Action user-defined recording macro instruction system under excavator operation scene and working method of action user-defined recording macro instruction system

Abstract

The invention discloses an action user-defined recording macro instruction system under an excavator operation scene and a working method thereof, and the system comprises an application layer which is used for a man-machine cooperation task distribution mechanism based on skill driving, and completes a logic function through different business modules for man-machine and intermodulation; the business logic layer comprises a macro instruction function and a job monitoring function; the function module layer comprises an API (Application Program Interface) layer and an ECU (Electronic Control Unit); and the hardware driving layer comprises an operation table, a composite sensor and a mechanical arm. According to the method, the problems and defects exposed in the operation process of the PID controller in the operation scene of the excavator are remarkably improved by changing the interaction technical scheme, and the man-machine-field interaction mode is improved by optimizing and innovating the operation system of the excavator and enhancing the working performance of equipment, so that a more efficient, convenient and comfortable operation environment is brought to a user.

Description

Technical Field

[0001] The present invention relates to a system for customizing and recording macro instructions for the operation scenarios of an excavator and its working method, belonging to the technical field of computer automation. Background Art

[0002] During the operation of an excavator, operators often need to repeatedly execute some standardized composite actions. In the traditional way, these actions completely rely on the experience and skills of the operators, making it difficult to ensure consistency and efficiency. To solve this problem, two main technical routes have been proposed in the industry: one is to record and reproduce the standard operation process through macro instructions, and the other is to adopt PID closed-loop control to precisely control individual actions. However, these two technologies are still in relatively independent development stages and lack an effective integration solution.

[0003] Macro instructions, also known as macro commands or macros, are a rule or pattern in computer science used to achieve batch processing or syntax replacement. When a compiler or interpreter encounters a macro, this pattern replacement will be automatically performed. Macro instructions are a kind of pseudo-instructions used to represent a section of source program for a certain function. Macro instructions encapsulate a series of complex operations or commands into a simple instruction or command set through predefined rules or patterns, thus simplifying the programming process and improving programming efficiency. In the field of construction machinery, macro instruction technology has been initially applied to the automatic control of equipment operation, but its in-depth integration with specific control algorithms is still in the exploration stage.

[0004] A technology similar to macro instructions is the PID (Proportional-Integral-Derivative) control algorithm: a classic and important control strategy in the control field. It consists of three basic links: proportional (P), integral (I), and derivative (D), and can effectively correct system deviations to make the controlled object reach a stable state. The PID control algorithm is widely used in fields such as industrial automation, robotics, and servo systems and is an important means to achieve closed-loop control.

[0005] Among them, the PID bucket closed-loop control technology is based on the PID control algorithm. By combining the accuracy of the PID control algorithm and the stability of closed-loop control, it realizes the precise control of the bucket movement. In the bucket closed-loop control, the PID algorithm continuously adjusts the control amount to make the actual position or attitude of the bucket approach and maintain the desired set value. This technology not only improves the operation accuracy and efficiency of the excavator but also reduces the dependence on operation experience, making the operation of traditional composite actions more convenient and intelligent.

[0006] Currently, there have been some attempts to combine macro instruction technology with PID control, mainly by recording and reproducing the setting process of PID control parameters through macro instructions. However, this simple combination method has many limitations, especially in complex actual operating environments. These problems mainly stem from the nature of its linear control and strong dependence on models:

[0007] (1) Dynamic response limitation: Existing macro instructions can only record fixed PID parameter settings and cannot dynamically adjust the control strategy according to the real-time operating environment. This results in problems such as overshoot or slow response in the control effect in complex interaction scenarios.

[0008] (2) Environmental sensitivity: When the operating environment changes, the pre-recorded macro instructions cannot adaptively adjust the PID gain parameters. This requires operators to frequently re-record macro instructions, greatly reducing work efficiency.

[0009] (3) Complex parameter optimization: Although macro instructions can record the adjustment process of PID parameters, due to the lack of an intelligent optimization mechanism, finding the optimal parameter combination still requires a large amount of manual attempts and experience accumulation.

[0010] (4) Noise and interference: In the actual operating environment, various noise and interference factors will affect the PID control effect. The existing macro instruction system lacks the ability to identify and handle these interferences, resulting in unstable reproduction effects.

[0011] (5) Limitations of the linear combination of control strategies: Current macro instructions can only simply record linear PID control parameters and cannot implement more complex non-linear control strategies. This limits the flexibility and adaptability of the system in handling complex operating tasks.

[0012] Therefore, those skilled in the art urgently need to develop a new solution that can deeply integrate macro instruction technology with PID control to overcome the problems existing in the prior art and improve the operating effect and user experience of excavators in complex scenarios. Summary of the Invention

[0013] Objective: To overcome the challenges of the existing technology, such as the adaptability deviation in the interaction scenario faced by the PID bucket control technology, the complexity of optimizing the interaction of operation parameters, and the poor user experience friendliness, the present invention provides a system and working method for customizing and recording macro instructions for actions in the excavator operation scenario. The core lies in developing an innovative "custom recording macro instruction" function that deeply integrates programming technology, aiming to significantly improve the problems and defects exposed during the operation of the PID controller in the excavator operation scenario by changing the interaction technology solution. By optimizing and innovating the excavator operating system, enhancing the working performance of the equipment, and further improving the "human-machine-field" interaction mode, a more efficient, convenient, and comfortable operation environment is brought to users.

[0014] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0015] In the first aspect, a system for customizing and recording macro instructions for actions in the excavator operation scenario specifically includes: an application layer, a business logic layer, a function module layer, and a hardware driver layer.

[0016] The application layer is used to complete logical functions by means of a skill-driven human-machine collaborative task allocation mechanism and mutual calls between humans and machines for different business modules.

[0017] The business logic layer includes: a macro instruction function and an operation monitoring function.

[0018] Among them, the macro instruction function is used to map the generated action codes to a specific macro instruction library and realize complex operation actions by combining or creating new macro instructions.

[0019] The operation monitoring function is used to monitor the operation progress and step nodes in real time, enabling the operator to intervene and adjust in a timely manner to ensure the accuracy and safety of the operation.

[0020] The function module layer includes: an API interface layer and an ECU electronic control unit.

[0021] Among them, the API interface layer is used for data encapsulation and transmission to ensure smooth data interaction between the upper and lower layers.

[0022] The ECU electronic control unit is used to receive analog signals from the hardware layer, convert them into digital signals through A / D, and then transmit them to a single-chip microcomputer for arithmetic analysis to generate standardized action codes.

[0023] The hardware driver layer includes: an operation console, a composite sensor, and a robotic arm.

[0024] Among them, the operation console is used to collect the displacement, speed, and acceleration data of the operating lever through the equipped physical displacement sensor, and at the same time set a mechanical key state detector to record the key state and frequency.

[0025] The composite sensor includes, but is not limited to, a temperature sensor, a vibration sensor, a displacement sensor, a speed sensor, an acceleration sensor, and an attitude sensor, and is used to collect the temperature of mechanical components, equipment vibration, displacement, speed, acceleration, and attitude data of mechanical components.

[0026] The robotic arm contains a hydraulic drive device and is used to achieve precise mechanical motion control.

[0027] As a preferred solution, the layout positions of all sensors are optimized to ensure the stability and reliability of signal transmission.

[0028] As a preferred solution, the skill-driven human-machine collaborative task allocation mechanism includes: according to the complex human-machine task allocation cognitive loop model theory, giving full play to the key role of human intuition in the collaborative process, and at the same time having the machine provide timely and accurate feedback to maintain the operator's immersion state. In the action custom recording function, let the operator be responsible for the implementation of "intuitive" and "non-linear" operation operations, while the machine is responsible for "linear" operations and related timely feedback, so as to achieve the purpose of efficient human-machine collaboration.

[0029] As a preferred solution, when the operator records a custom action, the macro instruction function will convert the custom action into a standardized instruction set to achieve one-key automated operation.

[0030] As a preferred solution, the ECU electronic control unit uses an MCU processor with a 32-bit ARM architecture and is equipped with an A / D converter with a 16-bit precision.

[0031] In the second aspect, a working method of an action custom recording macro instruction system in an excavator operation scenario specifically includes:

[0032] Obtain the instructions for macro instruction recording through the human-machine interaction interface and send them to the ECU electronic control unit.

[0033] Control the robotic arm of the excavator to perform specific operation actions by controlling the operating lever and control buttons of the operation console.

[0034] Real-time collect various motion parameters and environmental data of the excavator through the composite sensor.

[0035] Obtain various motion parameters and environmental data of the excavator through the API interface layer and send them to the ECU electronic control unit.

[0036] The ECU (Electronic Control Unit) performs analog-to-digital conversion on various motion parameters and environmental data of the excavator, encodes and converts the converted digital signals, generates instruction sequences, and displays the parameters of the instruction sequences through the human-machine interface.

[0037] The instructions completed by macro instruction recording are obtained through the human-machine interface and sent to the ECU. The ECU maps the generated instruction sequences to the specific macro instruction library.

[0038] As a preferred solution, it further includes: The ECU displays various motion parameters and environmental data of the excavator through the human-machine interface and activates the protection mechanism in case of anomalies.

[0039] As a preferred solution, it further includes: The instruction sequences in the macro instruction library are called through the human-machine interface to directly control the manipulator of the excavator to perform specific operation actions.

[0040] As a preferred solution, it further includes: The parameters of the instruction sequences in the macro instruction library are set through the human-machine interface to generate new instruction sequences.

[0041] As a preferred solution, the composite sensor is connected to the ECU through the RS485 bus, maintaining a sampling frequency of 100Hz to ensure the real-time and accuracy of data collection.

[0042] Beneficial effects: An action custom recording macro instruction system and its working method in an excavator operation scenario provided by the present invention have the following advantages:

[0043] (1). Compared with the cumbersome operation process of the PID controller technology, the present invention innovatively realizes the function of custom recording macro instructions for actions. During the common operations in different scenarios and the specific operation processes in specific scenarios, using this function allows the operator to perform "one-key" operations. It simplifies the execution of complex operation sequences, reduces the risk of misoperation, and enables the operator to easily record targeted and safe instruction sets that can be quickly called, so as to improve the efficiency and accuracy of operations. This can not only enable less experienced operators to quickly get started and greatly improve work efficiency, but also ensure that expert operators can fully concentrate and complete work more safely, comfortably and efficiently. The auxiliary operation of this function provides strong support for modern construction.

[0044] (2). Compared with the traditional human-machine interaction design methods on the market, the present invention innovatively introduces a self-created skill-driven human-machine collaborative task allocation mechanism. In the excavator human-machine collaborative framework, the clear allocation mechanism enhances human-machine integration and collaboration, improves the adaptability and response ability of the human-machine system in complex environments, not only improves the interaction mode between the operator and the equipment, but also brings a more efficient, convenient and comfortable operation environment for the operator. Description of the Drawings

[0045] Figure 1 It is a schematic framework diagram of the action custom recording macro instruction system of the present invention.

[0046] Figure 2 It is a schematic flow diagram of the working method of the action custom recording macro instruction system of the present invention.

[0047] Figure 3 It is a schematic diagram of the macro instruction interaction process.

[0048] Figure 4 It is a schematic diagram of the human - machine interaction interface. Among them, Figure 4 in (a) is the interface for starting to record the macro instruction, Figure 4 in (b) is the interface for generating the macro instruction, Figure 4 in (c) is the interface for ending the recording of the macro instruction. Detailed Embodiments

[0049] Next, in combination with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

[0050] Next, the present invention will be further described in combination with specific embodiments.

[0051] Embodiment 1:

[0052] This embodiment introduces an action custom recording macro instruction system in the operation scenario of an excavator. As Figure 1 shown, it specifically includes: an application layer, a business logic layer, a function module layer, and a hardware driver layer.

[0053] The application layer is used to complete logical functions by means of a skill - driven human - machine collaborative task allocation mechanism through human - machine interaction and calling different business modules.

[0054] Furthermore, the skill - driven human - machine collaborative task allocation mechanism includes: according to the complex human - machine task allocation cognitive loop model theory, giving full play to the key role of human intuition in the collaborative process, and at the same time, the machine provides timely and accurate feedback to maintain the operator's immersion state. In the action custom recording function, let the operator be responsible for the implementation of "intuitive" and "non - linear" operation operations, while the machine is responsible for "linear" operations and related timely feedback, so as to achieve the purpose of efficient human - machine collaboration.

[0055] The business logic layer includes: a macro instruction function and an operation monitoring function.

[0056] Among them, the macro instruction function is used to map the generated action codes to a specific macro instruction library, and realize complex operation actions by combining or creating new macro instructions.

[0057] When the operator records a custom action, the macro instruction function will convert the custom action into a standardized instruction set to achieve one-key automatic operation.

[0058] The operation monitoring function is used to monitor the operation progress and step nodes in real time, enabling the operator to intervene and adjust in a timely manner to ensure the accuracy and safety of the operation.

[0059] The function module layer includes: an API interface layer and an ECU electronic control unit.

[0060] Among them, the API interface layer is used for data encapsulation and transmission to ensure smooth data interaction between the upper and lower layers.

[0061] The ECU electronic control unit is used to receive analog signals from the hardware layer, convert them into digital signals through A / D conversion, and then transmit them to a single-chip microcomputer (MCU) for arithmetic analysis to generate standardized action codes.

[0062] The hardware driver layer includes: an operation console, a composite sensor, and a robotic arm.

[0063] Among them, the operation console is used to collect the displacement, speed, and acceleration data of the joystick through the equipped physical displacement sensor, and at the same time set a mechanical key state detector to record the key state and frequency.

[0064] The composite sensor includes, but is not limited to, a temperature sensor, a vibration sensor, a displacement sensor, a speed sensor, an acceleration sensor, and an attitude sensor, and is used to collect mechanical component temperature, equipment vibration, mechanical component displacement, speed, acceleration, and attitude data.

[0065] The robotic arm includes a hydraulic drive device and is used to achieve precise mechanical motion control.

[0066] Furthermore, the layout positions of all sensors are optimized to ensure the stability and reliability of signal transmission.

[0067] Embodiment 2:

[0068] This embodiment introduces a working method of an action custom recording macro instruction system in an excavator operation scenario, as Figure 2 、 3 shown, and specifically includes:

[0069] As Figure 4 shown in (a) therein, obtain the instructions for macro instruction recording through the human-machine interface and send them to the ECU electronic control unit.

[0070] By controlling the joystick and control buttons of the operation console, the robotic arm of the excavator is controlled to perform specific operation actions.

[0071] All kinds of motion parameters and environmental data of the excavator are collected in real time through a composite sensor.

[0072] All kinds of motion parameters and environmental data of the excavator are obtained through the API interface layer and sent to the ECU electronic control unit.

[0073] As Figure 4 shown in (b) below, the ECU electronic control unit performs analog-to-digital conversion on all kinds of motion parameters and environmental data of the excavator, encodes and converts the converted digital signals and generates an instruction sequence, and displays the parameters of the instruction sequence through the human-machine interface.

[0074] As Figure 4 shown in (c) below, the instruction completed by macro instruction recording is obtained through the human-machine interface and sent to the ECU electronic control unit, and the ECU electronic control unit maps the generated instruction sequence to the specific macro instruction library.

[0075] Furthermore, it further includes: the ECU electronic control unit displays all kinds of motion parameters and environmental data of the excavator through the human-machine interface and activates the protection mechanism in case of anomalies.

[0076] Furthermore, it further includes: calling the instruction sequence in the macro instruction library through the human-machine interface to directly control the robotic arm of the excavator to perform specific operation actions.

[0077] Furthermore, it further includes: setting the parameters of the instruction sequence in the macro instruction library through the human-machine interface to generate a new instruction sequence.

[0078] Furthermore, the composite sensor is connected to the ECU through the RS485 bus, maintaining a sampling frequency of 100Hz to ensure the real-time and accuracy of data collection.

[0079] Furthermore, the ECU electronic control unit uses an MCU processor with a 32-bit ARM architecture and is equipped with a 16-bit precision A / D converter.

[0080] The working method of this embodiment completes functions such as the acquisition of "action" data of the device, data operation and analysis, generation and execution of macro instructions, and job monitoring through the combination of software and hardware. The sensors at the hardware layer collect data and perform signal conditioning. After being processed by the ECU at the functional module layer, action codes are generated. The macro instruction module at the business logic layer performs instruction matching and execution control, and finally realizes the visual presentation of human-computer interaction at the application layer. The whole process forms a closed-loop control system to ensure the stability and reliability of the system operation. Among them, the ECU, as the core control unit, is responsible for signal acquisition, processing, and instruction generation.

[0081] When the system starts and completes initialization, the control instructions of the operation console will trigger the sensors to collect data. The collected data is processed by the ECU, including signal processing by the MCU and A / D conversion, and finally standard control instructions are generated and corresponding mechanical actions are executed. During the whole process, the system continuously monitors the status to ensure the safety and reliability of operation.

[0082] In the present invention, the use of macro instruction technology solves the problem of complex human-computer interaction in the common operations of excavators in different scenarios and specific operations in specific scenarios. Through simple operations, automated operations are realized, reducing the risk of operator errors and saving operation time; while the PID bucket closed-loop control technology can also achieve automation by adjusting the control quantity, improving the accuracy and efficiency of operations. However, the setting operation is very complex, undoubtedly increasing the learning cost of the operator, and it is easily affected by the environment, with poor response ability, which will also lead to the risk of operation errors.

[0083] In the present invention, the design of the task assignment mechanism of skill-driven human-machine collaboration solves the problems existing in the human-computer interaction adaptability and response ability of excavators in complex environment operations. Its interaction process is simple and intuitive, not only improving the interaction method between the operator and the device, but also bringing a more efficient, convenient and comfortable operation environment for the operator; while the traditional human-computer interaction process of excavators always has problems such as untimely response or non-response, human-machine separation, and inability to effectively integrate.

[0084] The technical effects of the present invention:

[0085] (1) Achieved accurate recording and reproduction of excavator actions, improving operation efficiency and accuracy.

[0086] (2) Established a complete data acquisition and processing system, ensuring the stability of the system operation.

[0087] (3) Through multi-layer architecture design, realized modular management and maintenance of the system.

[0088] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A system for recording macro instructions for self-defined actions in excavator operation scenarios, characterized in that: Specifically include: Application layer, business logic layer, functional module layer and hardware driver layer; The application layer is used for the human-machine collaborative task allocation mechanism based on skill-driven, and completes the logical functions through human-machine and mutual calling of different business modules; The business logic layer includes: macro instruction function and job monitoring function; Among them, the macro instruction function is used to map the generated action code to a specific macro instruction library, and realize complex operation actions by combining or creating new macro instructions; The operation monitoring function is used to monitor the operation progress and step nodes in real time, so that the operator can intervene and adjust in time to ensure the accuracy and safety of the operation; The functional module layer includes: API interface layer, ECU electronic control unit; Among them, the API interface layer is used for data encapsulation and transmission to ensure smooth data interaction between the upper and lower layers; ECU electronic control unit, used to receive analog signals from the hardware layer, convert them into digital signals through A / D, and then transmit them to the single-chip microcomputer for calculation and analysis to generate standardized action codes; The hardware driver layer includes: an operating console, a composite sensor and a mechanical arm; The operation table is used to collect the displacement, velocity and acceleration data of the operation rod through the physical displacement sensor, and a mechanical key state detector is set to record the key state and frequency; Composite sensors, including but not limited to temperature sensors, vibration sensors, displacement sensors, velocity sensors, acceleration sensors and attitude sensors, used to collect mechanical component temperature, equipment vibration, mechanical component displacement, velocity, acceleration and attitude data; The robot arm includes a hydraulic drive unit for precise mechanical motion control.

2. According to claim 1, a system for recording macro instructions for self-defined actions in excavator operation scenarios is characterized in that: The layout of all sensors has been optimized to ensure the stability and reliability of signal transmission.

3. The system for recording macro instructions for self-defined actions in excavator operation scenarios according to claim 1, characterized in that: The skill-driven human-machine collaborative task allocation mechanism includes: giving full play to the key role of human intuition in the collaborative process based on the theory of complex human-machine task allocation cognitive loop model, while the machine provides timely and accurate feedback to maintain the operator's immersion state; in the action custom recording function, the operator is responsible for the "intuitive" and "non-linear" operation implementation, and the machine is responsible for the "linear" operation and related timely feedback, so as to achieve the purpose of efficient human-machine collaboration.

4. The system for recording macro instructions for self-defined actions in excavator operation scenarios according to claim 1, characterized in that: When the operator records a custom action, the macro function converts the custom action into a standardized instruction set, allowing the job to be completed automatically with one click.

5. The system for recording macro instructions for self-defined actions in excavator operation scenarios according to claim 1, characterized in that: The ECU electronic control unit adopts a 32-bit ARM architecture MCU processor and is equipped with a 16-bit precision A / D converter.

6. A working method of a macro instruction system for recording actions in a self-defined manner in an excavator operation scenario, characterized in that: Specifically include: Obtain the instructions recorded by the macro command through the human-computer interaction interface and send them to the ECU electronic control unit; Control the excavator's mechanical arm to perform specific operations by controlling the operating lever and control buttons on the operating console; Various motion parameters and environmental data of the excavator are collected in real time through composite sensors; Obtain various motion parameters and environmental data of the excavator through the API interface layer and send them to the ECU electronic control unit; The ECU electronic control unit performs analog-to-digital conversion on various motion parameters and environmental data of the excavator, encodes the converted digital signals and generates instruction sequences, and displays the parameters of the instruction sequences through the human-computer interaction interface; The recorded instructions of the macro instructions are obtained through the human-computer interaction interface and sent to the ECU electronic control unit. The ECU electronic control unit maps the generated instruction sequence to a specific macro instruction library.

7. The working method according to claim 6, characterized in that: Also includes: The ECU electronic control unit displays various motion parameters and environmental data of the excavator through the human-computer interaction interface, and activates the protection mechanism under abnormal circumstances.

8. The working method according to claim 6, characterized in that: Also includes: The instruction sequence in the macro instruction library is called through the human-computer interaction interface to directly control the excavator's mechanical arm to perform specific operating actions.

9. The working method according to claim 6, characterized in that: Also includes: The parameters of the instruction sequence in the macro instruction library are set through the human-computer interaction interface to generate a new instruction sequence.

10. The working method according to claim 6, characterized in that: The composite sensor is connected to the ECU via the RS485 bus, maintaining a sampling frequency of 100 Hz to ensure the real-time and accuracy of data collection.

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