Intelligent automatic control method and system for track of bucket of mechanical hydraulic excavator

Abstract

The invention provides an intelligent mechanical hydraulic excavator bucket track automatic control method and system, and relates to the technical field of data processing, the method comprises the following steps: obtaining target track data and excavation working condition data; the expected stress of the bucket on the target track is calculated based on the mechanical property of the hydraulic system, the movement track of the bucket and the soil resistance change; calculating a trajectory correction compensation amount by combining the dynamic response characteristics of the hydraulic system and historical trajectory deviation data; real-time track data of the bucket are obtained, and the current track offset is calculated in combination with the target track data; calculating a correction control quantity to obtain a correction control instruction; the control parameters of the hydraulic cylinder are adjusted to correct the track of the bucket, so that the bucket runs along the target track; track correction is repeatedly executed until the bucket completes the excavation task of the target track; according to the invention, autonomy and accuracy of automatic control of the track of the bucket are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to an intelligent automatic control method and system for a bucket trajectory of a mechanical hydraulic excavator. Background Art

[0002] The existing mechanical hydraulic excavator bucket trajectory control usually relies on the linkage control of the hydraulic cylinder, and the predetermined trajectory is achieved through manual operation or semi-automatic control system. The traditional method mainly uses proportional control valves or servo valves to adjust the hydraulic oil flow, thereby controlling the motion trajectory of the boom, dipper and bucket. In some automated systems, the real-time status of the key components of the excavator can be collected based on angle sensors, pressure sensors and displacement sensors, and trajectory planning can be performed in combination with control algorithms. For example, some systems use a preset trajectory matching method, that is, the trajectory is first set by manual teaching or programming, and then automatically executed by the control system. However, this type of method often requires more manual intervention, and the trajectory accuracy is greatly affected by environmental changes. In order to improve the degree of automation, there are also systems based on visual recognition or laser radar, which can be used to perceive the excavation environment and realize bucket motion control in combination with path planning algorithms, but this type of method has a large amount of calculation, limited response speed, and is difficult to adapt to complex working conditions.

[0003] The existing technology has the problem of insufficient trajectory control stability in practical applications, especially in complex soil environments, the bucket trajectory is prone to deviate from the predetermined trajectory. For example, when excavating in sticky soil, due to the large soil adhesion, the bucket will be affected by uneven resistance during the digging process, resulting in trajectory deviation. Under the existing control method, the system usually relies on pressure sensors or hydraulic feedback signals for compensation adjustments, but due to the response delay of the hydraulic system, the compensation adjustment is often delayed, which may cause the bucket to deviate significantly or produce additional vibrations during the excavation process. This not only affects the excavation accuracy, but may also cause additional stress damage to mechanical components, thereby affecting the life of the equipment. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent mechanical hydraulic excavator bucket trajectory automatic control method and system, aiming to solve the problems mentioned in the background technology.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, an intelligent method for automatically controlling a bucket trajectory of a mechanical hydraulic excavator is provided, the method comprising:

[0007] Acquire target trajectory data and excavation condition data, wherein the excavation condition data includes real-time pressure of the hydraulic cylinder, position information of the bucket, tilt angle of the excavator, soil resistance parameters and target trajectory, and obtain a condition data set;

[0008] According to the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the change in soil resistance, the expected force of the bucket on the target trajectory is calculated to obtain the expected force data;

[0009] According to the expected force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, the trajectory correction compensation amount is calculated to obtain the trajectory correction compensation data;

[0010] Obtain the real-time trajectory data of the bucket, and combine it with the target trajectory data to calculate the current trajectory offset and obtain the trajectory deviation data;

[0011] According to the trajectory deviation data and trajectory correction compensation data, the correction control amount is calculated, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, and the correction control instruction is obtained;

[0012] According to the correction control instruction, the control parameters of the hydraulic cylinder are adjusted to correct the bucket trajectory so that the bucket runs along the target trajectory and the correction trajectory data is obtained;

[0013] According to the corrected trajectory data, the trajectory correction is repeatedly performed until the bucket completes the excavation task of the target trajectory.

[0014] Preferably, the excavation working condition data is obtained, including the real-time pressure of the hydraulic cylinder, the position information of the bucket, the tilt angle of the excavator and the soil resistance parameter, to obtain the working condition data set, including:

[0015] Acquire the real-time pressure of the hydraulic cylinders, the hydraulic cylinders including the boom hydraulic cylinder, the dipper arm hydraulic cylinder and the bucket hydraulic cylinder, respectively acquire the pressure signal of each hydraulic cylinder to obtain the hydraulic pressure data;

[0016] Acquire the position information of the bucket, the position information is based on the angle data measured by the position sensors installed on the bucket and the dipper arm, and is converted into the spatial coordinates of the bucket to obtain the bucket position data;

[0017] Acquire the tilt angle of the excavator, where the tilt angle is based on attitude angle information measured by an inertial measurement unit installed on the excavator body and compensated in combination with the ground contact state to obtain excavator tilt data;

[0018] Acquire soil resistance parameters, wherein the soil resistance parameters are based on real-time resistance data measured by a force sensor at the front end of the bucket, and the adhesion and internal friction coefficient of the soil are calculated in combination with the motion state of the excavator to obtain soil resistance data;

[0019] The hydraulic pressure data, bucket position data, excavator tilt data and soil resistance data are combined to form a working condition data set.

[0020] Preferably, the method of calculating the expected force of the bucket on the target trajectory based on the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the soil resistance change, and obtaining the expected force data includes:

[0021] Based on the mechanical characteristics of the hydraulic system, the target thrust of the hydraulic cylinder is calculated, and the target thrust is calculated based on the effective action area of ​​the hydraulic cylinder and the hydraulic pressure of the target trajectory point to form the hydraulic cylinder thrust data;

[0022] Based on the bucket motion trajectory, the angle change rate of the bucket at different trajectory points is calculated, and the rotation torque of the bucket at each trajectory point is calculated in combination with the bucket's geometric parameters to obtain the bucket rotation torque data;

[0023] Based on the change of soil resistance, the soil stress state at different trajectory points is analyzed, and combined with the adhesion and friction characteristics of the soil, the target force of the bucket at different trajectory points is calculated to obtain the soil stress data;

[0024] According to the hydraulic cylinder thrust data, bucket rotation torque data and soil force data, the expected force of the bucket on the target trajectory is calculated to obtain the expected force data; wherein, , The hydraulic cylinder at time The target thrust, The internal pressure of the hydraulic cylinder at time The hydraulic pressure, is the effective area of ​​the hydraulic cylinder, For the bucket at the moment The soil resistance, is the bucket rotation torque, It is the distance from the bucket rotation fulcrum to the force point; , For the bucket at the moment The soil resistance, is the soil resistance coefficient, is the bucket cutting area, is the soil density, is the bucket cutting speed, is the soil friction coefficient, is the bucket and load mass, is the acceleration due to gravity, is the angle at which the bucket enters the soil, is the soil compression coefficient, is the compression force per unit depth, is the bucket cutting depth; , is the bucket mass, is the acceleration due to gravity, is the distance from the bucket's center of gravity to the rotation fulcrum, is the moment of inertia of the bucket, is the angular acceleration of the bucket, is the air density, is the bucket frontal area, is the air resistance coefficient, is the cutting speed of the bucket, is the air resistance arm.

[0025] Preferably, the trajectory correction compensation amount is calculated based on the expected force data in combination with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data to obtain the trajectory correction compensation data, including:

[0026] Acquire dynamic response data of the hydraulic system, wherein the dynamic response data includes a pressure change rate of the hydraulic cylinder, an oil flow rate, and a displacement adjustment response time of the hydraulic cylinder, and obtain a response parameter of the hydraulic system;

[0027] Acquire historical trajectory deviation data, wherein the historical trajectory deviation data includes trajectory deviation amounts and trajectory deviation trends under different working conditions, and obtain trajectory deviation characteristic parameters;

[0028] According to the trajectory deviation characteristic parameters, the hydraulic system response parameters and the expected force data, based on the trajectory error compensation model, the trajectory correction compensation amount is calculated to obtain the trajectory correction compensation data;

[0029] The trajectory correction compensation includes a hydraulic cylinder pressure dynamic compensation, a hydraulic oil flow rate dynamic compensation and a hydraulic cylinder displacement dynamic compensation.

[0030] Preferably, the real-time trajectory data of the bucket is acquired, and combined with the target trajectory data, the current trajectory offset is calculated to obtain the trajectory deviation data, including:

[0031] Acquire the real-time position information of the bucket and the tilt angle of the excavator, and obtain the real-time bucket position data and real-time excavator tilt data;

[0032] According to the real-time bucket position data and the real-time excavator tilt data, the actual track point of the bucket is calculated and compared with the target track point to obtain the track offset;

[0033] According to the trajectory deviation, the trajectory deviation trend is calculated, and dynamic adjustment is performed in combination with the historical trajectory deviation data to obtain the trajectory deviation data.

[0034] Preferably, the correction control amount is calculated according to the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, and the correction control instruction is obtained, including:

[0035] According to the trajectory deviation data and the trajectory correction compensation data, the pressure adjustment value of the hydraulic cylinder is adjusted to obtain the corrected pressure parameter;

[0036] Based on the corrected pressure parameter, the hydraulic oil flow rate is calculated, and the oil flow supply rate of the hydraulic cylinder is adjusted to obtain the corrected flow rate parameter;

[0037] Based on the corrected flow rate parameters, the target displacement of the hydraulic cylinder is adjusted, and the corrected displacement parameters are calculated in combination with the stroke limit of the hydraulic cylinder;

[0038] The corrected pressure parameters, flow rate parameters and displacement parameters are stored to form a corrected control instruction.

[0039] Preferably, the step of adjusting the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory so that the bucket moves along the target trajectory to obtain the corrected trajectory data includes:

[0040] According to the pressure correction data in the correction control instruction, the hydraulic pressure of the hydraulic cylinder is adjusted to obtain the pressure adjustment data;

[0041] According to the flow rate correction data, the hydraulic oil supply rate of the hydraulic cylinder is adjusted to obtain the flow rate adjustment data;

[0042] According to the displacement correction data, the target displacement of the hydraulic cylinder is adjusted, and the actual displacement change is calculated in combination with the piston stroke restriction condition of the hydraulic cylinder to obtain the displacement adjustment data;

[0043] According to the pressure adjustment data, the flow rate adjustment data and the displacement adjustment data, the movement of the hydraulic cylinder is controlled so that the bucket moves along the target trajectory to obtain the corrected trajectory data.

[0044] In a second aspect, an intelligent mechanical hydraulic excavator bucket trajectory automatic control system is provided, the system comprising:

[0045] A data acquisition module is used to obtain target trajectory data and excavation condition data, wherein the excavation condition data includes the real-time pressure of the hydraulic cylinder, the position information of the bucket, the tilt angle of the excavator, the soil resistance parameters and the target trajectory, and obtain a condition data set;

[0046] The expected force generation module is used to calculate the expected force of the bucket on the target trajectory according to the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the soil resistance change, and obtain the expected force data;

[0047] A trajectory compensation data generation module is used to calculate the trajectory correction compensation amount according to the expected force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, to obtain the trajectory correction compensation data;

[0048] The trajectory deviation data generation module is used to obtain the real-time trajectory data of the bucket, and calculate the current trajectory offset in combination with the target trajectory data to obtain the trajectory deviation data;

[0049] An instruction generation module is used to calculate the correction control amount, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, according to the trajectory deviation data and the trajectory correction compensation data, and obtain the correction control instruction;

[0050] The instruction execution module is used to adjust the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory so that the bucket runs along the target trajectory and obtains the correction trajectory data;

[0051] The feedback module is used to repeatedly perform trajectory correction according to the corrected trajectory data until the bucket completes the excavation task of the target trajectory.

[0052] The above solution of the present invention includes at least the following beneficial effects:

[0053] First, this method acquires target trajectory data and excavation condition data to construct a condition data set, so that the system can perform trajectory control based on the actual working environment rather than relying on fixed trajectory planning. In the prior art, trajectory control usually relies on manual teaching or preset trajectories, which is difficult to adapt to changes in soil conditions and equipment status. This method acquires the pressure of the hydraulic cylinder, the position information of the bucket, the tilt angle of the excavator, and the soil resistance parameters in real time to form a complete condition data set, so that the trajectory control can be dynamically adjusted to improve the accuracy of trajectory tracking.

[0054] Secondly, based on the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the change in soil resistance, this method calculates the expected force of the bucket on the target trajectory, making the trajectory control more in line with physical laws. In the prior art, trajectory control is mostly based on a simple pressure compensation strategy, ignoring the nonlinear characteristics of the hydraulic system and the impact of the external environment on the trajectory, resulting in delayed or insufficient trajectory correction. This method combines the force characteristics of the bucket, comprehensively considers the hydraulic cylinder thrust, bucket rotation torque and soil resistance, making the trajectory correction compensation more accurate and improving the stability of trajectory control.

[0055] In addition, this method combines the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data to calculate the trajectory correction compensation, thereby effectively reducing the lag problem in the trajectory correction process. Due to the dynamic response characteristics of the hydraulic system, a single trajectory correction may not be able to completely eliminate the trajectory error, and traditional methods often rely solely on pressure feedback for compensation, resulting in the accumulation of trajectory errors. This method predicts the future trajectory deviation trend through historical trajectory deviation data, and makes adjustments in advance based on the dynamic characteristics of the hydraulic system, making the trajectory correction process smoother, avoiding oscillation, and improving the stability of trajectory tracking.

[0056] This method also introduces real-time trajectory deviation calculation and dynamic adjustment of correction control amount to ensure that the system can respond quickly within each trajectory correction cycle. The system obtains the real-time trajectory data of the bucket, and calculates the current trajectory deviation in combination with the target trajectory data to obtain trajectory deviation data. Based on the trajectory deviation data and trajectory correction compensation data, the system further calculates the correction control amount, including the pressure adjustment value of the hydraulic cylinder, the oil flow rate and the target displacement, and generates correction control instructions to ensure that the trajectory correction can adapt to different working environments and improve the accuracy of trajectory control.

[0057] This method adopts a closed-loop control strategy to ensure that trajectory correction can continue until the bucket completes the excavation task of the target trajectory. The system adjusts the control parameters of the hydraulic cylinder according to the correction control instructions to correct the bucket trajectory, and updates the correction trajectory data in real time to ensure that the bucket can stably run along the target trajectory. Compared with traditional trajectory control methods, this method can maintain stability under complex working conditions and maintain high trajectory tracking accuracy even in environments with large changes in soil resistance.

[0058] In summary, this method effectively improves the accuracy and stability of trajectory control, reduces human intervention, and improves the intelligence level of mechanical hydraulic excavators by acquiring working condition data in real time, calculating expected forces, calculating trajectory correction compensation based on the dynamic characteristics of the hydraulic system, calculating the correction control amount in real time, and performing trajectory correction in a closed loop, so as to enable the excavator to complete excavation tasks more accurately along the target trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is a flowchart of an intelligent mechanical hydraulic excavator bucket trajectory automatic control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0061] like Figure 1 As shown, an embodiment of the present invention provides an intelligent mechanical hydraulic excavator bucket trajectory automatic control method, the method comprising:

[0062] Acquire target trajectory data and excavation condition data, wherein the excavation condition data includes real-time pressure of the hydraulic cylinder, position information of the bucket, tilt angle of the excavator, soil resistance parameters and target trajectory, and obtain a condition data set;

[0063] According to the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the change in soil resistance, the expected force of the bucket on the target trajectory is calculated to obtain the expected force data;

[0064] According to the expected force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, the trajectory correction compensation amount is calculated to obtain the trajectory correction compensation data;

[0065] Obtain the real-time trajectory data of the bucket, and combine it with the target trajectory data to calculate the current trajectory offset and obtain the trajectory deviation data;

[0066] According to the trajectory deviation data and trajectory correction compensation data, the correction control amount is calculated, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, and the correction control instruction is obtained;

[0067] According to the correction control instruction, the control parameters of the hydraulic cylinder are adjusted to correct the bucket trajectory so that the bucket runs along the target trajectory and the correction trajectory data is obtained;

[0068] According to the corrected trajectory data, the trajectory correction is repeatedly performed until the bucket completes the excavation task of the target trajectory.

[0069] In an embodiment of the present invention, by collecting target trajectory data and excavation condition data, combined with the mechanical characteristics of the hydraulic system, the bucket motion trajectory and soil resistance changes, the control parameters of the hydraulic cylinder are adjusted in real time to ensure that the bucket can run stably along the target trajectory.

[0070] In actual operation, the target trajectory data is first obtained so that the excavation path of the bucket can be determined in advance to ensure the planning of the operation. At the same time, a complete working condition data set is formed through key working condition data such as the real-time pressure of the hydraulic cylinder, the position information of the bucket, the tilt angle of the excavator, and the soil resistance parameters. These data can reflect the working status of the hydraulic system, the spatial position of the bucket, the working posture of the excavator, and the soil resistance of the working environment in real time, providing reliable data support for subsequent control calculations.

[0071] Based on the collected data, the expected force on the bucket on the target trajectory is calculated so that it can adapt to different excavation conditions. For example, in a high-resistance soil environment, the system will automatically calculate a higher thrust requirement to ensure that the bucket can move along the planned trajectory, while in low-resistance areas, the thrust can be appropriately reduced to improve energy efficiency. The trajectory correction compensation amount is further calculated by combining the dynamic response characteristics of the hydraulic system and historical trajectory deviation data. Due to the lag of the hydraulic system, relying solely on real-time data adjustments may cause oscillation or over-correction. Therefore, the system will comprehensively consider the dynamic response of the hydraulic system and combine historical trajectory data to predict possible trajectory deviations, thereby improving the accuracy of trajectory correction.

[0072] After the system obtains the real-time trajectory data of the bucket, it compares it with the target trajectory and calculates the current trajectory offset. If the offset is large, a stronger correction control is required, including the pressure adjustment value of the hydraulic cylinder, the oil flow rate and the target displacement. After the correction control instruction is calculated, the control parameters of the hydraulic cylinder are automatically adjusted so that the bucket trajectory can gradually approach the target trajectory and continue to iterate until the bucket completes the entire excavation task in full accordance with the target trajectory.

[0073] The application of this method effectively improves the motion accuracy of the hydraulic excavator bucket, enabling it to automatically adapt to different working environments and complete trajectory correction without human intervention. Compared with the traditional manual control method, this method not only reduces the difficulty of operation, but also improves the operating efficiency of the excavator and the stability of trajectory control. In addition, the ability of real-time trajectory correction makes the excavation operation more accurate, avoids repeated operations caused by trajectory deviation, improves energy utilization and reduces equipment loss.

[0074] In the process of trajectory correction control, in order to ensure that the bucket can accurately perform the excavation task along the target trajectory, this method adopts a closed-loop control strategy of repeated trajectory correction. This strategy corrects the trajectory through real-time feedback, so that the bucket continuously adjusts its position until the excavation task of the target trajectory is completed.

[0075] In actual applications, first, the system will obtain the real-time trajectory data of the bucket and compare it with the preset target trajectory. If a trajectory deviation is found, the system will calculate the correction control amount based on the trajectory deviation data, generate a correction control instruction, and adjust the control parameters of the hydraulic cylinder to guide the bucket to the target trajectory. However, due to many uncertain factors in the excavation process, such as changes in soil resistance, hydraulic system response lag, excavator posture adjustment, etc., a single trajectory correction is often difficult to completely eliminate the trajectory deviation. Therefore, this method adopts a method of repeatedly executing trajectory correction to ensure that the bucket can gradually fit the target trajectory and ultimately complete the entire excavation task.

[0076] During the trajectory correction process, after each adjustment, the system will re-acquire the bucket's real-time trajectory data and compare it with the target trajectory. If the trajectory deviation still exists, the system will recalculate the correction control amount based on the latest trajectory data and execute a new trajectory correction instruction. The whole process will continue until the trajectory error is reduced to an acceptable range, or the bucket reaches the preset end trajectory, completing the entire excavation task.

[0077] In the repeated execution of trajectory correction, in order to improve the correction efficiency and reduce trajectory oscillation, this method introduces a trajectory error convergence strategy. This strategy ensures that the trajectory error can be gradually reduced during each correction process without causing trajectory oscillation due to excessive adjustment of the correction control. In addition, the system will dynamically adjust the amplitude of trajectory correction in combination with the response characteristics of the hydraulic system to adapt to changes in different operating environments. For example, in a high-viscosity soil environment, due to the large force on the bucket, the force of trajectory correction needs to be appropriately increased to ensure the correction effect; in a low-resistance environment, the correction force can be reduced to prevent trajectory overshoot.

[0078] The repeated trajectory correction strategy of this method can ensure that the bucket always maintains high-precision trajectory tracking capabilities in complex working environments. Compared with the traditional trajectory correction method, this method can adapt to changes in different working conditions, reduce manual intervention, and improve the automation level of excavation operations. Finally, by continuously adjusting the control parameters of the hydraulic system, the bucket can complete the excavation task along the target trajectory, improving the accuracy and stability of the operation.

[0079] In a preferred embodiment of the present invention, the excavation working condition data is obtained, including the real-time pressure of the hydraulic cylinder, the position information of the bucket, the tilt angle of the excavator and the soil resistance parameter, to obtain the working condition data set, including:

[0080] Acquire the real-time pressure of the hydraulic cylinders, the hydraulic cylinders including the boom hydraulic cylinder, the dipper arm hydraulic cylinder and the bucket hydraulic cylinder, respectively acquire the pressure signal of each hydraulic cylinder to obtain the hydraulic pressure data;

[0081] Acquire the position information of the bucket, the position information is based on the angle data measured by the position sensors installed on the bucket and the dipper arm, and is converted into the spatial coordinates of the bucket to obtain the bucket position data;

[0082] Acquire the tilt angle of the excavator, where the tilt angle is based on attitude angle information measured by an inertial measurement unit installed on the excavator body and compensated in combination with the ground contact state to obtain excavator tilt data;

[0083] Acquire soil resistance parameters, wherein the soil resistance parameters are based on real-time resistance data measured by a force sensor at the front end of the bucket, and the adhesion and internal friction coefficient of the soil are calculated in combination with the motion state of the excavator to obtain soil resistance data;

[0084] The hydraulic pressure data, bucket position data, excavator tilt data and soil resistance data are combined to form a working condition data set.

[0085] In the embodiment of the present invention, obtaining accurate excavation working condition data is the key to automatic control during excavation operations. In order to ensure that the system can correctly judge the force and motion state of the bucket, the method uses multiple sensors to collect the real-time pressure of the hydraulic cylinder, the position of the bucket, the tilt angle of the excavator, and the soil resistance parameters, and merges these data to form a working condition data set.

[0086] In actual applications, the boom hydraulic cylinder, dipper arm hydraulic cylinder and bucket hydraulic cylinder are equipped with pressure sensors to accurately obtain the real-time pressure signal of each hydraulic cylinder, thereby forming a complete hydraulic system pressure data set. This data can reflect the working status of the hydraulic system and is used to calculate the thrust of the hydraulic cylinder and the force of the entire system.

[0087] The position information of the bucket is the angle data measured by the position sensors installed on the bucket and the dipper arm, and the precise position of the bucket is obtained through spatial coordinate conversion. This information can reflect the posture of the bucket in real time, allowing the system to adjust the trajectory according to the position error. At the same time, the tilt angle of the excavator is measured by the inertial measurement unit installed on the vehicle body, and is compensated in combination with the ground contact state to improve the measurement accuracy and ensure that the system can correctly perceive the posture changes of the excavator.

[0088] In addition, the acquisition of soil resistance parameters is crucial for trajectory control. The force sensor installed at the front end of the bucket can measure the soil resistance in real time, and calculate the soil adhesion and internal friction coefficient in combination with the motion state of the excavator, and then predict the force of the soil on the bucket. These data can be used for trajectory correction calculations, allowing the system to automatically adjust the excavation strategy and improve work efficiency.

[0089] By combining the above data, a working condition data set is formed to provide complete data support for subsequent calculations. Compared with traditional excavation methods, this method can realize real-time monitoring of the working environment and automatically adjust the excavation parameters according to environmental changes, making the bucket trajectory control more precise and improving the stability and adaptability of the operation.

[0090] Specifically, during the excavation operation, the spatial position of the bucket is an important parameter for trajectory control, and its accuracy directly affects the accuracy of trajectory correction calculation. This method uses position sensors installed on the bucket and the dipper arm to measure angle data in real time and convert it into the three-dimensional spatial coordinates of the bucket for subsequent calculation and trajectory adjustment.

[0091] In the specific implementation, the motion relationship between the bucket and the dipper arm is measured by a set of high-precision angle sensors, which can use angle encoders, gyroscopes or magnetic sensors to obtain the angle information between the bucket and the dipper arm. In addition, the rotation angle of the dipper arm relative to the boom and the angle of the boom relative to the excavator body also need to be obtained in real time to ensure that the system can fully grasp the spatial position of the bucket.

[0092] After measuring these angle data, the system will convert the angle information into the bucket's coordinate data in three-dimensional space based on the excavator's geometric parameters and using the forward kinematics model. During the conversion process, it is necessary to consider the length of the dipper arm and bucket, the installation angle, and the motion relationship of each connecting rod to ensure that the calculation results can truly reflect the position of the bucket. Since the sensor may have measurement errors or noise, the system will also combine historical data and use filtering algorithms to optimize the measurement results to improve the stability and accuracy of the bucket position data.

[0093] Ultimately, the converted bucket position data can be used for trajectory control and trajectory correction calculations, ensuring that the bucket can operate according to the planned trajectory throughout the excavation process, improving operation accuracy and stability.

[0094] Specifically, when the excavator is operating under different terrain conditions, the tilt angle of the vehicle body will directly affect the calculation of the bucket trajectory. If the tilt angle is not compensated, the bucket trajectory calculated by the system may have a large error. Therefore, this method uses the inertial measurement unit (IMU) installed on the excavator body to measure the attitude angle information of the excavator in real time, and compensates it in combination with the ground contact state to obtain more accurate excavator tilt data.

[0095] An inertial measurement unit usually contains an accelerometer and a gyroscope, which can measure the excavator's attitude angle changes in three-dimensional space. Specifically, the accelerometer is used to measure the acceleration changes of the excavator in different directions, while the gyroscope is used to measure the angular velocity of the excavator. By combining these two types of data, the system can calculate the pitch and roll angles of the excavator relative to the horizontal plane, thereby determining its tilt angle.

[0096] However, since the excavator may operate on a slope, sunken terrain or uneven ground, the inertial measurement unit may be affected by mechanical vibration, acceleration drift or short-term impact force, resulting in deviations in the measurement data. In order to improve the accuracy of the inclination angle measurement, this method combines the ground contact state for compensation. The ground contact state can be monitored by a pressure sensor installed on the excavator support structure or hydraulic system feedback data to determine the stability of the excavator on the ground and correct the measurement error of the inertial measurement unit.

[0097] Through this compensation method, the excavator's tilt angle data can more accurately reflect changes in the working environment, making trajectory calculation more precise, reducing trajectory deviation caused by tilt error, and improving the reliability of trajectory control.

[0098] Specifically, during the excavation process, the soil resistance of the bucket directly affects the accuracy of the trajectory correction calculation. Since different types of soil have different physical properties, such as adhesion, friction coefficient, density, etc., if the system cannot accurately obtain soil resistance data, it may cause errors in bucket thrust calculation, thereby affecting the trajectory correction effect. To this end, this method measures the soil resistance data in real time by installing a force sensor at the front end of the bucket, and calculates the soil adhesion and internal friction coefficient in combination with the motion state of the excavator, thereby obtaining more accurate soil resistance parameters.

[0099] The force sensor generally uses a strain gauge pressure sensor or torque sensor, which can detect the positive pressure and cutting resistance on the front end of the bucket and convert it into an electrical signal for the system to perform real-time calculations. After the force data is obtained, the system will analyze the physical properties of the soil in combination with the motion state of the excavator, including the bucket's cutting speed, entry angle, hydraulic cylinder thrust and other parameters.

[0100] During the calculation process, the system will split the resistance of the bucket into forward resistance, tangential friction and lateral sliding force, and estimate its adhesion and internal friction coefficient based on the density, humidity and other characteristics of the soil. For example, when the bucket cutting speed is high, the adhesion of the soil will decrease, while in a high-humidity soil environment, the adhesion will increase. By analyzing these variables, the system dynamically adjusts the soil resistance parameters to improve the accuracy of the trajectory correction calculation.

[0101] Through this method, the acquisition of soil resistance parameters no longer relies on manual experience, but is automatically completed by sensors and calculation models. This method not only improves measurement accuracy, but also can adapt to different types of soil conditions, making trajectory control more intelligent, reducing trajectory deviations caused by soil resistance changes, and improving operation efficiency and stability.

[0102] In a preferred embodiment of the present invention, the expected force of the bucket on the target trajectory is calculated based on the working condition data set, the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the soil resistance change, and the expected force data is obtained, including:

[0103] Based on the mechanical characteristics of the hydraulic system, the target thrust of the hydraulic cylinder is calculated, and the target thrust is calculated based on the effective action area of ​​the hydraulic cylinder and the hydraulic pressure of the target trajectory point to form the hydraulic cylinder thrust data;

[0104] Based on the bucket motion trajectory, the angle change rate of the bucket at different trajectory points is calculated, and the rotation torque of the bucket at each trajectory point is calculated in combination with the bucket's geometric parameters to obtain the bucket rotation torque data;

[0105] Based on the change of soil resistance, the soil stress state at different trajectory points is analyzed, and combined with the adhesion and friction characteristics of the soil, the target force of the bucket at different trajectory points is calculated to obtain the soil stress data;

[0106] According to the hydraulic cylinder thrust data, bucket rotation torque data and soil force data, the expected force of the bucket on the target trajectory is calculated to obtain the expected force data; wherein, , The hydraulic cylinder at time The target thrust, The internal pressure of the hydraulic cylinder at time The hydraulic pressure, is the effective area of ​​the hydraulic cylinder, For the bucket at the moment The soil resistance, is the bucket rotation torque, It is the distance from the bucket rotation fulcrum to the force point; , For the bucket at the moment The soil resistance, is the soil resistance coefficient, is the bucket cutting area, is the soil density, is the bucket cutting speed, is the soil friction coefficient, is the bucket and load mass, is the acceleration due to gravity, is the angle at which the bucket enters the soil, is the soil compression coefficient, is the compression force per unit depth, is the bucket cutting depth; , is the bucket mass, is the acceleration due to gravity, is the distance from the bucket's center of gravity to the rotation fulcrum, is the moment of inertia of the bucket, is the angular acceleration of the bucket, is the air density, is the bucket frontal area, is the air resistance coefficient, is the cutting speed of the bucket, is the air resistance arm.

[0107] In an embodiment of the present invention, in order to ensure that the force on the bucket on the target trajectory is reasonable, the method calculates the expected force on the bucket on the target trajectory based on the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the change in soil resistance, so that it can maintain a stable operating state under complex working conditions.

[0108] In the mechanical characteristics analysis of the hydraulic system, the target thrust of the hydraulic cylinder is calculated first. The thrust is calculated based on the effective action area of ​​the hydraulic cylinder and the hydraulic pressure at the target trajectory point to ensure that the bucket can obtain sufficient thrust support on the target trajectory. Due to the dynamic response characteristics of the hydraulic system, the thrust calculation must not only consider the static pressure, but also combine historical data to predict possible dynamic changes to prevent the system from responding lagging.

[0109] The motion trajectory of the bucket is also a key factor affecting the force. During the calculation process, the system analyzes the angle change rate of the bucket at different trajectory points and calculates its rotational torque based on the bucket's geometric parameters. The calculation of the rotational torque ensures that the bucket will not deviate from its posture due to uneven force during the excavation process, and helps optimize the control strategy of the hydraulic cylinder to provide reasonable torque support.

[0110] In addition, changes in soil resistance also directly affect the force state of the bucket. During the calculation process, the system analyzes the soil force conditions at different trajectory points and calculates the target force of the bucket in combination with the soil adhesion and friction characteristics to ensure that the bucket can smoothly cut the soil without causing trajectory deviation due to excessive resistance. By comprehensively analyzing the hydraulic cylinder thrust, bucket rotation torque and soil force data, the expected force of the bucket on the target trajectory is finally calculated, providing basic data for trajectory correction.

[0111] Through the above calculation method, this method can ensure that the bucket can obtain reasonable force support under different working conditions, thereby improving the stability of the excavation operation. Compared with the traditional method that relies on the operator's experience, this method can automatically analyze the working environment and provide accurate force calculation, so that the bucket can run more accurately along the target trajectory during the excavation process, thereby improving the working efficiency and excavation quality.

[0112] The calculation method of soil resistance coefficient is:

[0113] The soil resistance coefficient is a parameter that reflects the resistance of the soil to the bucket cutting, which is usually determined by the soil type, moisture content, density and the cutting state of the bucket. In the prior art, the soil resistance coefficient is generally calculated in the following ways:

[0114] Calculation by soil shear strength: In soil mechanics, the shear strength of the soil determines its resistance to cutting. Usually, the shear strength of the soil can be determined experimentally, such as using a triaxial shear test or a direct shear test to obtain the shear resistance of the soil under different pressures. Then, by combining the shear strength of the soil with factors such as the cutting area and the depth of the bucket, the resistance coefficient of the soil is calculated.

[0115] Calculation by empirical formula: In engineering applications, soil resistance coefficient is often calculated by empirical formula. For example, based on the traditional Bell'sequation or Mohr-Coulomb Criterion, corrections are made in combination with the working conditions of the excavator.

[0116] Generally, soil resistance is proportional to soil density, bucket cutting depth and cutting speed, and the resistance coefficient increases significantly in high-density soil or wet soil. Therefore, the system can dynamically correct the soil resistance coefficient based on the data measured by the bucket force sensor and the existing soil resistance calculation model to improve the accuracy of trajectory correction calculation.

[0117] Wherein, the calculation method of the soil friction coefficient is:

[0118] The soil friction coefficient is a parameter that describes the friction characteristics between the bucket and the soil. It determines the tangential friction force that the bucket is subjected to during the cutting process. In the prior art, the calculation methods of the soil friction coefficient mainly include the following:

[0119] Calculation by soil internal friction angle: In soil mechanics, the soil internal friction angle determines its shear strength and friction characteristics. The internal friction angle is usually obtained through experimental methods such as triaxial test and direct shear test, and the soil friction coefficient is calculated through the following empirical relationship:

[0120] For coarse-grained soils (sand, gravel), the friction coefficient is usually large, and it decreases as the moisture content increases.

[0121] For fine-grained soils (clays), the friction coefficient is low but increases under high compression.

[0122] In this method, the system can calculate the friction coefficient of the soil through the normal pressure and tangential friction force of the bucket measured by the force sensor and the internal friction angle, and make dynamic adjustments according to the real-time movement state of the bucket.

[0123] Calculation through bucket motion state: In the automatic control system, the soil friction coefficient can be inferred through the bucket motion state and force state. For example, when the bucket cutting speed increases, the effect of friction will change. The system can calculate the real-time friction coefficient using the experimentally calibrated friction coefficient model in combination with factors such as the bucket's entry angle and cutting speed.

[0124] Wherein, the calculation method of the soil compression coefficient is:

[0125] The soil compression coefficient reflects the deformation capacity of the soil under force, and is mainly used to calculate the force and displacement adjustment of the bucket on the target trajectory. In the prior art, the calculation method of the soil compression coefficient includes:

[0126] Calculation through soil consolidation test: In geotechnical engineering, soil compressibility is usually determined through consolidation test. The test measures the deformation of the soil by applying different vertical pressures, and calculates the soil compression modulus and compression coefficient. In general, soil compressibility is affected by soil type, density and moisture content:

[0127] Sand is less compressible because the particle structure is more stable.

[0128] Clay is highly compressible, especially at high water content, where the pore water between particles affects the compression properties.

[0129] Calculation by empirical formula: In the automatic control system, the soil compression coefficient can be calculated by empirical formula. For example, some soil mechanics models believe that there is a certain relationship between the soil compression coefficient and the soil resistance coefficient and the cutting depth:

[0130] As the bucket cutting depth increases, the compressibility of the soil decreases because the bearing capacity of the underlying soil is higher.

[0131] In high density soils, the compressibility factor is lower because the close contact between particles limits the ability to deform.

[0132] In low-density soils, the compressibility factor is higher because the pores between the soil particles are larger and can deform easily.

[0133] In this method, the system combines the bucket force sensor and motion state data to calculate the soil compression coefficient according to the calibration model and makes dynamic adjustments in the trajectory correction calculation.

[0134] In a preferred embodiment of the present invention, the trajectory correction compensation amount is calculated based on the expected force data in combination with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data to obtain the trajectory correction compensation data, including:

[0135] Acquire dynamic response data of the hydraulic system, wherein the dynamic response data includes a pressure change rate of the hydraulic cylinder, an oil flow rate, and a displacement adjustment response time of the hydraulic cylinder, and obtain a response parameter of the hydraulic system;

[0136] Acquire historical trajectory deviation data, wherein the historical trajectory deviation data includes trajectory deviation amounts and trajectory deviation trends under different working conditions, and obtain trajectory deviation characteristic parameters;

[0137] According to the trajectory deviation characteristic parameters, the hydraulic system response parameters and the expected force data, based on the trajectory error compensation model, the trajectory correction compensation amount is calculated to obtain the trajectory correction compensation data;

[0138] The trajectory correction compensation includes the dynamic compensation of hydraulic cylinder pressure, the dynamic compensation of hydraulic oil flow rate and the dynamic compensation of hydraulic cylinder displacement; wherein, , The hydraulic cylinder at time The required pressure dynamic compensation amount, is the trajectory deviation error at time t, is the proportional control gain coefficient, is the differential control gain coefficient, is the integral control gain coefficient, , , are unit conversion parameters, which are used to convert the corresponding item units into Pa; , The hydraulic cylinder at time The required dynamic compensation amount of hydraulic oil flow rate, is the flow coefficient, is the effective flow cross-sectional area, is the hydraulic cylinder return oil pressure, is the hydraulic oil density; , The hydraulic cylinder at time The amount of displacement dynamic compensation required.

[0139] In the embodiment of the present invention, during the operation of the hydraulic excavator, the motion trajectory of the bucket is often affected by the dynamic characteristics of the hydraulic system and the changes in the working environment, resulting in trajectory deviation. In order to ensure that the bucket can stably operate along the target trajectory, the method calculates the trajectory correction compensation amount and adjusts the control parameters of the hydraulic system to achieve accurate correction of the trajectory deviation.

[0140] In practical applications, the trajectory deviation error is first calculated based on the trajectory deviation characteristic parameters. The calculation of the trajectory deviation error depends on the comparison of the bucket's real-time trajectory data and the target trajectory data. The magnitude and direction of the trajectory error are determined by calculating the offset between the current trajectory point and the target trajectory point. In addition, considering the dynamic characteristics of the excavation operation, this method further calculates the trajectory deviation trend, including the trajectory deviation rate and acceleration, and predicts the future trajectory change trend to provide a more stable correction control.

[0141] When calculating the dynamic response characteristics of the hydraulic system, the system analyzes the pressure change rate of the hydraulic cylinder, the oil flow rate, and the displacement adjustment response time of the hydraulic cylinder. These data are used to evaluate the dynamic behavior of the hydraulic system to ensure that there will be no over-correction or lagging correction during the trajectory correction process. For example, if the hydraulic system responds slowly, the system will make trajectory correction compensation in advance to prevent the bucket from lagging in actual operation.

[0142] In addition, the force state of the bucket is also an important factor in trajectory correction. This method calculates the additional thrust of the bucket on the target trajectory based on the expected force data to ensure that the trajectory will not deviate due to insufficient force during the trajectory correction process. For example, in a high-resistance soil environment, the system will calculate a higher compensation pressure to provide sufficient thrust support, while in a low-resistance environment, the compensation amount can be reduced to improve energy utilization.

[0143] Finally, by calculating the trajectory correction compensation, the system can adjust the target pressure, oil flow rate and target displacement of the hydraulic cylinder in real time to ensure that the trajectory correction can be accurately executed. Compared with the traditional method that relies on operator adjustment, this method can achieve fully automatic trajectory correction, improve work efficiency and the stability of trajectory control. At the same time, combined with the analysis of the dynamic response characteristics of the hydraulic system and the trajectory deviation trend, this method can effectively reduce the oscillation phenomenon that may occur during the trajectory correction process, making the bucket trajectory more stable and improving the work quality.

[0144] In a preferred embodiment of the present invention, the real-time trajectory data of the bucket is obtained, and combined with the target trajectory data, the current trajectory offset is calculated to obtain the trajectory deviation data, including:

[0145] Acquire the real-time position information of the bucket and the tilt angle of the excavator, and obtain the real-time bucket position data and real-time excavator tilt data;

[0146] According to the real-time bucket position data and the real-time excavator tilt data, the actual track point of the bucket is calculated and compared with the target track point to obtain the track offset;

[0147] According to the trajectory deviation, the trajectory deviation trend is calculated, and dynamic adjustment is performed in combination with the historical trajectory deviation data to obtain the trajectory deviation data.

[0148] In an embodiment of the present invention, in order to further improve the accuracy of bucket trajectory control, the method obtains trajectory deviation data by calculating the current trajectory deviation, so as to facilitate the execution of subsequent trajectory correction control. The calculation of trajectory deviation data depends on the comparative analysis of the real-time position information of the bucket, the tilt angle of the excavator and the target trajectory data.

[0149] In actual application, the system first obtains the real-time position information of the bucket through sensors installed on the bucket and dipper arm, and measures the tilt angle of the excavator through the inertial measurement unit (IMU). Since the excavator may tilt due to terrain fluctuations or load changes during operation, it is necessary to compensate for the tilt angle to improve the accuracy of trajectory offset calculation. Combining the real-time bucket position data and excavator tilt data, the system can calculate the actual trajectory point of the bucket and compare it with the target trajectory point to obtain the trajectory offset.

[0150] The calculation of trajectory deviation not only includes the current trajectory error, but also involves the analysis of trajectory deviation trend. By calculating the trajectory deviation rate and deviation acceleration, the system can predict the future changes of trajectory deviation and make dynamic adjustments based on historical trajectory deviation data. This process can effectively improve the stability of trajectory correction and avoid lag or overshoot during trajectory correction.

[0151] In addition, the trajectory deviation data is also used to adjust the control parameters of the hydraulic system. For example, when the trajectory deviation is small, the system will take a small trajectory correction control to reduce the impact on the hydraulic system. When the trajectory deviation is large, the system will calculate a stronger correction control amount to ensure that the trajectory correction can converge quickly. Compared with the traditional trajectory control method, this method can dynamically adjust the trajectory correction strategy based on real-time trajectory data and trajectory deviation trends, thereby improving the intelligence level of trajectory control.

[0152] Ultimately, this method can ensure that the bucket trajectory offset is accurately calculated and provide reliable trajectory offset data to support subsequent trajectory correction. Through real-time trajectory calculation and trajectory offset trend analysis, this method can improve the accuracy of trajectory correction, reduce the error accumulation that may occur during trajectory correction, make the bucket trajectory more stable, and improve work efficiency and accuracy.

[0153] In a preferred embodiment of the present invention, the correction control amount is calculated according to the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, and the correction control instruction is obtained, including:

[0154] According to the trajectory deviation data and the trajectory correction compensation data, the pressure adjustment value of the hydraulic cylinder is adjusted to obtain the corrected pressure parameter;

[0155] Based on the corrected pressure parameter, the hydraulic oil flow rate is calculated, and the oil flow supply rate of the hydraulic cylinder is adjusted to obtain the corrected flow rate parameter;

[0156] Based on the corrected flow rate parameters, the target displacement of the hydraulic cylinder is adjusted, and the corrected displacement parameters are calculated in combination with the stroke limit of the hydraulic cylinder;

[0157] The corrected pressure parameters, flow rate parameters and displacement parameters are stored to form a corrected control instruction.

[0158] In the embodiment of the present invention, during the bucket trajectory control process, after obtaining the trajectory deviation data, the system needs to calculate the correction control amount to ensure that the trajectory can be adjusted in time so that the bucket can stably run along the target trajectory. This method adjusts the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder by calculating the trajectory deviation data and the trajectory correction compensation data, and then forms a correction control instruction to ensure the efficiency and stability of the trajectory correction.

[0159] In actual application, the system first obtains the trajectory deviation data, which reflects the error of the bucket's current trajectory relative to the target trajectory, and combines it with the trajectory correction compensation data to calculate the control parameters required for trajectory correction. During the calculation process, the system first determines the bucket trajectory adjustment angle to ensure that the correction process does not cause over-correction or lagging correction. The calculation of the trajectory adjustment angle depends on the analysis of the trajectory deviation and trajectory deviation trend, and is combined with the dynamic response characteristics of the hydraulic system to ensure that the correction control amount can be reasonably distributed.

[0160] When calculating the correction control amount, the system adjusts the target thrust of the hydraulic cylinder according to the trajectory correction compensation data, and further calculates the pressure adjustment value of the hydraulic system. The calculation of the pressure adjustment value is based on the pressure compensation amount of the trajectory correction compensation data to ensure that the hydraulic cylinder can provide appropriate thrust support. Due to the dynamic characteristics of the hydraulic system, simply adjusting the pressure may cause lag or overshoot of the trajectory correction. Therefore, this method combines the hydraulic system response parameters to dynamically adjust the pressure adjustment value to optimize the stability of the trajectory correction.

[0161] In addition, the system needs to calculate the hydraulic oil flow rate to ensure that the hydraulic system can meet the needs of trajectory correction. The flow rate calculation is based on the flow characteristics of the hydraulic system, combined with the flow rate compensation of the trajectory correction compensation data to ensure that the movement speed of the hydraulic cylinder matches the trajectory correction requirements. Finally, the system calculates the target displacement of the hydraulic cylinder to adjust the movement trajectory of the bucket. The calculation of the target displacement is based on the displacement compensation of the trajectory correction compensation data, combined with the trajectory deviation trend to ensure the smoothness of the trajectory correction.

[0162] Finally, this method can accurately calculate the correction control amount and form a correction control instruction, so that the hydraulic cylinder can accurately adjust the pressure, flow rate and displacement, thereby realizing dynamic control of trajectory correction. Compared with the traditional trajectory correction method, this method improves the accuracy and stability of trajectory correction by combining trajectory offset data, trajectory correction compensation data and the dynamic characteristics of the hydraulic system, ensuring that the bucket can stably run along the target trajectory, reducing trajectory errors and improving work efficiency.

[0163] In a preferred embodiment of the present invention, adjusting the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory so that the bucket moves along the target trajectory to obtain the corrected trajectory data includes:

[0164] According to the pressure correction data in the correction control instruction, the hydraulic pressure of the hydraulic cylinder is adjusted to obtain the pressure adjustment data;

[0165] According to the flow rate correction data, the hydraulic oil supply rate of the hydraulic cylinder is adjusted to obtain the flow rate adjustment data;

[0166] According to the displacement correction data, the target displacement of the hydraulic cylinder is adjusted, and the actual displacement change is calculated in combination with the piston stroke restriction condition of the hydraulic cylinder to obtain the displacement adjustment data;

[0167] According to the pressure adjustment data, the flow rate adjustment data and the displacement adjustment data, the movement of the hydraulic cylinder is controlled so that the bucket moves along the target trajectory to obtain the corrected trajectory data.

[0168] In the embodiment of the present invention, after calculating the correction control amount, the system needs to adjust the control parameters of the hydraulic cylinder according to the correction control instruction to perform trajectory correction so that the bucket can stably run along the target trajectory. This method realizes automatic control of trajectory correction by adjusting the hydraulic pressure, oil flow rate and target displacement of the hydraulic cylinder in real time, and ensures that the trajectory correction process can be stably executed.

[0169] In actual application, the system first receives the correction control instruction and adjusts the hydraulic pressure of the hydraulic cylinder according to the pressure correction data to provide appropriate thrust support. During the pressure adjustment process, the system will combine the dynamic response characteristics of the hydraulic cylinder to ensure smooth pressure changes and avoid system oscillation caused by too fast pressure changes during trajectory correction. In addition, the system will monitor the feedback data of the hydraulic system to ensure that the pressure adjustment can be accurately executed according to the correction control instruction.

[0170] While adjusting the pressure, the system also needs to adjust the hydraulic oil flow rate to ensure that the hydraulic system can provide appropriate oil flow supply according to the requirements of trajectory correction. The adjustment of the hydraulic oil flow rate is based on the flow rate correction data in the correction control instruction, combined with the flow control characteristics of the hydraulic system to ensure that the oil flow supply matches the trajectory correction requirements. In addition, in order to improve the accuracy of trajectory correction, the system will monitor the movement state of the hydraulic cylinder in real time and dynamically adjust the flow rate control strategy to optimize the trajectory correction effect.

[0171] After completing the pressure and flow rate adjustments, the system adjusts the target displacement of the hydraulic cylinder according to the displacement correction data to ensure that the bucket's trajectory correction process can proceed smoothly. During the target displacement adjustment process, the system will combine the stroke restrictions of the hydraulic cylinder to calculate the actual displacement change and compare it with the target displacement in the correction control instruction to ensure that the displacement adjustment can be executed as planned. In addition, in order to avoid over-correction or delayed correction during the trajectory correction process, the system will also dynamically adjust the displacement correction strategy based on the trajectory deviation trend to improve the accuracy of the trajectory correction.

[0172] Finally, this method can ensure that the control parameters of the hydraulic cylinder are accurately adjusted according to the correction control instructions, so that the bucket trajectory correction can be performed stably. Compared with the traditional manual operation method, this method can automatically adjust the control parameters of the hydraulic cylinder, improve the intelligence level of trajectory correction, and ensure the stability and accuracy of the trajectory correction process. At the same time, through real-time feedback control, this method can effectively reduce the error accumulation that may occur during the trajectory correction process, improve the reliability of trajectory control, and ensure that the bucket can successfully complete the operation according to the target trajectory.

[0173] An embodiment of the present invention further provides an intelligent mechanical hydraulic excavator bucket trajectory automatic control system, the system comprising:

[0174] A data acquisition module is used to obtain target trajectory data and excavation condition data, wherein the excavation condition data includes the real-time pressure of the hydraulic cylinder, the position information of the bucket, the tilt angle of the excavator, the soil resistance parameters and the target trajectory, and obtain a condition data set;

[0175] The expected force generation module is used to calculate the expected force of the bucket on the target trajectory according to the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the soil resistance change, and obtain the expected force data;

[0176] A trajectory compensation data generation module is used to calculate the trajectory correction compensation amount according to the expected force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, to obtain the trajectory correction compensation data;

[0177] The trajectory deviation data generation module is used to obtain the real-time trajectory data of the bucket, and calculate the current trajectory offset in combination with the target trajectory data to obtain the trajectory deviation data;

[0178] An instruction generation module is used to calculate the correction control amount, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, according to the trajectory deviation data and the trajectory correction compensation data, and obtain the correction control instruction;

[0179] The instruction execution module is used to adjust the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory so that the bucket runs along the target trajectory and obtains the correction trajectory data;

[0180] The feedback module is used to repeatedly perform trajectory correction according to the corrected trajectory data until the bucket completes the excavation task of the target trajectory.

[0181] It should be noted that the system is a system corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0182] The embodiment of the present invention further provides a computing device, including: a processor, a memory storing a computer program, and when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0183] The embodiment of the present invention further provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the above method. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0184] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent automatic control method for bucket trajectory of a mechanical hydraulic excavator, characterized in that: The method comprises: Obtain target trajectory data and mine working condition data to obtain working condition data set; According to the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the change in soil resistance, the expected force of the bucket on the target trajectory is calculated to obtain the expected force data; According to the expected force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, the trajectory correction compensation amount is calculated to obtain the trajectory correction compensation data; Obtain the real-time trajectory data of the bucket, and combine it with the target trajectory data to calculate the current trajectory offset and obtain the trajectory deviation data; According to the trajectory deviation data and trajectory correction compensation data, the correction control amount is calculated, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, and the correction control instruction is obtained; According to the correction control instruction, the control parameters of the hydraulic cylinder are adjusted to correct the bucket trajectory so that the bucket runs along the target trajectory and the correction trajectory data is obtained; According to the corrected trajectory data, the trajectory correction is repeatedly performed until the bucket completes the excavation task of the target trajectory.

2. The intelligent automatic control method of bucket trajectory of a mechanical hydraulic excavator according to claim 1 is characterized in that: The excavation working condition data is obtained, including the real-time pressure of the hydraulic cylinder, the position information of the bucket, the tilt angle of the excavator and the soil resistance parameters, to obtain the working condition data set, including: Acquire the real-time pressure of the hydraulic cylinders, the hydraulic cylinders including the boom hydraulic cylinder, the dipper arm hydraulic cylinder and the bucket hydraulic cylinder, respectively acquire the pressure signal of each hydraulic cylinder to obtain the hydraulic pressure data; Acquire the position information of the bucket, the position information is based on the angle data measured by the position sensors installed on the bucket and the dipper arm, and is converted into the spatial coordinates of the bucket to obtain the bucket position data; Acquire the tilt angle of the excavator, where the tilt angle is based on attitude angle information measured by an inertial measurement unit installed on the excavator body and compensated in combination with the ground contact state to obtain excavator tilt data; Acquire soil resistance parameters, wherein the soil resistance parameters are based on real-time resistance data measured by a force sensor at the front end of the bucket, and the adhesion and internal friction coefficient of the soil are calculated in combination with the motion state of the excavator to obtain soil resistance data; The hydraulic pressure data, bucket position data, excavator tilt data and soil resistance data are combined to form a working condition data set.

3. The intelligent automatic control method of bucket trajectory of a mechanical hydraulic excavator according to claim 2 is characterized in that: The method of calculating the expected force of the bucket on the target trajectory based on the working condition data set, the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the soil resistance change, and obtaining the expected force data includes: Based on the mechanical characteristics of the hydraulic system, the target thrust of the hydraulic cylinder is calculated, and the target thrust is calculated based on the effective action area of ​​the hydraulic cylinder and the hydraulic pressure of the target trajectory point to form the hydraulic cylinder thrust data; Based on the bucket motion trajectory, the angle change rate of the bucket at different trajectory points is calculated, and the rotation torque of the bucket at each trajectory point is calculated in combination with the bucket's geometric parameters to obtain the bucket rotation torque data; Based on the change of soil resistance, the soil stress state at different trajectory points is analyzed, and combined with the adhesion and friction characteristics of the soil, the target force of the bucket at different trajectory points is calculated to obtain the soil stress data; According to the hydraulic cylinder thrust data, bucket rotation torque data and soil force data, the expected force of the bucket on the target trajectory is calculated to obtain the expected force data; wherein, , The hydraulic cylinder at time The target thrust, The internal pressure of the hydraulic cylinder at time The hydraulic pressure, is the effective area of ​​the hydraulic cylinder, For the bucket at the moment The soil resistance, is the bucket rotation torque, It is the distance from the bucket rotation fulcrum to the force point; , For the bucket at the moment The soil resistance, is the soil resistance coefficient, is the bucket cutting area, is the soil density, is the bucket cutting speed, is the soil friction coefficient, is the bucket and load mass, is the acceleration due to gravity, is the angle at which the bucket enters the soil, is the soil compression coefficient, is the compression force per unit depth, is the bucket cutting depth; , is the bucket mass, is the acceleration due to gravity, is the distance from the bucket's center of gravity to the rotation fulcrum, is the moment of inertia of the bucket, is the angular acceleration of the bucket, is the air density, is the bucket frontal area, is the air resistance coefficient, is the cutting speed of the bucket, is the air resistance arm.

4. The intelligent automatic control method of bucket trajectory of a mechanical hydraulic excavator according to claim 3 is characterized in that: The method of calculating the trajectory correction compensation amount based on the expected force data in combination with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data to obtain the trajectory correction compensation data includes: Acquire dynamic response data of the hydraulic system, wherein the dynamic response data includes a pressure change rate of the hydraulic cylinder, an oil flow rate, and a displacement adjustment response time of the hydraulic cylinder, and obtain a response parameter of the hydraulic system; Acquire historical trajectory deviation data, wherein the historical trajectory deviation data includes trajectory deviation amounts and trajectory deviation trends under different working conditions, and obtain trajectory deviation characteristic parameters; According to the trajectory deviation characteristic parameters, the hydraulic system response parameters and the expected force data, based on the trajectory error compensation model, the trajectory correction compensation amount is calculated to obtain the trajectory correction compensation data; The trajectory correction compensation includes a hydraulic cylinder pressure dynamic compensation, a hydraulic oil flow rate dynamic compensation and a hydraulic cylinder displacement dynamic compensation.

5. The intelligent automatic control method of bucket trajectory of a mechanical hydraulic excavator according to claim 4 is characterized in that: The real-time trajectory data of the bucket is obtained, and combined with the target trajectory data, the current trajectory offset is calculated to obtain the trajectory deviation data, including: Acquire the real-time position information of the bucket and the tilt angle of the excavator, and obtain the real-time bucket position data and real-time excavator tilt data; According to the real-time bucket position data and the real-time excavator tilt data, the actual track point of the bucket is calculated and compared with the target track point to obtain the track offset; According to the trajectory deviation, the trajectory deviation trend is calculated, and dynamic adjustment is performed in combination with the historical trajectory deviation data to obtain the trajectory deviation data.

6. The intelligent automatic control method of bucket trajectory of a mechanical hydraulic excavator according to claim 5 is characterized in that: The correction control amount is calculated according to the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, and the correction control instruction is obtained, including: According to the trajectory deviation data and the trajectory correction compensation data, the pressure adjustment value of the hydraulic cylinder is adjusted to obtain the corrected pressure parameter; Based on the corrected pressure parameter, the hydraulic oil flow rate is calculated, and the oil flow supply rate of the hydraulic cylinder is adjusted to obtain the corrected flow rate parameter; Based on the corrected flow rate parameters, the target displacement of the hydraulic cylinder is adjusted, and the corrected displacement parameters are calculated in combination with the stroke limit of the hydraulic cylinder; The corrected pressure parameters, flow rate parameters and displacement parameters are stored to form a corrected control instruction.

7. The intelligent automatic control method of bucket trajectory of a mechanical hydraulic excavator according to claim 6 is characterized in that: The method of adjusting the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory so that the bucket moves along the target trajectory and obtains the corrected trajectory data includes: According to the pressure correction data in the correction control instruction, the hydraulic pressure of the hydraulic cylinder is adjusted to obtain the pressure adjustment data; According to the flow rate correction data, the hydraulic oil supply rate of the hydraulic cylinder is adjusted to obtain the flow rate adjustment data; According to the displacement correction data, the target displacement of the hydraulic cylinder is adjusted, and the actual displacement change is calculated in combination with the piston stroke restriction condition of the hydraulic cylinder to obtain the displacement adjustment data; According to the pressure adjustment data, the flow rate adjustment data and the displacement adjustment data, the movement of the hydraulic cylinder is controlled so that the bucket moves along the target trajectory to obtain the corrected trajectory data.

8. An intelligent automatic control system for bucket trajectory of a mechanical hydraulic excavator, characterized in that: Applied to the method according to any one of claims 1 to 7, the system comprises: A data acquisition module is used to obtain target trajectory data and excavation condition data, wherein the excavation condition data includes the real-time pressure of the hydraulic cylinder, the position information of the bucket, the tilt angle of the excavator, the soil resistance parameters and the target trajectory, and obtain a condition data set; The expected force generation module is used to calculate the expected force of the bucket on the target trajectory according to the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket motion trajectory and the soil resistance change, and obtain the expected force data; A trajectory compensation data generation module is used to calculate the trajectory correction compensation amount according to the expected force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, to obtain the trajectory correction compensation data; The trajectory deviation data generation module is used to obtain the real-time trajectory data of the bucket, and calculate the current trajectory offset in combination with the target trajectory data to obtain the trajectory deviation data; An instruction generation module is used to calculate the correction control amount, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, according to the trajectory deviation data and the trajectory correction compensation data, and obtain the correction control instruction; The instruction execution module is used to adjust the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory so that the bucket runs along the target trajectory and obtains the correction trajectory data; The feedback module is used to repeatedly perform trajectory correction according to the corrected trajectory data until the bucket completes the excavation task of the target trajectory.

9. A computing device, characterized in that include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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