WO2023143138A1 - 作业机械遥控端力反馈控制方法、装置及系统 - Google Patents

作业机械遥控端力反馈控制方法、装置及系统 Download PDF

Info

Publication number
WO2023143138A1
WO2023143138A1 PCT/CN2023/072134 CN2023072134W WO2023143138A1 WO 2023143138 A1 WO2023143138 A1 WO 2023143138A1 CN 2023072134 W CN2023072134 W CN 2023072134W WO 2023143138 A1 WO2023143138 A1 WO 2023143138A1
Authority
WO
WIPO (PCT)
Prior art keywords
force
information
feedback
working machine
remote control
Prior art date
Application number
PCT/CN2023/072134
Other languages
English (en)
French (fr)
Inventor
姚锦怡
高学敏
曾创烁
Original Assignee
上海三一重机股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海三一重机股份有限公司 filed Critical 上海三一重机股份有限公司
Publication of WO2023143138A1 publication Critical patent/WO2023143138A1/zh

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45012—Excavator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present application relates to the technical field of remote control of operating machines, in particular to a method, device and system for force feedback control of remote control terminals of operating machines.
  • the safe operation of the excavator can be realized through remote control of the excavator.
  • the present application provides a force feedback control method, device and system at a remote control end of a working machine to solve the defects existing in the prior art.
  • the application provides a force feedback control method at the remote control end of an operating machine, including:
  • the force feedback device at the remote control end of the working machine is controlled to provide a feedback force corresponding to the force information to the user.
  • the self-information includes at least one of pose information, pressure information in the boom cylinder cavity, and travel track information;
  • determining the force information of the working machine is realized by at least one of the following steps:
  • the type of the external force included in the force information is determined.
  • the force feedback device includes a handle, and the handle includes a joystick and a driving device;
  • controlling the force feedback device at the remote end of the working machine to provide the user with a feedback force corresponding to the force information includes:
  • control the driving device to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the load force, and the feedback force corresponding to the load force is damping force form.
  • the force feedback device includes a handle, the handle includes a joystick and a driving device, and the type of the external force includes limit state limiting force;
  • controlling the force feedback device at the remote control end of the working machine to provide the user with a feedback force corresponding to the force information further includes:
  • the driving device to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the limit state limiting force, and the feedback force corresponding to the limit state limiting force is in the form of a collision force .
  • determining the type of external force contained in the force information includes:
  • the force information includes the external force, and the type of the external force is the limit state limiting force.
  • the force feedback device includes a handle, the handle includes a joystick and a driving device, and the type of the external force also includes an obstacle resistance force;
  • controlling the force feedback device at the remote control end of the working machine to provide the user with a feedback force corresponding to the force information further includes:
  • the driving device to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the obstacle resistance force, and the feedback force corresponding to the obstacle resistance force is in the form of a collision force, Alternatively, the feedback force corresponding to the obstacle resistance force is in the form of a combination of damping force and collision force.
  • the driving trajectory information includes actual driving trajectory information and theoretical driving trajectory information
  • determining the type of external force contained in the force information includes:
  • the difference is greater than a preset threshold, it is determined that the force information includes the external force, and the type of the external force is the obstruction force of the obstacle.
  • determining the force information of the operating machine based on the sound information includes:
  • the present application also provides a force feedback control device at the remote control end of the working machine, including:
  • An information acquisition module configured to acquire the sound information of the environment where the operating machine is located and/or the self-information of the operating machine
  • An information determination module configured to determine force information of the working machine based on the sound information and/or the self-information
  • the feedback force providing module is configured to, based on the force information, control the force feedback device at the remote end of the working machine to provide the user with feedback force corresponding to the force information.
  • the application also provides a force feedback control system at the remote control end of the operating machine, including: The force feedback device at the remote control end and the above-mentioned force feedback control device at the remote control end of the working machine;
  • the force feedback device is connected to the force feedback control device at the remote control end of the operation machine through a CAN bus;
  • the force feedback device includes a handle and/or a multi-degree-of-freedom seat.
  • the present application also provides an operating machine platform, including: an operating machine, an operating machine remote control terminal, and the above-mentioned force feedback control system at the operating machine remote control end;
  • the working machine remote control terminal is used to remotely control the working machine
  • the force feedback control system of the remote terminal of the working machine is used for force feedback control of the remote terminal of the working machine.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the processor executes the program, remote control of the operating machine as described in any one of the above-mentioned The steps of the end force feedback control method.
  • the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the methods for force feedback control of the remote control terminal of the working machine described above are implemented.
  • the force feedback control method, device and system of the remote control terminal of the working machine provided by this application first obtains the sound information of the environment where the working machine is located and/or the self-information of the working machine; Finally, according to the force information, the force feedback device at the remote control end of the operation machine is controlled to provide the user with a feedback force corresponding to the force information.
  • this method can provide the user with feedback force corresponding to the force information of the operating machine, so that the user can feel the force of the operating machine, reduce the user's dependence on the visual image, and avoid the user's Visual fatigue.
  • the feedback force is directly provided to the user, it is possible to avoid the misoperation of the user due to the deviation of the visual image, which not only improves the work efficiency of the user, but also improves the safety of the operation, and also enables the user to have a sense of on-site operation experience .
  • Fig. 1 is a schematic flow chart of a force feedback control method at a remote control end of a working machine provided by the present application;
  • Fig. 2 is a structural schematic diagram of the handle used in the force feedback control method at the remote control end of the operating machine provided by the present application;
  • Fig. 3 is a schematic structural diagram of the force feedback control device at the remote control end of the operation machine provided by the present application;
  • Fig. 4 is a structural schematic diagram of the force feedback control system at the remote control end of the operation machine provided by the present application;
  • FIG. 5 is a schematic structural diagram of an electronic device provided by the present application.
  • an embodiment of the present application provides a force feedback control method for a remote control terminal of a working machine.
  • Fig. 1 is a schematic flow chart of a force feedback control method at the remote control end of a working machine provided in an embodiment of the present application. As shown in Fig. 1, the method includes:
  • the force feedback control method of the remote control terminal of the working machine is executed by the force feedback control device of the remote control terminal of the working machine.
  • the device is a processor and can be configured in a server.
  • the server can be located at The side of the working machine can also be located at the side of the remote control end of the working machine, and it can also be located at any position between the working machine and the remote end of the working machine. be specifically limited.
  • the server may be a local server or a cloud server.
  • the local server may be a computer or a tablet computer, which is not specifically limited in this embodiment of the present application.
  • the working machines involved in the embodiments of the present application are working machines that support remote control, and can also be called remote-controlled working machines. Manipulate and provide force feedback during manipulation.
  • the force feedback control device of the remote control terminal of the working machine can be communicatively connected with the remote control terminal of the working machine.
  • the work machine may include at least one of a drilling machine, an excavating machine, a loading machine, a carrier machine, a municipal machine, a crusher, and a vehicle driven by a driver.
  • Excavation machinery is a working machine used to dig mines.
  • a loading machine is a working machine used to load goods into a carrying machine.
  • the loading machine includes at least one of a hydraulic excavator, an electric excavator, and a wheel loader.
  • Carrying machinery is a working machine used to carry goods.
  • Municipal machinery is used for cleaning and beautifying urban roads, such as sweepers, sprinklers and vacuum cleaners.
  • a crusher is an operating machine that crushes earth and rocks fed from a carrier.
  • an excavator may be used as an example for description, but it is not limited to the excavator.
  • step S1 is executed, and at least one of the sound information of the environment where the working machine is located and the self-information of the working machine can be acquired.
  • the environment where the operating machine is located is the working site of the excavator.
  • the sound information refers to the sound in the environment where the operating machine is located.
  • the sound information can be obtained through a pickup.
  • the pickup can be installed at a fixed position on the operating machine. Select according to needs, and no specific limitation is made here. For example, the pickup can be mounted on the roof of the cab of the work machine, or it can be mounted on the body of the work machine.
  • the self-information of the working machine refers to the relevant information that the working machine itself is not affected by the outside world, for example, it may include at least one of information such as the pose information of the working machine, the pressure information in the cylinder cavity of the boom arm of the working machine, and the driving track information of the working machine. kind.
  • the excavator may include multiple working devices, such as a boom, a stick, and a bucket, and may also include a vehicle body.
  • the position and posture information of the excavator may include relative position and posture information of each working device.
  • the self-information of the working machine also includes the load weight measured by the weighing system.
  • the relative position of each working device can be determined by the length of the connecting arm between each working device and the length of each working device. Determine the relative attitude information of the operating device.
  • the absolute attitude information of each working device can include the angle between each working device and the horizontal plane, which can be calculated through the displacement of the digital cylinder of each working device and the size of the working device.
  • the relative posture information of each working device may include the relative angle of each working device, which may be obtained by measuring with a sensor.
  • a sensor For example, an inertial measurement unit (IMU) inclination sensor can be installed on the shaft of the stick and boom, and an angle sensor can be installed on the side of the bucket.
  • IMU inertial measurement unit
  • the pressure information in the boom cylinder cavity of the working machine refers to the pressure information in the large and small cavities of the boom cylinder of the working machine, which can be obtained by measuring the pressure sensors installed in the large and small cavities respectively.
  • the running track information of the working machine refers to the track information obtained during the running of the working machine, and may include theoretical driving track information and actual driving track information.
  • the theoretical driving trajectory information may be the driving trajectory information predicted according to the operating state parameters of the excavator, and the actual driving trajectory information may be obtained by locating and tracking the excavator in real time.
  • step S2 is executed to determine the force information of the working machine through at least one of sound information and self information. That is to say, in the embodiment of the present application, the force information of the working machine can be determined only through the sound information, or the force information of the working machine can be determined only through its own information, or can be determined in combination with the sound information and its own information.
  • Force information of working machinery refers to the force exerted by the outside world on the working machine, which is opposite to the self-information of the working machine, such as the external force received by the working machine, the load force of the working machine when performing load operations, and the like.
  • the working machine can be determined whether the working machine is impacted by an external force by judging the existence and intensity of the sound information of the environment where the working machine is located. At this time, it can be judged whether the force information of the working machine contains external force.
  • This method can be applied to situations where collision sounds occur under quiet working conditions, and can realize rapid judgment of force information.
  • step S3 is executed to control the force feedback device at the remote end of the operating machine to provide the user with a feedback force corresponding to the force information according to the force information of the operating machine.
  • a remote control device may be configured on the remote control end of the working machine, and the remote control device may be a handle in the remote cab.
  • the remote control device is adapted to receive user input and, in response to user input, obtain user control command, and send the user control command to the work machine controller, so as to realize the remote control of the work machine.
  • the user input here is the user's operation information on the handle.
  • the user may be a teleoperator of the work machine.
  • a force feedback device can also be configured.
  • the force feedback device is a physical device, which can be the same as the remote control device, that is, the force feedback device can also be a handle in the remote cab, or it can be a multi-free Seats, etc., are not specifically limited here.
  • the force feedback device can be controlled by the force feedback control device at the remote control end of the working machine, so that the force feedback device can provide the user with a feedback force corresponding to the force information.
  • the form of the feedback force may be a form of damping force, or a form of collision force, or a mixture of the two, which is not specifically limited here.
  • the feedback force in the form of damping force is a force opposite to the direction of the force information, and the magnitude of the force can be set as required.
  • the corresponding feedback force in the form of damping force can be the same, or Can be different.
  • the magnitude of the feedback force in the form of a damping force corresponding to the force information can be set to be proportional to the force information.
  • the feedback force in the form of collision force may be a force whose waveform is a sine wave, and the duration of the force may include impact time, sustain time and decay time.
  • the feedback force in the form of collision force is usually expressed in the form of vibration, and its effect can be determined by factors such as the impact force amplitude, impact time, post-decay amplitude, and decay time.
  • the form of the feedback force can also be called the form of impulse force. That is, the feedback force in the form of impulse force can be regarded as a special feedback force in the form of collision force.
  • the force feedback control method of the remote control terminal of the working machine provided in the embodiment of the present application first obtains the sound information of the environment where the working machine is located and/or the self-information of the working machine; Force information; finally, according to the force information, control the force feedback device at the remote end of the operation machine to provide the user with a feedback force corresponding to the force information.
  • this method can provide the user with feedback force corresponding to the force information of the operating machine, so that the user can feel the force of the operating machine, reduce the user's dependence on the visual image, and avoid the user's Visual fatigue.
  • the feedback force is directly provided to the user, it is possible to avoid the misoperation of the user due to the deviation of the visual image, which not only improves the work efficiency of the user, but also improves the safety of the operation, and also enables the user to have the experience of on-site operation. experience.
  • the self-information includes at least one of pose information, pressure information in the boom cylinder cavity, and travel track information;
  • determining the force information of the working machine is realized by at least one of the following steps:
  • the type of the external force included in the force information is determined.
  • the self-information of the working machine includes at least one of pose information, pressure information in the boom cylinder cavity, and travel trajectory information.
  • the type of the external force contained in the force information can be determined according to the pose information. This process can be understood as judging whether the force information contains external force and the specific type of external force if it contains external force.
  • the type of external force included in the force information can be determined according to the pose information of each working device of the working machine.
  • the type of external force may be a limit state limiting force. It can be understood that the limiting force of the limit state refers to the external force on the working machine when the user controls the working machine to continue running after the working machine reaches the limit state.
  • the thrust information of the boom cylinder of the working machine can be calculated according to the pressure information in the boom cylinder cavity. Then, according to the thrust information of the cylinder, combined with the torque relationship, the load force contained in the force information can be determined. This process can be understood as judging whether the force information contains the load force and the specific value of the load force when the force information contains the load force.
  • the self-information of the operating machine also includes the load weight measured by the weighing system. Therefore, the specific value of the load force can be directly converted through the load weight.
  • the type of the external force contained in the force information may be determined according to the driving track information.
  • the type of external force may be an obstacle resistance force. It can be understood that the obstruction force refers to the force of the operation when the user controls the operation machine to continue running after the operation machine is obstructed by obstacles. external force on the machine.
  • the force feedback device includes a handle, and the handle includes a joystick and a driving device;
  • controlling the force feedback device at the remote end of the working machine to provide the user with a feedback force corresponding to the force information includes:
  • control the driving device to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the load force, and the feedback force corresponding to the load force is damping force form.
  • the handle is used as the force feedback device, and the handle may include a joystick and a driving device, and the joystick and the driving device are connected through a link mechanism.
  • the link mechanism can play a role in limiting the displacement of the joystick.
  • the driving device is used to drive the joystick to rotate in a target plane, and the target plane may be a horizontal plane.
  • the driving device may include one or more, and when there is one driving device, the driving device can drive the joystick to rotate in all directions in the target plane.
  • the driving device is the first driving device and the second driving device
  • the first driving device can control the rotation of the joystick in the first direction in the target plane
  • the second driving device can control the rotation of the joystick in the target plane.
  • the first direction and the second direction may be perpendicular, for example, the first direction is the X-axis direction, and the second direction is the Y-axis direction.
  • the driving device may include a motor, a reducer and a connecting shaft, and the motor and the reducer may be connected through the connecting shaft.
  • the handle includes a joystick 1 , a first driving device 2 and a second driving device 3 .
  • the manipulation information of the handle can be determined based on the CAN bus first. That is, the handle can communicate with the force feedback control device at the remote control end of the operation machine through the CAN bus, and the force feedback control at the remote end of the work machine can obtain the manipulation information of the handle through the CAN bus.
  • the communication protocol used in CAN bus communication includes whether the joystick that provides the handle is in Center, left, right, forward or rearward positions and provide relative opening in each direction. Therefore, the CAN signal transmitted in the CAN bus represents the position information of the joystick.
  • the refresh time of the CAN signal is at an interval of 10ms. Therefore, according to the position change ⁇ Dj of the joystick in the time interval Ti, the manipulation can be calculated.
  • the manipulation speed Vj of the lever ⁇ Dj/Ti and the acceleration Aj.
  • the manipulation information of the handle may include information such as manipulation force, manipulation direction, manipulation stroke, manipulation speed, and manipulation acceleration. It can be understood that the manipulation direction is the movement direction of the handle, and the manipulation stroke is the position information of the joystick.
  • the magnitude of the feedback force in the form of damping force may be directly proportional to the manipulation speed of the handle, and specifically may be jointly determined by the manipulation speed, manipulation stroke, pressure information in the boom cylinder cavity, and cylinder displacement information.
  • the damping force should not be greater than 80% of the operating force of the joystick at no load.
  • the displacement of the joystick limited by the reducer should not be greater than the maximum operating stroke of the joystick.
  • the direction of the feedback force in the form of a damping force may be opposite to the direction of movement of the handle.
  • the driving device of the handle can be controlled to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the load force.
  • the feedback force is in the form of a damping force, and the feedback force may be characterized by decelerating the user's manipulation speed through a reducer in the driving device.
  • the force feedback control device at the remote control end of the working machine can quickly obtain the manipulation information of the handle, which can simplify the structure for obtaining the manipulation information of the handle and save costs.
  • the driving device of the handle is controlled by the manipulation information of the handle to achieve the effect that the joystick provides the user with a feedback force in the form of damping force corresponding to the load force, so that the user can better understand the load situation of the current operating machine, and the user's on-site operation The experience is more real.
  • the embodiment of the present application provides a force feedback control method at the remote control end of the working machine, the force feedback device includes a handle, the handle includes a joystick and a driving device, and the type of the external force includes a limit state restrictive force;
  • controlling the force feedback device at the remote control end of the working machine to provide the user with a feedback force corresponding to the force information further includes:
  • the driving device to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the limit state limiting force, and the feedback force corresponding to the limit state limiting force is in the form of a collision force .
  • the type of external force that the excavator is subjected to may include limit state limiting force.
  • the force feedback device when the force feedback device is controlled to provide the user with a feedback force corresponding to the force information, the driving device can be directly controlled to drive the joystick to move so that the joystick provides the user with a feedback force corresponding to the limiting force of the limit state.
  • the feedback force is in the form of collision force, and the feedback force can be characterized by the vibration signal generated by the motor in the driving device.
  • the joystick by controlling the driving device of the handle, the joystick can provide the user with a feedback force in the form of a collision force corresponding to the limit state limit force, so that the user can better understand the current limit state limit force of the excavator The situation makes the user's on-site operation experience more realistic.
  • the excavator remote control terminal force feedback control method determines the type of external force contained in the force information based on the pose information, including:
  • the force information includes the external force, and the type of the external force is the limit state limiting force.
  • the posture information of the excavator can be compared with the posture information of the limit state, and if the two are consistent or the difference between the two is within a preset range, it can be determined that the excavator is in the limit state.
  • the limit state may refer to the state that a certain working device of the excavator is in the limit position, for example, the boom or stick is raised to the highest or lowered to the lowest, the bucket is opened to the outermost direction away from the excavator, or In the direction of the excavator received the status of the innermost position.
  • the type of external force contained in the force information of the excavator includes the limit state limiting force, so as to remind the user to stop continuing to manipulate the handle in the current direction. Otherwise, it can be determined that the force information of the excavator does not include the type of external force such as limit state limiting force. It can be understood that whether other types of external forces are included in the force information of the excavator is not specifically limited here.
  • the force information of the excavator contains the limit state limit force through the posture information of the excavator, so as to provide the user with the corresponding reaction in the form of collision force.
  • Feedback makes the user's on-site operation experience more realistic.
  • the force feedback device includes a handle, the handle includes a joystick and a driving device, and the type of the external force also includes obstacles physical hindrance;
  • controlling the force feedback device at the remote control end of the excavator to provide the user with a feedback force corresponding to the force information also includes:
  • the driving device to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the obstacle resistance force, and the feedback force corresponding to the obstacle resistance force is in the form of a collision force, Alternatively, the feedback force corresponding to the obstacle resistance force is in the form of a combination of damping force and collision force.
  • the type of external force suffered by the excavator also includes obstacle resistance force.
  • the driving device can be directly controlled to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the obstruction force of the obstacle, prompting the user
  • the excavator touches the obstacle.
  • the form of the feedback force corresponding to the obstruction force of the obstacle can be the form of the collision force, or the combination of the damping force and the collision force, which can be selected and set according to the needs, and is not specifically limited here.
  • the feedback force can be characterized by the vibration signal generated by the motor in the drive device, or it can be characterized by the deceleration of the user's manipulation speed through the reducer in the drive device and the vibration signal generated by the motor in the drive device .
  • the joystick by controlling the driving device of the handle, the joystick can provide the user with the feedback force in the form of the collision force corresponding to the obstruction force or the feedback force in the form of collision force and damping force, so that the user can better understand the current excavation.
  • the obstruction force of obstacles on the machine can make the user's on-site operation experience more realistic.
  • the driving trajectory information includes actual driving trajectory information and theoretical driving trajectory information
  • determining the type of external force contained in the force information includes:
  • the difference is greater than a preset threshold, it is determined that the external force is included in the force information, And the type of the external force is the obstacle resistance force.
  • the driving trajectory information includes actual driving trajectory information and theoretical driving trajectory information
  • it can be First calculate the difference between the actual driving trajectory information and the theoretical driving trajectory information. Then compare the difference with the preset threshold. If the difference is greater than the preset threshold, it can be determined that the force information of the working machine includes an obstacle force, and it can be judged that the working machine is hindered by an obstacle during driving. Otherwise, it can be determined that the force information of the working machine does not include the type of the external force of the obstruction force. It can be understood that whether other types of external forces are included in the force information of the working machine is not specifically limited here.
  • the force information of the working machine contains the obstacle resistance force, so as to provide
  • the user provides the corresponding feedback force in the form of collision force or the form of collision force and damping force, so that the user's on-site operation experience is more realistic.
  • the force feedback control method at the remote control end of the operating machine determines the force information of the operating machine based on the sound information, including:
  • the sound information when determining the force information of the working machine through the sound information of the environment where the working machine is located, the sound information is first subjected to noise filtering processing to obtain the processed sound information, and then the processed sound information is used to determine the force information of the working machine. The sound information judges whether there is an external force in the force information.
  • the difference between the processed sound information and the preset sound information can be judged. If the difference is large, it can be determined that the force information contains external force, otherwise it can be determined that the force information does not contain external force.
  • the preset sound information can be set as required, for example, it can be the sound information obtained when the working machine is in an environment where there is no sound from the working machine due to external force.
  • the embodiment of the present application provides a force feedback control device at the remote control end of the working machine, including:
  • An information acquisition module 31 configured to acquire the sound information of the environment where the working machine is located and/or the self-information of the working machine;
  • An information determination module 32 configured to determine force information of the working machine based on the sound information and/or the self-information
  • the feedback force providing module 33 is configured to, based on the force information, control the force feedback device at the remote end of the working machine to provide the user with feedback force corresponding to the force information.
  • the self-information includes at least one of pose information, pressure information in the boom cylinder cavity, and travel track information;
  • the information determination module is used to implement at least one of the following steps:
  • the type of the external force included in the force information is determined.
  • the force feedback control device at the remote control end of the working machine provided in the embodiment of the present application, the force feedback device includes a handle, and the handle includes a joystick and a driving device;
  • the feedback force providing module is specifically used for:
  • control the driving device to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the load force, and the feedback force corresponding to the load force is damping force form.
  • the force feedback control device at the remote control end of the operation machine provided in the embodiment of the present application, includes a handle, the handle includes a joystick and a driving device, and the type of the external force includes a limit state restrictive force;
  • the feedback force providing module is also specifically used for:
  • the driving device to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the limit state limiting force, and the feedback force corresponding to the limit state limiting force is in the form of a collision force .
  • the information determination module is also specifically used for:
  • the force information includes the external force, and the type of the external force is the limit state limiting force.
  • the force feedback control device at the remote control end of the operation machine provided in the embodiment of the present application, includes a handle, the handle includes a joystick and a driving device, and the type of the external force also includes an obstacle physical hindrance;
  • the feedback force providing module is also used for:
  • the driving device to drive the joystick to move, so that the joystick provides the user with a feedback force corresponding to the obstacle resistance force, and the feedback force corresponding to the obstacle resistance force is in the form of a collision force, Alternatively, the feedback force corresponding to the obstacle resistance force is in the form of a combination of damping force and collision force.
  • the driving trajectory information includes actual driving trajectory information and theoretical driving trajectory information
  • the information determination module is also used for:
  • the difference is greater than a preset threshold, it is determined that the force information includes the external force, and the type of the external force is the obstruction force of the obstacle.
  • the information determination module is also used for:
  • each module in the force feedback control device at the remote control end of the operating machine provided in the embodiments of the present application correspond to the operation process of each step in the above-mentioned method embodiments, and the achieved effects are also consistent.
  • the foregoing embodiments will not be described in detail in the embodiments of the present application.
  • the embodiment of the present application provides a force feedback control system at the remote control end of the operating machine, including: a force feedback device 41 at the remote end of the operating machine and the above-mentioned force feedback control system at the remote end of the operating machine.
  • the force feedback device 41 communicates with the force feedback control device 42 at the remote control end of the operation machine CAN bus connection;
  • the force feedback device 41 includes a handle and/or a multi-degree-of-freedom seat.
  • the force feedback device may be at least one of a handle and a multi-degree-of-freedom seat.
  • the force feedback device is a multi-degree-of-freedom seat
  • the influence of the load during the load operation can be simulated according to the pose information of the machine body measured by the sensor, and the pulse force feedback of the multi-degree-of-freedom seat can be used for the work machine Effect simulation while walking.
  • the force feedback control system at the remote control end of the operating machine provided in the embodiment of the present application can perform force feedback control when remotely controlling the operating machine, so that the user can feel the force of the operating machine and improve the safety and accuracy of the remote control sex.
  • an operating machine platform is provided in an embodiment of the present application, including: an operating machine, an operating machine remote control terminal, and the force feedback control system for the operating machine remote control terminal described in the above-mentioned embodiments;
  • the working machine remote control terminal is used to remotely control the working machine
  • the force feedback control system of the remote terminal of the working machine is used for force feedback control of the remote terminal of the working machine.
  • the operating machine platform refers to an operating platform for remote control of the operating machine, including the operating machine, the remote terminal of the operating machine, and the force feedback control system of the remote end of the operating machine.
  • the operating machinery is used to realize the corresponding operation actions; the remote control end of the operating machinery is used to remotely control the operation actions of the operating machinery; the force feedback control system of the remote control end of the operating machinery is used to perform force feedback on the remote end of the operating machinery Control, that is, in the process of remote control of the operation of the operation machine by the remote control terminal of the operation machine, real-time force feedback control is performed, so that the remote control personnel can timely perceive the corresponding information of the operation machine during the controlled process and the operation process .
  • FIG. 5 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, Wherein, the processor 510 , the communication interface 520 , and the memory 530 communicate with each other through the communication bus 540 .
  • processor processor
  • Communication interface Communication interface
  • memory memory
  • FIG. 5 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, Wherein, the processor 510 , the communication interface 520 , and the memory 530 communicate with each other through the communication bus 540 .
  • memory memory
  • the processor 510 can call the logic instructions in the memory 530 to execute the force feedback control method of the remote control terminal of the working machine provided in the above-mentioned embodiments, the method includes: acquiring the sound information of the environment where the working machine is located and/or the Self-information of the working machine; based on the sound information and/or the self-information, determine the force information of the working machine; based on the force information, control the force feedback device at the remote end of the working machine to provide the user with the The feedback force corresponding to the force information.
  • the above logic instructions in the memory 530 may be implemented in the form of software function units and be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the present application also provides a computer program product
  • the computer program product includes a computer program stored on a non-transitory computer-readable storage medium
  • the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the force feedback control method of the remote control terminal of the working machine provided in the above-mentioned embodiments, the method includes: acquiring the sound information of the environment where the working machine is located and/or the self-information of the working machine; information and/or the self-information to determine the force information of the working machine; based on the force information, control the force feedback device at the remote end of the working machine to provide the user with a feedback force corresponding to the force information.
  • the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the force feedback on the remote control terminal of the working machine provided in the above-mentioned embodiments.
  • a control method comprising: acquiring the sound information of the environment where the working machine is located and/or the self-information of the working machine; based on the sound information and/or the self-information, determining the force information of the working machine; Based on the force information, the force feedback device at the remote control end of the working machine is controlled to provide a feedback force corresponding to the force information to the user.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Some or all of the modules can be selected according to actual needs The purpose of this embodiment scheme. It can be understood and implemented by those skilled in the art without any creative efforts.
  • each implementation can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware.
  • the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

一种作业机械遥控端力反馈控制方法、装置及系统，首先获取作业机械所处环境的声音信息和/或作业机械的自身信息；然后通过声音信息和/或自身信息，确定出作业机械的受力信息；最后根据受力信息，控制作业机械遥控端的力反馈装置向用户提供与受力信息对应的反馈力。

Description

作业机械遥控端力反馈控制方法、装置及系统
相关申请的交叉引用
本申请要求于2022年01月26日提交的申请号为202210094661.X，发明名称为“作业机械遥控端力反馈控制方法、装置及系统”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
本申请涉及作业机械远程控制技术领域，尤其涉及一种作业机械遥控端力反馈控制方法、装置及系统。
背景技术
为保证作业机械的安全作业，远程控制作业机械的作业过程逐步得到应用。以远程控制挖掘机为例，通过远程控制挖掘机实现挖掘机的安全作业。
目前，在远程控制挖掘机的过程中，仅能为控制端提供视觉图像，这将导致控制端操作手对视觉图像的过分依赖，容易产生视觉疲劳。而且，由于视觉图像存在偏差，可能会导致控制端操作手的误操作，不仅会降低操作手的工作效率，还可能引发事故。例如，控制端操作手根据视觉图像远程控制挖掘机进行挖掘作业，当挖掘机铲斗触地后若继续与地面摩擦，操作手则无法继续根据视觉图像对挖掘机进行控制，这将会造成铲斗齿间与地面的磨损，不仅会降低操作手的工作效率，还存在产生安全事故的隐患。
为此，现急需提供一种作业机械遥控端力反馈控制方法。
发明内容
本申请提供一种作业机械遥控端力反馈控制方法、装置及系统，用以解决现有技术中存在的缺陷。
本申请提供一种作业机械遥控端力反馈控制方法，包括：
获取作业机械所处环境的声音信息和/或所述作业机械的自身信息；
基于所述声音信息和/或所述自身信息，确定所述作业机械的受力信息；
基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力。
根据本申请提供的一种作业机械遥控端力反馈控制方法，所述自身信息包括位姿信息、动臂油缸腔内压力信息以及行驶轨迹信息中的至少一种；
基于所述自身信息，确定所述作业机械的受力信息，通过如下步骤中的至少一种实现：
基于所述位姿信息，确定所述受力信息中包含的外力的类型；
基于所述动臂油缸腔内压力信息，计算所述作业机械的动臂油缸推力信息，并基于所述油缸推力信息，确定所述受力信息中包含的负载力；
基于所述行驶轨迹信息，确定所述受力信息中包含的外力的类型。
根据本申请提供的一种作业机械遥控端力反馈控制方法，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置；
所述基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力，包括：
基于CAN总线，确定所述手柄的操纵信息；
基于所述操纵信息，控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述负载力对应的反馈力，与所述负载力对应的反馈力为阻尼力形式。
根据本申请提供的一种作业机械遥控端力反馈控制方法，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置，所述外力的类型包括极限状态限制力；
所述基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力，还包括：
控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述极限状态限制力对应的反馈力，与所述极限状态限制力对应的反馈力为碰撞力形式。
根据本申请提供的一种作业机械遥控端力反馈控制方法，基于所述位姿信息，确定所述受力信息中包含的外力的类型，包括：
基于所述位姿信息，判断所述作业机械是否处于极限状态；
若所述作业机械处于所述极限状态，则确定所述受力信息中包含有所述外力，且所述外力的类型为所述极限状态限制力。
根据本申请提供的一种作业机械遥控端力反馈控制方法，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置，所述外力的类型还包括障碍物阻碍力；
所述基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力，还包括：
控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述障碍物阻碍力对应的反馈力，所述障碍物阻碍力对应的反馈力为碰撞力形式，或者，所述障碍物阻碍力对应的反馈力为阻尼力与碰撞力结合的形式。
根据本申请提供的一种作业机械遥控端力反馈控制方法，所述行驶轨迹信息包括实际行驶轨迹信息以及理论行驶轨迹信息；
基于所述行驶轨迹信息，确定所述受力信息中包含的外力的类型，包括：
计算所述实际行驶轨迹信息以及所述理论行驶轨迹信息之间的差异；
若所述差异大于预设阈值，则确定所述受力信息中包含有所述外力，且所述外力的类型为所述障碍物阻碍力。
根据本申请提供的一种作业机械遥控端力反馈控制方法，基于所述声音信息，确定所述作业机械的受力信息，包括：
对所述声音信息进行噪音过滤处理，得到处理后的声音信息；
基于所述处理后的声音信息，判断所述受力信息中是否存在外力。
本申请还提供一种作业机械遥控端力反馈控制装置，包括：
信息获取模块，用于获取作业机械所处环境的声音信息和/或所述作业机械的自身信息；
信息确定模块，用于基于所述声音信息和/或所述自身信息，确定所述作业机械的受力信息；
反馈力提供模块，用于基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力。
本申请还提供一种作业机械遥控端力反馈控制系统，包括：作业机械 遥控端的力反馈装置以及上述的作业机械遥控端力反馈控制装置；
所述力反馈装置与所述作业机械遥控端力反馈控制装置通过CAN总线连接；
所述力反馈装置包括手柄和/或多自由度座椅。
本申请还提供一种作业机械平台，包括：作业机械、作业机械遥控端以及如上述所述的作业机械遥控端力反馈控制系统；
所述作业机械遥控端用于对所述作业机械进行远程控制；
所述作业机械遥控端力反馈控制系统用于对所述作业机械遥控端进行力反馈控制。
本申请还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述任一种所述作业机械遥控端力反馈控制方法的步骤。
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述作业机械遥控端力反馈控制方法的步骤。
本申请提供的作业机械遥控端力反馈控制方法、装置及系统，首先获取作业机械所处环境的声音信息和/或作业机械的自身信息；然后通过声音信息和/或自身信息，确定出作业机械的受力信息；最后根据受力信息，控制作业机械遥控端的力反馈装置向用户提供与受力信息对应的反馈力。在作业机械的远程控制过程中，该方法能够向用户提供与作业机械的受力信息对应的反馈力，使用户可以感受作业机械的受力情况，降低用户对视觉图像的依赖程度，避免用户产生视觉疲劳。而且，由于反馈力直接提供给用户，可以避免因视觉图像存在偏差而导致用户误操作的情况发生，不仅可以提高用户的工作效率，还可以提高操作安全性，也使用户具有现场操作的体验感。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例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例，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是本申请提供的作业机械遥控端力反馈控制方法的流程示意图；
图2是本申请提供的作业机械遥控端力反馈控制方法中采用的手柄的结构示意图；
图3是本申请提供的作业机械遥控端力反馈控制装置的结构示意图；
图4是本申请提供的作业机械遥控端力反馈控制系统的结构示意图；
图5是本申请提供的电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请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，本领域普通技术人员在没有做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。
由于现有技术中在远程控制挖掘机的过程中，仅能为控制端提供视觉图像，这将导致控制端操作手对视觉图像的过分依赖，容易产生视觉疲劳。而且，由于视觉图像存在偏差，可能会导致控制端操作手的误操作，不仅会降低操作手的工作效率，还可能引发事故。为此，本申请实施例中提供了一种作业机械遥控端力反馈控制方法。
图1为本申请实施例中提供的一种作业机械遥控端力反馈控制方法的流程示意图，如图1所示，该方法包括：
S1，获取作业机械所处环境的声音信息和/或所述作业机械的自身信息；
S2，基于所述声音信息和/或所述自身信息，确定所述作业机械的受力信息；
S3，基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力。
具体地，本申请实施例中提供的作业机械遥控端力反馈控制方法，其执行主体为作业机械遥控端力反馈控制装置，该装置为一种处理器，可以配置于服务器内，该服务器可以位于作业机械侧，也可以位于作业机械遥控端侧，还可以位于作业机械与作业机械遥控端之间的任何位置，此处不 作具体限定。该服务器可以是本地服务器，也可以是云端服务器，本地服务器具体可以是计算机以及平板电脑等，本申请实施例中对此不作具体限定。
可以理解的是，本申请实施例中涉及的作业机械是支持远程控制的作业机械，也可以称为遥控作业机械，该作业机械可以通过作业机械遥控端进行远程控制，作业机械遥控端可以通过用户进行操作，并在操作过程中提供力反馈。作业机械遥控端力反馈控制装置可以与作业机械遥控端通信连接。
此处，作业机械可以包括作业机械可以包括：钻探机械、挖掘机械、装载机械、运载机械、市政机械、破碎机、以及驾驶员驾驶的车辆中的至少一种。挖掘机械是用于挖掘矿山的作业机械。装载机械是用于将货物装载到运载机械中的作业机械。装载机械包括液压挖掘机、电动挖掘机和轮式装载机中的至少一种。运载机械是用于运载货物的作业机械。市政机械是用于城市道路清扫美化的作业机械，例如清扫车、洒水车和吸尘车。破碎机是对从运载机械投入的土石进行破碎的作业机械。本申请实施例中，可以以挖掘机为例进行说明，但并不限定于挖掘机。
首先执行步骤S1，可以获取作业机械所处环境的声音信息以及作业机械的自身信息中的至少一种。作业机械所处环境为挖掘机的作业现场，声音信息是指作业机械所处环境中的声音，该声音信息可以通过拾音器获取得到，该拾音器可以安装在作业机械上的固定位置，该固定位置可以根据需要进行选取，此处不作具体限定。例如，拾音器可以安装在作业机械的驾驶室外顶部，也可以安装在作业机械车身上。
作业机械的自身信息是指作业机械本身不受外界影响的相关信息，例如可以包括作业机械的位姿信息、作业机械动臂油缸腔内压力信息以及作业机械的行驶轨迹信息等信息中的至少一种。以挖掘机为例，挖掘机可以包括多个工作装置，例如动臂、斗杆以及铲斗等，也可以包括车身。挖掘机的位姿信息可以包括各工作装置的相对位置和姿态信息。特别地，对于具有称重系统的作业机械而言，作业机械的自身信息还包括通过称重系统测量得到的负载重量。
各工作装置的相对位置可以通过各工作装置之间的连接臂长以及各工 作装置的相对姿态信息进行确定。
各工作装置的绝对姿态信息可以包括各工作装置与水平面的夹角，可以通过各工作装置的数字油缸位移以及工作装置尺寸计算得到。各工作装置的相对姿态信息可以包括各工作装置的相对角度，可以通过传感器进行测量得到。例如，可以在斗杆和动臂的转轴上安装惯性测量单元(Inertial Measurement Unit，IMU)倾角传感器，在铲斗的侧面安装角度传感器。
作业机械动臂油缸腔内压力信息是指作业机械的动臂油缸的大小腔内的压力信息，可以分别通过安装于大小腔内的压力传感器测量得到。
作业机械的行驶轨迹信息是指作业机械在行驶过程中得到的轨迹信息，可以包括理论行驶轨迹信息以及实际行驶轨迹信息。理论行驶轨迹信息可以是根据挖掘机的运行状态参数预测得到的行驶轨迹信息，实际行驶轨迹信息可以是实时对挖掘机进行定位并追踪得到。
然后执行步骤S2，通过声音信息以及自身信息中的至少一种，确定出作业机械的受力信息。也就是说，本申请实施例中，既可以只通过声音信息确定出作业机械的受力信息，也可以只通过自身信息确定出作业机械的受力信息，还可以结合声音信息以及自身信息确定出作业机械的受力信息。其中，受力信息是指外界对作业机械施加的作用力，与作业机械的自身信息相对，例如作业机械所受的外力、作业机械在进行负载作业时的负载力等。
例如，可以通过判定作业机械所处环境的声音信息的有无以及强度大小判定作业机械是否受到外力撞击，此时可以判断出作业机械的受力信息中是否包含有外力。该方法可以适用于安静工况下有碰撞声音发生的情况，可以实现受力信息的快速判断。
除此之外，还可以通过作业机械的自身信息判断出作业机械是否进行负载挖掘作业、是否处于极限状态等，此时可以判断出作业机械的受力信息中是否包含有外力、负载力等。
最后执行步骤S3，根据作业机械的受力信息，控制作业机械遥控端的力反馈装置向用户提供与受力信息对应的反馈力。本申请实施例中，在作业机械遥控端，可以配置有遥控装置，该遥控装置可以是远程驾驶室内的手柄。该遥控装置用于接收用户输入，并响应于用户输入，得到用户控制 指令，并将该用户控制指令发送至作业机械控制器，以实现对作业机械的远程控制。可以理解的是，此处用户输入为用户对手柄的操作信息。用户可以是作业机械的远程操作手。
除此之外，在作业机械遥控端，还可以配置有力反馈装置，该力反馈装置为实体装置，可以与遥控装置相同，即力反馈装置也可以是远程驾驶室内的手柄，还可以是多自由度座椅等，此处不作具体限定。
本申请实施例中，可以通过作业机械遥控端力反馈控制装置对力反馈装置进行控制，使力反馈装置可以向用户提供与受力信息对应的反馈力。该反馈力的形式可以是阻尼力形式，也可以是碰撞力形式，还可以是二者的混合，此处不作具体限定。
可以理解的是，阻尼力形式的反馈力是与受力信息方向相反的力，力的大小可以根据需要进行设置，对于不同的受力信息，其对应的阻尼力形式的反馈力可以相同，也可以不同。为便于用户准确感知作业机械的受力信息，可以将受力信息对应的阻尼力形式的反馈力的大小设置为与受力信息成比例。碰撞力形式的反馈力可以是一种波形为正弦波的力，该力的持续时间可以包括冲击时间、维持时间以及衰退时间三部分。碰撞力形式的反馈力通常以振动形式表现，其效果可以由冲击力幅度、冲击时间、衰退后幅度、衰退时间等因素决定。
特别地，当碰撞力形式的反馈力的维持时间足够小，则该反馈力的形式又可以称为脉冲力形式。即脉冲力形式的反馈力可以看做是一种特殊的碰撞力形式的反馈力。
本申请实施例中提供的作业机械遥控端力反馈控制方法，首先获取作业机械所处环境的声音信息和/或作业机械的自身信息；然后通过声音信息和/或自身信息，确定出作业机械的受力信息；最后根据受力信息，控制作业机械遥控端的力反馈装置向用户提供与受力信息对应的反馈力。在作业机械的远程控制过程中，该方法能够向用户提供与作业机械的受力信息对应的反馈力，使用户可以感受作业机械的受力情况，降低用户对视觉图像的依赖程度，避免用户产生视觉疲劳。而且，由于反馈力直接提供给用户，可以避免因视觉图像存在偏差而导致用户误操作的情况发生，不仅可以提高用户的工作效率，还可以提高操作安全性，也使用户具有现场操作的体 验感。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制方法，所述自身信息包括位姿信息、动臂油缸腔内压力信息以及行驶轨迹信息中的至少一种；
基于所述自身信息，确定所述作业机械的受力信息，通过如下步骤中的至少一种实现：
基于所述位姿信息，确定所述受力信息中包含的外力的类型；
基于所述动臂油缸腔内压力信息，计算所述作业机械的动臂油缸推力信息，并基于所述油缸推力信息，确定所述受力信息中包含的负载力；
基于所述行驶轨迹信息，确定所述受力信息中包含的外力的类型。
具体地，本申请实施例中，由于作业机械的自身信息包括位姿信息、动臂油缸腔内压力信息以及行驶轨迹信息中的至少一种。
在此基础上，在根据作业机械的自身信息确定作业机械的受力信息时，第一方面，可以根据位姿信息，确定受力信息中包含的外力的类型。该过程可以理解为判断受力信息中是否包含有外力以及在包含有外力的情况下外力的具体类型。
例如，可以根据作业机械的各工作装置的位姿信息确定出受力信息中包含的外力的类型。该外力的类型可以是极限状态限制力。可以理解的是，极限状态限制力是指用户在作业机械达到极限状态后控制作业机械继续运行时作业机械所受的外力。
第二方面，可以先根据动臂油缸腔内压力信息，计算作业机械的动臂油缸推力信息。然后根据油缸推力信息，结合力矩关系可以确定受力信息中包含的负载力。该过程可以理解为判断受力信息中是否包含负载力以及在受力信息中包含有负载力的情况下负载力的具体取值。
此外，对于具有称重系统的作业机械而言，由于作业机械的自身信息还包括通过称重系统测量得到的负载重量。因此，通过负载重量可以直接换算得到负载力的具体取值。
第三方面，可以根据行驶轨迹信息，确定所述受力信息中包含的外力的类型。该外力的类型可以是障碍物阻碍力。可以理解的是，障碍物阻碍力是指用户在作业机械受到障碍物的阻碍后控制作业机械继续运行时作业 机械所受的外力。
本申请实施例中，通过作业机械的自身信息，可以确定作业机械的多种受力信息，充分挖掘出作业机械的完整受力情况，便于为用户准确提供反馈力，使用户的现场操作体验感更加真实。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制方法，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置；
所述基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力，包括：
基于CAN总线，确定所述手柄的操纵信息；
基于所述操纵信息，控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述负载力对应的反馈力，与所述负载力对应的反馈力为阻尼力形式。
具体地，本申请实施例中，将手柄作为力反馈装置，手柄可以包括操纵杆以及驱动装置，操纵杆与驱动装置通过连杆机构进行连接。该连杆机构可以起到限制操纵杆位移的作用。
驱动装置用于驱动操纵杆可以在目标平面内进行转动，该目标平面可以是水平面。驱动装置可以包括一个或多个，当驱动装置为一个时，该驱动装置可以带动操纵杆在目标平面内进行全方位转动。当驱动装置为第一驱动装置、第二驱动装置这2个时，第一驱动装置可以控制操纵杆在目标平面内的第一方向上转动，第二驱动装置可以控制操纵杆在目标平面内的第二方向上转动。第一方向与第二方向可以垂直，例如第一方向为X轴方向，第二方向为Y轴方向。驱动装置可以包括电机、减速器以及连接轴，电机以及减速器可以通过连接轴连接。如图2所示，手柄包括操纵杆1、第一驱动装置2以及第二驱动装置3。
此时在控制力反馈装置向用户提供与受力信息对应的反馈力时，可以先基于CAN总线，确定出手柄的操纵信息。即手柄可以与作业机械遥控端力反馈控制装置通过CAN总线通信连接，作业机械遥控端力反馈控制通过CAN总线可以获取手柄的操纵信息。
CAN总线通信时采用的通讯协议中包含提供手柄的操作杆是否处于 中间，左向，右向，前向或者后向位置，并且提供在各个方向上的相对开度。因此，CAN总线中传输的CAN信号表示操纵杆的位置信息，本申请实施例中，CAN信号的刷新时间是间隔10ms，因此根据在时间间隔Ti内的操纵杆的位置变化ΔDj，可以计算得到操纵杆的操纵速度Vj＝ΔDj/Ti和加速度Aj。此处，手柄的操纵信息可以包括操纵力、操纵方向、操纵行程、操纵速度以及操纵加速度等信息。可以理解的是，操纵方向即手柄的运动方向，操纵行程即为操纵杆的位置信息。
优选地，阻尼力形式的反馈力的大小可以与手柄的操纵速度成正比，具体可以由操纵速度、操纵行程、动臂油缸腔内压力信息以及油缸位移信息共同决定。为防止因操纵杆的阻尼力太大导致用户疲劳，阻尼力不应大于空载时操纵杆的操纵力的80％。另外，减速器限制操纵杆的位移不应大于操纵杆最大操纵行程。阻尼力形式的反馈力的方向可以与手柄的运动方向相反。
然后，通过手柄的操纵信息，可以控制手柄的驱动装置带动操纵杆运动，使操纵杆向用户提供与负载力对应的反馈力。该反馈力为阻尼力形式，该反馈力可以是通过驱动装置中的减速器对用户的操纵速度进行减速进行表征。
本申请实施例中，通过CAN总线，可以使作业机械遥控端力反馈控制装置可以快速的获取到手柄的操纵信息，可以简化获取手柄的操纵信息的结构，节约成本。而且，通过手柄的操纵信息控制手柄的驱动装置，达到操纵杆向用户提供与负载力对应的阻尼力形式的反馈力的效果，可以使用户更加了解当前作业机械的负载情况，使用户的现场操作体验感更加真实。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制方法，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置，所述外力的类型包括极限状态限制力；
所述基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力，还包括：
控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述极限状态限制力对应的反馈力，与所述极限状态限制力对应的反馈力为碰撞力形式。
具体地，本申请实施例中，挖掘机所受的外力的类型可以包括极限状态限制力。此时，在控制力反馈装置向用户提供与受力信息对应的反馈力时，可以直接控制驱动装置带动操纵杆运动，以使操纵杆向用户提供与极限状态限制力对应的反馈力。该反馈力为碰撞力形式，该反馈力可以是通过驱动装置中的电机产生的振动信号进行表征。
本申请实施例中，通过控制手柄的驱动装置，达到操纵杆向用户提供与极限状态限制力对应的碰撞力形式的反馈力的效果，可以使用户更加了解当前挖掘机所受的极限状态限制力情况，使用户的现场操作体验感更加真实。
在上述实施例的基础上，本申请实施例中提供的挖掘机遥控端力反馈控制方法，基于所述位姿信息，确定所述受力信息中包含的外力的类型，包括：
基于所述位姿信息，判断所述挖掘机是否处于极限状态；
若所述挖掘机处于所述极限状态，则确定所述受力信息中包含有所述外力，且所述外力的类型为所述极限状态限制力。
具体地，本申请实施例中，在根据挖掘机的位姿信息，确定挖掘机的受力信息中包含的外力的类型时，可以先根据挖掘机的位姿信息，判断挖掘机是否处于极限状态。此处，可以将挖掘机的位姿信息与极限状态时的位姿信息进行比较，若二者一致或者二者之间的差异在预设范围内，则可以确定挖掘机处于极限状态。
可以理解的是，极限状态可以是指挖掘机的某一工作装置处于极限位置的状态，例如动臂或斗杆抬到最高或降到最低、铲斗向远离挖掘机的方向开到最外或向挖掘机的方向收到最内等位置的状态。
此后，在挖掘机处于极限状态的情况下，可以确定出挖掘机的受力信息中包含的外力的类型包括极限状态限制力，以提醒用户停止继续朝当前方向操纵手柄。否则，则可以确定出挖掘机的受力信息中不包含极限状态限制力这一外力的类型。可以理解的是，挖掘机的受力信息中是否包含有其他类型的外力，此处不作具体限定。
本申请实施例中，通过挖掘机的位姿信息确定挖掘机的受力信息中是否包含有极限状态限制力，以便于为用户提供与之对应的碰撞力形式的反 馈力，使用户的现场操作体验感更加真实。
在上述实施例的基础上，本申请实施例中提供的挖掘机遥控端力反馈控制方法，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置，所述外力的类型还包括障碍物阻碍力；
所述基于所述受力信息，控制挖掘机遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力，还包括：
控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述障碍物阻碍力对应的反馈力，所述障碍物阻碍力对应的反馈力为碰撞力形式，或者，所述障碍物阻碍力对应的反馈力为阻尼力与碰撞力结合的形式。
具体地，本申请实施例中，挖掘机所受的外力的类型还包括障碍物阻碍力。此时，在控制力反馈装置向用户提供与受力信息对应的反馈力时，可以直接控制驱动装置带动操纵杆运动，以使操纵杆向用户提供与障碍物阻碍力对应的反馈力，提示用户挖掘机接触到障碍物。与障碍物阻碍力对应的反馈力的形式可以是碰撞力形式，也可以是阻尼力与碰撞力结合的形式，可以根据需要进行选取和设定，此处不作具体限定。该反馈力既可以是通过驱动装置中的电机产生的振动信号进行表征，也可以是通过驱动装置中的减速器对用户的操纵速度进行减速、通过驱动装置中的电机产生的振动信号共同进行表征。
本申请实施例中，通过控制手柄的驱动装置，达到操纵杆向用户提供与障碍物阻碍力对应的碰撞力形式或者碰撞力形式以及阻尼力形式的反馈力的效果，可以使用户更加了解当前挖掘机所受的障碍物阻碍力情况，使用户的现场操作体验感更加真实。
在上述实施例的基础上，本申请实施例中提供的挖掘机遥控端力反馈控制方法，所述行驶轨迹信息包括实际行驶轨迹信息以及理论行驶轨迹信息；
基于所述行驶轨迹信息，确定所述受力信息中包含的外力的类型，包括：
计算所述实际行驶轨迹信息以及所述理论行驶轨迹信息之间的差异；
若所述差异大于预设阈值，则确定所述受力信息中包含有所述外力， 且所述外力的类型为所述障碍物阻碍力。
具体地，本申请实施例中，由于行驶轨迹信息包括实际行驶轨迹信息以及理论行驶轨迹信息，因此在根据作业机械的行驶轨迹信息，确定作业机械的受力信息中包含的外力的类型时，可以先计算实际行驶轨迹信息以及理论行驶轨迹信息之间的差异。然后将该差异与预设阈值进行对比，若该差异大于预设阈值，则可以确定作业机械的受力信息中包含有障碍物阻碍力，可以判断作业机械在行驶过程中受到障碍物的阻碍。否则，则可以确定出作业机械的受力信息中不包含障碍物阻碍力这一外力的类型。可以理解的是，作业机械的受力信息中是否包含有其他类型的外力，此处不作具体限定。
本申请实施例中，通过判断实际行驶轨迹信息以及理论行驶轨迹信息之间的差异与预设阈值之间的大小关系，确定作业机械的受力信息中是否包含有障碍物阻碍力，以便于为用户提供与之对应的碰撞力形式或者碰撞力形式以及阻尼力形式的反馈力，使用户的现场操作体验感更加真实。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制方法，基于所述声音信息，确定所述作业机械的受力信息，包括：
对所述声音信息进行噪音过滤处理，得到处理后的声音信息；
基于所述处理后的声音信息，判断所述受力信息中是否存在外力。
具体地，本申请实施例中，在通过作业机械所处环境的声音信息，确定作业机械的受力信息时，先对声音信息进行噪音过滤处理，得到处理后的声音信息，然后通过处理后的声音信息判断受力信息中是否存在外力。
在判断过程中，可以通过判断处理后的声音信息与预设声音信息之间的差异，若该差异较大，则可以确定受力信息中包含外力，否则可以确定受力信息中不包含外力。其中，预设声音信息可以根据需要进行设置，例如可以是作业机械所处环境在没有作业机械因受外力发出的声音时获取的声音信息。
本申请实施例中，通过作业机械所处环境的声音信息判断作业机械的受力信息中是否存在外力，可以使作业机械的受力信息的判断更加准确。
如图3所示，在上述实施例的基础上，本申请实施例中提供了一种作业机械遥控端力反馈控制装置，包括：
信息获取模块31，用于获取作业机械所处环境的声音信息和/或所述作业机械的自身信息；
信息确定模块32，用于基于所述声音信息和/或所述自身信息，确定所述作业机械的受力信息；
反馈力提供模块33，用于基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制装置，所述自身信息包括位姿信息、动臂油缸腔内压力信息以及行驶轨迹信息中的至少一种；
信息确定模块用于实现如下步骤中的至少一种：
基于所述位姿信息，确定所述受力信息中包含的外力的类型；
基于所述动臂油缸腔内压力信息，计算所述作业机械的动臂油缸推力信息，并基于所述油缸推力信息，确定所述受力信息中包含的负载力；
基于所述行驶轨迹信息，确定所述受力信息中包含的外力的类型。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制装置，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置；
所述反馈力提供模块，具体用于：
基于CAN总线，确定所述手柄的操纵信息；
基于所述操纵信息，控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述负载力对应的反馈力，与所述负载力对应的反馈力为阻尼力形式。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制装置，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置，所述外力的类型包括极限状态限制力；
所述反馈力提供模块，还具体用于：
控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述极限状态限制力对应的反馈力，与所述极限状态限制力对应的反馈力为碰撞力形式。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反 馈控制装置，所述信息确定模块，还具体用于：
基于所述位姿信息，判断所述作业机械是否处于极限状态；
若所述作业机械处于所述极限状态，则确定所述受力信息中包含有所述外力，且所述外力的类型为所述极限状态限制力。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制装置，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置，所述外力的类型还包括障碍物阻碍力；
所述反馈力提供模块，还用于：
控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述障碍物阻碍力对应的反馈力，所述障碍物阻碍力对应的反馈力为碰撞力形式，或者，所述障碍物阻碍力对应的反馈力为阻尼力与碰撞力结合的形式。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制装置，所述行驶轨迹信息包括实际行驶轨迹信息以及理论行驶轨迹信息；
所述信息确定模块，还用于：
计算所述实际行驶轨迹信息以及所述理论行驶轨迹信息之间的差异；
若所述差异大于预设阈值，则确定所述受力信息中包含有所述外力，且所述外力的类型为所述障碍物阻碍力。
在上述实施例的基础上，本申请实施例中提供的作业机械遥控端力反馈控制装置，所述信息确定模块，还用于：
对所述声音信息进行噪音过滤处理，得到处理后的声音信息；
基于所述处理后的声音信息，判断所述受力信息中是否存在外力。
具体地，本申请实施例中提供的作业机械遥控端力反馈控制装置中各模块的作用与上述方法类实施例中各步骤的操作流程是一一对应的，实现的效果也是一致的，具体参见上述实施例，本申请实施例中对此不再赘述。
如图4所示，在上述实施例的基础上，本申请实施例中提供了一种作业机械遥控端力反馈控制系统，包括：作业机械遥控端的力反馈装置41以及上述的作业机械遥控端力反馈控制装置42；
所述力反馈装置41与所述作业机械遥控端力反馈控制装置42通过 CAN总线连接；
所述力反馈装置41包括手柄和/或多自由度座椅。
具体地，本申请实施例中，力反馈装置可以是手柄以及多自由度座椅中的至少一种。当力反馈装置为多自由度座椅时，可以根据传感器测得的作业机械的车身的位姿信息模拟负载作业时负载带来的影响，多自由度座椅的脉冲力反馈可以用于作业机械行走时的效果模拟。
本申请实施例中提供的作业机械遥控端力反馈控制系统，可以在对作业机械进行远程控制时的力反馈控制，使用户可以感受到作业机械的受力情况，提高远程控制的安全性和准确性。
在上述实施例的基础上，本申请实施例中提供了一种作业机械平台，包括：作业机械、作业机械遥控端以及上述各实施例中所述的作业机械遥控端力反馈控制系统；
所述作业机械遥控端用于对所述作业机械进行远程控制；
所述作业机械遥控端力反馈控制系统用于对所述作业机械遥控端进行力反馈控制。
具体地，本申请实施例中，该作业机械平台是指包含有作业机械、作业机械遥控端以及作业机械遥控端力反馈控制系统在内的、用于对作业机械进行远程控制的作业平台。
在该作业机械平台内，作业机械用于实现相应作业动作；作业机械遥控端用于对作业机械的作业动作进行远程控制；作业机械遥控端力反馈控制系统用于对作业机械遥控端进行力反馈控制，即在作业机械遥控端对作业机械的作业动作进行远程控制的过程中，实时进行力反馈控制，以使远程控制的人员可以及时感知作业机械在受控过程中以及作业过程中的相应信息。
图5示例了一种电子设备的实体结构示意图，如图5所示，该电子设备可以包括：处理器(processor)510、通信接口(Communications Interface)520、存储器(memory)530和通信总线540，其中，处理器510，通信接口520，存储器530通过通信总线540完成相互间的通信。处理器510可以调用存储器530中的逻辑指令，以执行上述各实施例中提供的作业机械遥控端力反馈控制方法，该方法包括：获取作业机械所处环境的声音信息和/或所述 作业机械的自身信息；基于所述声音信息和/或所述自身信息，确定所述作业机械的受力信息；基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力。
此外，上述的存储器530中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各实施例中提供的作业机械遥控端力反馈控制方法，该方法包括：获取作业机械所处环境的声音信息和/或所述作业机械的自身信息；基于所述声音信息和/或所述自身信息，确定所述作业机械的受力信息；基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力。
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各实施例中提供的作业机械遥控端力反馈控制方法，该方法包括：获取作业机械所处环境的声音信息和/或所述作业机械的自身信息；基于所述声音信息和/或所述自身信息，确定所述作业机械的受力信息；基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现 本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (11)

  1. 一种作业机械遥控端力反馈控制方法，包括：
    获取作业机械所处环境的声音信息和/或所述作业机械的自身信息；
    基于所述声音信息和/或所述自身信息，确定所述作业机械的受力信息；
    基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力。
  2. 根据权利要求1所述的作业机械遥控端力反馈控制方法，其中，所述自身信息包括位姿信息、动臂油缸腔内压力信息以及行驶轨迹信息中的至少一种；
    基于所述自身信息，确定所述作业机械的受力信息，通过如下步骤中的至少一种实现：
    基于所述位姿信息，确定所述受力信息中包含的外力的类型；
    基于所述动臂油缸腔内压力信息，计算所述作业机械的动臂油缸推力信息，并基于所述油缸推力信息，确定所述受力信息中包含的负载力；
    基于所述行驶轨迹信息，确定所述受力信息中包含的外力的类型。
  3. 根据权利要求2所述的作业机械遥控端力反馈控制方法，其中，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置；
    所述基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力，包括：
    基于CAN总线，确定所述手柄的操纵信息；
    基于所述操纵信息，控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述负载力对应的反馈力，与所述负载力对应的反馈力为阻尼力形式。
  4. 根据权利要求2所述的作业机械遥控端力反馈控制方法，其中，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置，所述外力的类型包括极限状态限制力；
    所述基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力，还包括：
    控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户 提供与所述极限状态限制力对应的反馈力，与所述极限状态限制力对应的反馈力为碰撞力形式。
  5. 根据权利要求4所述的作业机械遥控端力反馈控制方法，其中，基于所述位姿信息，确定所述受力信息中包含的外力的类型，包括：
    基于所述位姿信息，判断所述作业机械是否处于极限状态；
    若所述作业机械处于所述极限状态，则确定所述受力信息中包含有所述外力，且所述外力的类型为所述极限状态限制力。
  6. 根据权利要求2所述的作业机械遥控端力反馈控制方法，其中，所述力反馈装置包括手柄，所述手柄包括操纵杆以及驱动装置，所述外力的类型还包括障碍物阻碍力；
    所述基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力，还包括：
    控制所述驱动装置带动所述操纵杆运动，以使所述操纵杆向所述用户提供与所述障碍物阻碍力对应的反馈力，所述障碍物阻碍力对应的反馈力为碰撞力形式，或者，所述障碍物阻碍力对应的反馈力为阻尼力与碰撞力结合的形式。
  7. 根据权利要求6所述的作业机械遥控端力反馈控制方法，其中，所述行驶轨迹信息包括实际行驶轨迹信息以及理论行驶轨迹信息；
    基于所述行驶轨迹信息，确定所述受力信息中包含的外力的类型，包括：
    计算所述实际行驶轨迹信息以及所述理论行驶轨迹信息之间的差异；
    若所述差异大于预设阈值，则确定所述受力信息中包含有所述外力，且所述外力的类型为所述障碍物阻碍力。
  8. 根据权利要求1-7中任一项所述的作业机械遥控端力反馈控制方法，其中，基于所述声音信息，确定所述作业机械的受力信息，包括：
    对所述声音信息进行噪音过滤处理，得到处理后的声音信息；
    基于所述处理后的声音信息，判断所述受力信息中是否存在外力。
  9. 一种作业机械遥控端力反馈控制装置，包括：
    信息获取模块，用于获取作业机械所处环境的声音信息和/或所述作业机械的自身信息；
    信息确定模块，用于基于所述声音信息和/或所述自身信息，确定所述作业机械的受力信息；
    反馈力提供模块，用于基于所述受力信息，控制作业机械遥控端的力反馈装置向用户提供与所述受力信息对应的反馈力。
  10. 一种作业机械遥控端力反馈控制系统，包括：作业机械遥控端的力反馈装置以及如权利要求9所述的作业机械遥控端力反馈控制装置；
    其中，所述力反馈装置与所述作业机械遥控端力反馈控制装置通过CAN总线连接；
    所述力反馈装置包括手柄和/或多自由度座椅。
  11. 一种作业机械平台，包括：作业机械、作业机械遥控端以及如权利要求10所述的作业机械遥控端力反馈控制系统；
    其中，所述作业机械遥控端用于对所述作业机械进行远程控制；
    所述作业机械遥控端力反馈控制系统用于对所述作业机械遥控端进行力反馈控制。
PCT/CN2023/072134 2022-01-26 2023-01-13 作业机械遥控端力反馈控制方法、装置及系统 WO2023143138A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210094661.X 2022-01-26
CN202210094661.XA CN114428483B (zh) 2022-01-26 2022-01-26 作业机械遥控端力反馈控制方法、装置及系统

Publications (1)

Publication Number Publication Date
WO2023143138A1 true WO2023143138A1 (zh) 2023-08-03

Family

ID=81312560

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/072134 WO2023143138A1 (zh) 2022-01-26 2023-01-13 作业机械遥控端力反馈控制方法、装置及系统

Country Status (2)

Country Link
CN (1) CN114428483B (zh)
WO (1) WO2023143138A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114428483B (zh) * 2022-01-26 2023-07-21 上海三一重机股份有限公司 作业机械遥控端力反馈控制方法、装置及系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101681180A (zh) * 2007-03-30 2010-03-24 卡特彼勒公司 用于机器的操作员控制装置
US20160229050A1 (en) * 2015-02-06 2016-08-11 Abb Technology Ag Contact force limiting with haptic feedback for a tele-operated robot
US20170218600A1 (en) * 2014-07-31 2017-08-03 Cnh Industrial America Llc Active force/vibration feedback control method and apparatus for a movable machine
CN108284425A (zh) * 2018-04-11 2018-07-17 南京理工大学 一种带电作业机器人机械臂协作力反馈主从控制方法及系统
CN111505995A (zh) * 2020-05-08 2020-08-07 三一重机有限公司 一种工程机械的远程控制方法、装置、设备及存储介质
CN112659120A (zh) * 2020-12-11 2021-04-16 山东大学 一种液压作业机械臂的主从遥操作及力反馈控制方法
CN114428483A (zh) * 2022-01-26 2022-05-03 上海三一重机股份有限公司 作业机械遥控端力反馈控制方法、装置及系统

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7202851B2 (en) * 2001-05-04 2007-04-10 Immersion Medical Inc. Haptic interface for palpation simulation
DE102007057924B4 (de) * 2007-06-14 2010-04-08 Thomas Deharde Verfahren für eine blindengerechte Benutzerschnittstelle zur Navigation und Kontrolle von Computern oder elektronisch- bzw. computergesteuerten Geräten
CN101833287B (zh) * 2010-03-30 2012-02-22 三一重工股份有限公司 工程机械及其稳定性控制系统
US9538982B2 (en) * 2010-12-18 2017-01-10 Massachusetts Institute Of Technology User interface for ultrasound scanning system
CN103294183B (zh) * 2012-03-05 2017-03-01 联想(北京)有限公司 终端设备及其对压力进行反馈的方法
KR102079945B1 (ko) * 2012-11-22 2020-02-21 삼성전자주식회사 수술 로봇 및 수술 로봇 제어 방법
CN106843475A (zh) * 2017-01-03 2017-06-13 京东方科技集团股份有限公司 一种实现虚拟现实交互的方法及系统
JP7042061B2 (ja) * 2017-11-10 2022-03-25 株式会社バンダイナムコエンターテインメント 操作入力システム、操作入力装置及びゲームシステム
KR102323946B1 (ko) * 2019-10-16 2021-11-08 엘지전자 주식회사 로봇 및 그의 제어 방법
DE102020108888A1 (de) * 2020-03-31 2021-09-30 Claas Selbstfahrende Erntemaschinen Gmbh Landwirtschaftliche Arbeitsmaschine
CN113129678A (zh) * 2021-04-30 2021-07-16 中国人民解放军陆军军事交通学院军事交通运输研究所 基于虚拟现实的通用操作模拟训练系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101681180A (zh) * 2007-03-30 2010-03-24 卡特彼勒公司 用于机器的操作员控制装置
US20170218600A1 (en) * 2014-07-31 2017-08-03 Cnh Industrial America Llc Active force/vibration feedback control method and apparatus for a movable machine
US20160229050A1 (en) * 2015-02-06 2016-08-11 Abb Technology Ag Contact force limiting with haptic feedback for a tele-operated robot
CN108284425A (zh) * 2018-04-11 2018-07-17 南京理工大学 一种带电作业机器人机械臂协作力反馈主从控制方法及系统
CN111505995A (zh) * 2020-05-08 2020-08-07 三一重机有限公司 一种工程机械的远程控制方法、装置、设备及存储介质
CN112659120A (zh) * 2020-12-11 2021-04-16 山东大学 一种液压作业机械臂的主从遥操作及力反馈控制方法
CN114428483A (zh) * 2022-01-26 2022-05-03 上海三一重机股份有限公司 作业机械遥控端力反馈控制方法、装置及系统

Also Published As

Publication number Publication date
CN114428483A (zh) 2022-05-03
CN114428483B (zh) 2023-07-21

Similar Documents

Publication Publication Date Title
US11761172B2 (en) Automated control of dipper swing for a shovel
JP5491627B2 (ja) 作業機械の安全装置
US8024095B2 (en) Adaptive work cycle control system
AU2017218993B2 (en) Control system for a machine
US20170073935A1 (en) Control System for a Rotating Machine
US11149404B2 (en) Work machine
WO2019244574A1 (ja) 掘削機、情報処理装置
EP3014026B1 (en) System and methods for with a first and a second hand operated control, controlling motion on a work tool for a construction machine
US20170073925A1 (en) Control System for a Rotating Machine
US9454147B1 (en) Control system for a rotating machine
WO2020170687A1 (ja) 安全装置及び建設機械
WO2023143138A1 (zh) 作业机械遥控端力反馈控制方法、装置及系统
JP5851037B2 (ja) 作業機械
JP2019052499A (ja) 作業機械
Dunbabin et al. Autonomous excavation using a rope shovel
EP3907336A1 (en) Monitoring device and construction machine
JP7217691B2 (ja) 建設機械
CN113250255A (zh) 一种基于电子围墙的工程机械控制方法、装置及工程机械
CN115680057A (zh) 用于监控和/或执行工作设备的运动的方法以及工作设备和计算机程序产品
KR20120131386A (ko) 굴착기
KR20210044493A (ko) 건설기계의 알람동작 제어시스템
WO2023106265A1 (ja) 作業機械
WO2024132204A1 (en) A method of operating a work vehicle according to a maximum allowable swing speed
WO2024132202A1 (en) A method of operating a work vehicle according to a maximum allowable swing speed
WO2024132203A1 (en) A method of operating a work vehicle according to a maximum allowable swing speed

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23746020

Country of ref document: EP

Kind code of ref document: A1