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Wheeled engineering machinery automatic tracking driving control system and method

A construction machinery and automatic tracking technology, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as poor results, and achieve universality and universality Effect

Active Publication Date: 2020-06-26
JIANGSU XCMG CONSTR MASCH RES INST LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The existing technology has the following defects: the shortcoming of the patent CN108797669A: in terms of automatic driving technology, it mainly solves the problem of automatically driving to the working surface in the local working area, relying on machine vision and computer to identify the working point or surface, once encountering dust, dense fog The effect is not good in the environment such as rain and snow

Method used

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  • Wheeled engineering machinery automatic tracking driving control system and method
  • Wheeled engineering machinery automatic tracking driving control system and method
  • Wheeled engineering machinery automatic tracking driving control system and method

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Embodiment 1

[0040] In the specific embodiment of the present invention, it is divided into a hardware level and a software level. At the hardware level, it includes a wheeled excavator, and the wheeled excavator is equipped with a variety of sensor devices, using a variety of sensor fusion solutions to achieve multiple specific functions. These devices include: 32-line lidar (an example of multi-line lidar), millimeter-wave radar, differential GPS, inertial navigation, industrial computer, CAN bus, etc.

[0041] Taking a wheeled excavator as an example, the sensor layout is as follows, for details, please refer to figure 1 .

[0042] (1) Install on the top of the cab of the wheeled excavator: 32-line laser radar (an example of multi-line laser radar);

[0043] (2) Installed directly in front of the wheeled excavator: millimeter wave radar;

[0044] (3) Install symmetrically on both sides of the wheeled excavator body: millimeter wave radar;

[0045] (4) Installed behind the wheeled ex...

Embodiment 2

[0089] Such as figure 2 As shown, a wheeled construction machinery automatic tracking driving control method, including:

[0090] The first is preprocessing:

[0091] 1) First, two methods are used to obtain path data, which can be obtained from the dispatching system through the path input module, or information such as the coordinates of the wheeled excavator’s travel path can be sent to the industrial computer through the GPS antenna and inertial navigation hardware, and the positioning The data collection module 10 collects, thereby obtains the path data under the geographic coordinate system;

[0092] 2) Afterwards, the positioning data acquisition module 10 will obtain the path data for analysis and coordinate transformation, mainly through the Gaussian forward formula to convert the X-axis pointing to the east, the Y-axis pointing to the north, and the origin at the center of mass of the sensor. Cartesian coordinate system data, and then These transformed path data a...

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Abstract

The invention discloses a wheeled engineering machinery automatic tracking driving control system and method, and the system comprises: a path input module which is used for obtaining the data of a specified path; the positioning data acquisition module that is used for acquiring coordinate information of track path points of the wheel type engineering machinery and position coordinate informationof the wheel type excavator, performing coordinate conversion on the coordinate information and outputting converted path data and positioning data; the curve fitting module that is used for receiving the path data converted by the positioning data acquisition module, performing curve fitting on the discrete path data and outputting a driving track curve of the wheel excavator; and the trajectorytracking control module that is used for receiving the pose data of the wheel excavator, the positioning data output by the positioning data acquisition module and the driving trajectory curve outputby the curve fitting module, obtaining and outputting the depth of an accelerator pedal, the depth of a brake pedal and a steering angle through calculation, and controlling to realize automatic tracking driving.

Description

technical field [0001] The invention belongs to the technical field of engineering machinery, and relates to an automatic tracking driving control system and method for wheeled engineering machinery. Background technique [0002] Construction machinery is widely used in major strategic projects and infrastructure construction. It is a strategic industry supporting the development of my country's national economy and plays an extremely important role. There are many types of construction machinery, which can be roughly divided into two types: wheeled and crawler. Wheeled construction machinery is characterized by high mobility. Taking wheeled excavators as an example, compared with crawler wheeled excavators, it is more suitable for urban construction. [0003] In some special industries, the operating environment of construction machinery is extremely harsh, such as: toxic gas waste gas, garbage cleaning, emergency rescue, tunnel excavation, explosion-proof operations, radi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0278G05D1/0257G05D1/027
Inventor 赵斌王飞跃马厚雪徐标
Owner JIANGSU XCMG CONSTR MASCH RES INST LTD
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