问题。并且工作装置在最外点贴近电子围墙时减速平缓，冲击小，保护工作装置在各个方向的作业安全。此外，减速距离随工作装置运动速度、惯量动态调整，可防止工作装置在高速运动状态下由于惯性作用穿越电子围墙。
本申请实施例还提供了一种基于电子围墙的工程机械控制装置，应用于如图1所示工程机械中的控制器6，如图6所示，该基于电子围墙的工程机械控制装置具体包括：
获取模块101，用于获取目标工程机械的工作装置中不同部件对应的当前操作指令及工作装置对应的当前姿态和电子围墙，电子围墙用于表征工作 装置的预设动作范围.详细内容参见上述方法实施例中步骤S101的相关描述，在此不再进行赘述。
第一处理模块102，用于基于当前姿态确定工作装置上与电子围墙的墙面距离最近的最外点及最外点与墙面的当前距离.详细内容参见上述方法实施例中步骤S102的相关描述，在此不再进行赘述。
第二处理模块103，用于在最外点与墙面的当前距离小于预设距离阈值时，分别计算各当前操作指令对最外点位置变化的贡献量.详细内容参见上述方法实施例中步骤S103的相关描述，在此不再进行赘述。
第三处理模块104，用于基于各当前操作指令对最外点位置变化的贡献量，对各当前操作指令进行相应的限制，以使工作装置在预设动作范围作业。详细内容参见上述方法实施例中步骤S104的相关描述，在此不再进行赘述。
本申请实施例提供的基于电子围墙的工程机械控制装置，用于执行上述实施例提供的基于电子围墙的工程机械控制方法，其实现方式与原理相同，详细内容参见上述方法实施例的相关描述，不再赘述。
通过上述各个组成部分的协同合作，本申请实施例提供的基于电子围墙的工程机械控制装置，通过利用工程机械的工作装置中不同部件的操作指令对工作装置最外点变化的贡献量进行控制，可以使工作装置控制更加灵活，并且控制精确度更高，有利于获得更大的作业空间，避免工作装置穿越电子围墙使障碍物或工程机械受到损坏的问题。
本申请实施例还提供了一种工程机械，具体可参照如图1所示的工程机械，
如图7所示，该工程机械中的控制器6包括：处理器901和存储器902，其中，处理器901和存储器902可以通过总线或者其他方式连接，图7中以通过总线连接为例。
处理器901可以为中央处理器(Central Processing Unit，CPU)。处理器901还可以为其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等芯片，或者上述各类芯片的组合。
存储器902作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态计算机可执行程序以及模块，如上述方法实施例中的方法所对应的程序指令/模块。处理器901通过运行存储在存储器902中的非暂态软件程序、指令以及模块，从而执行处理器的各种功能应用以及数据处理，即实现上述方法实施例中的方法。
存储器902可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储处理器901所创建的数据等。此外，存储器902可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器902可选包括相对于处理器901远程设置的存储器，这些远程存储器可以通过网络连接至处理器901。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
一个或者多个模块存储在存储器902中，当被处理器901执行时，执行上述方法实施例中的方法。
上述控制器具体细节可以对应参阅上述方法实施例中对应的相关描述和效果进行理解，此处不再赘述。
本领域技术人员可以理解，实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，实现的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)、随机存储记忆体(Random Access Memory，RAM)、快闪存储器(Flash Memory)、硬盘(Hard Disk Drive，缩写：HDD)或固态硬盘(Solid-State Drive，SSD)等；存储介质还可以包括上述种类的存储器的组合。
虽然结合附图描述了本申请的实施例，但是本领域技术人员可以在不脱离本申请的精神和范围的情况下作出各种修改和变型，这样的修改和变型均落入由所附权利要求所限定的范围之内。

Claims (10)

  1. 一种基于电子围墙的工程机械控制方法，包括：
    获取目标工程机械的工作装置中不同部件对应的当前操作指令及所述工作装置对应的当前姿态和电子围墙，所述电子围墙用于表征所述工作装置的预设动作范围；
    基于所述当前姿态确定所述工作装置上与所述电子围墙的墙面距离最近的最外点及所述最外点与墙面的当前距离；
    在所述最外点与墙面的当前距离小于预设距离阈值时，分别计算各当前操作指令对所述最外点位置变化的贡献量；
    基于各当前操作指令对所述最外点位置变化的贡献量，对各当前操作指令进行相应的限制，以使所述工作装置在预设动作范围作业。
  2. 根据权利要求1所述的方法，其特征在于，所述基于各当前操作指令对所述最外点位置变化的贡献量，对各当前操作指令进行相应的限制，包括：
    获取当前操作指令对当前最外点位置变化的当前贡献量；
    判断所述当前贡献量是否使所述当前最外点位置向所述电子围墙靠近；
    当所述当前贡献量使所述当前最外点位置向所述电子围墙靠近时，对所述当前操作指令进行限制。
  3. 根据权利要求2所述的方法，其特征在于，所述对所述当前操作指令进行限制，包括：
    根据所述当前距离与所述预设距离阈值的关系，确定所述当前操作指令的控制增益，所述控制增益用于表征操作指令的衰减程度；
    基于所述控制增益对所述当前操作指令进行限制。
  4. 根据权利要求2所述的方法，其特征在于，当所述当前贡献量使所述当前最外点位置远离所述电子围墙时，维持所述当前操作指令。
  5. 根据权利要求1所述的方法，还包括：
    分别计算各最外点向电子围墙的当前移动速度及当前惯量；
    基于所述当前移动速度及当前惯量对所述预设距离阈值进行更新。
  6. 根据权利要求1所述的方法，还包括:
    控制所述工作装置运动至不同方向上的目标位置；
    基于所述工作装置在所述目标位置的目标姿态，确定所述工作装置在当前方向上最外点的坐标；
    基于不同方向上最外点的坐标，设置所述工作装置对应的电子围墙。
  7. 根据权利要求1所述的方法，还包括:
    获取电子围墙设置参数；
    基于所述电子围墙设置参数，设置所述工作装置对应的电子围墙。
  8. 一种基于电子围墙的工程机械控制装置，包括：
    获取模块，用于获取目标工程机械的工作装置中不同部件对应的当前操作指令及所述工作装置对应的当前姿态和电子围墙，所述电子围墙用于表征所述工作装置的预设动作范围；
    第一处理模块，用于基于所述当前姿态确定所述工作装置上与所述电子围墙的墙面距离最近的最外点及所述最外点与墙面的当前距离；
    第二处理模块，用于在所述最外点与墙面的当前距离小于预设距离阈值时，分别计算各当前操作指令对所述最外点位置变化的贡献量；
    第三处理模块，用于基于各当前操作指令对所述最外点位置变化的贡献量，对各当前操作指令进行相应的限制，以使所述工作装置在预设动作范围作业。
  9. 一种工程机械，包括：控制器，
    所述控制器包括：存储器和处理器，所述存储器和所述处理器之间互相通信连接，所述存储器中存储有计算机指令，在所述工程机械的工作模式设置为重复作业模式时，所述处理器通过执行所述计算机指令，从而执行权利要求1-7任一项所述的方法。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使所述计算机执行如权利要求1-7任一项所述的方法。
PCT/CN2022/082043 2021-06-08 2022-03-21 一种基于电子围墙的工程机械控制方法、装置及工程机械 WO2022257537A1 (zh)

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