Bulldozer control method and device, equipment, storage medium and product

A control method and technology of bulldozers, applied in control/regulation systems, non-electric variable control, earth movers/shovels, etc., can solve the problem that bulldozers cannot automatically track the target path

Pending Publication Date: 2021-08-10
WEICHAI POWER CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a bulldozer control method, device, equipment, storage medium and product to solve the problem that the existing bulldozer cannot automatically track the target path

Method used

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  • Bulldozer control method and device, equipment, storage medium and product
  • Bulldozer control method and device, equipment, storage medium and product
  • Bulldozer control method and device, equipment, storage medium and product

Examples

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no. 1 example

[0040] figure 2 is a schematic flow chart of the bulldozer control method provided by the first embodiment of the present invention, as shown in figure 2 As shown, the execution subject of the bulldozer control method provided in this embodiment is the bulldozer control device, and the bulldozer control device is located in the electronic equipment, then the bulldozer control method provided in this embodiment includes the following steps:

[0041] Step 101, obtaining construction tasks.

[0042] In this implementation, the construction task includes the task of the working path and the task of the walking path. The task of the working task refers to the corresponding path task when the bulldozer unloads, bulldozes, and transports the soil. The task of the walking path refers to the The corresponding path task when not working.

[0043]Among them, the construction task can be automatically obtained from the cloud platform, or the construction task sent by the cloud platfor...

no. 2 example

[0064] Optionally, on the basis of the bulldozer control method provided in the first embodiment of the present invention, step 103 is further refined, and step 103 includes the following steps:

[0065] Step 1031, compare the current driving speed with the preset speed, wherein the preset speed includes a first preset speed and a second preset speed.

[0066] In this embodiment, the current target point can be determined according to the current preview point, and the target point is related to the speed of the bulldozer. When the speed of the vehicle is too fast, the selected target point should be far away from the bulldozer, and more time can be reserved for adjustment , which is conducive to smooth steering of the vehicle. When the speed of the vehicle is too slow, the selected target point should be closer to the bulldozer, which is beneficial for the vehicle to quickly adjust the current forward direction and keep it consistent with the path direction. Therefore, when s...

no. 3 example

[0090] Optionally, on the basis of the bulldozer control method provided in the first embodiment of the present invention, step 104 is further refined, then step 104 includes the following steps:

[0091] Step 1041, calculate the distance between the preview point and each driving target point, and select the driving target point with the smallest distance as the current driving target point.

[0092] In this embodiment, the target route includes multiple driving target points, such as image 3 As shown, the driving target point is P 0 , P k , P k+1 , P m etc. by P 0 , P k , P k+ 1, P m Constitute the target route, the preview point is Ps(x s ,y s ) After determining the preview point, calculate the distance between the preview point and each driving target point in front of the vehicle's driving direction, and select the driving target point with a short distance as the current driving target point, wherein, after calculating P m with P s The minimum distance is th...

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Abstract

The invention provides a bulldozer control method and device, equipment, a storage medium and a product. The bulldozer control method comprises the steps of obtaining a construction task; analyzing the construction task to obtain a target route, wherein the target route comprises a plurality of driving target points; obtaining the current running speed of the bulldozer, and determining a current preview point according to the current running speed; determining a current driving target point according to the current preview point and the plurality of driving target points; determining a current course angle deviation according to a current coordinate point of the bulldozer and the current driving target point; determining current control parameters according to the current course angle deviation, wherein the current control parameters comprise the driving speed and the driving steering value; and controlling the bulldozer to operate according to the current control parameters. According to the bulldozer control method, the bulldozer is controlled to run along the specified target route as much as possible so as to achieve path tracking of the bulldozer, and manual operation of the bulldozer is not needed.

Description

technical field [0001] The invention relates to the technical field of engineering machinery, in particular to a bulldozer control method, device, equipment, storage medium and product. Background technique [0002] The mechanization of engineering construction has become a long-term development trend. Bulldozers are indispensable construction equipment in various construction projects such as civil engineering, water conservancy, mining, agriculture, forestry, and oil fields. Bulldozers are mainly used for shallow excavation and short transportation of earth and stone materials, site cleaning and Delicate or heavy-duty operations such as leveling and backfilling. [0003] At present, the bulldozer can be operated by remote control, and the operator can remotely control the bulldozer through wired or wireless, which can reduce the labor intensity of the operator. Or the operator adjusts the work task by selecting a pre-coded function menu to complete a new task. [0004] H...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E02F3/76E02F3/80E02F3/84G05D1/02
CPCE02F3/76E02F3/80E02F3/84E02F3/841G05D1/0219G05D1/0276
Inventor 彭刚窦全礼谭则杰许镟李剑峰周诚赵奎奎王学鹏
Owner WEICHAI POWER CO LTD
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