An engineering device and its method and device for identifying dynamic parameters

Abstract

The present application discloses a construction equipment and its dynamic parameter identification method and device. By inputting an action instruction into a simulation model to obtain simulation data, then inputting the simulation data into an identification model to obtain predicted dynamic parameters, and verifying the identification model. When the verification result shows that the identification model meets the preset conditions, the measured data of the construction equipment is input into the identification model to obtain the target dynamic parameters of the construction equipment; that is, simulation data is obtained through simulation of a simulation dynamic model, the simulation data is input into the identification model to obtain predicted dynamic parameters, and the identification model is verified based on the predicted dynamic parameters and initial dynamic parameters. When the verification is passed, the dynamic parameters of the construction equipment are identified according to the measured data, thereby avoiding using an external construction equipment to collect data during verification, reducing the complexity of verification and avoiding interference during the data collection process, so as to improve the accuracy of the data, and thus providing a relatively accurate model basis for subsequent identification.

Description

Technical Field

[0001] The present application relates to the technical field of parameter identification of engineering equipment, and particularly relates to an engineering equipment and a method and device for identifying its dynamic parameters. Background Art

[0002] With the continuous development of intelligent machinery, engineering equipment (such as excavators, etc.) has become more and more intelligent. Currently, there are already semi-automatic and automatic operation engineering equipment. However, engineering equipment requires accurate operation parameters (such as dynamic parameters) during automatic operation to achieve precise operation.

[0003] Currently, the dynamic parameters of engineering equipment are mostly obtained by pre-measurement and calculation. However, with the use of engineering equipment, especially when operating under a large load for a long time, the dynamic parameters of the engineering equipment will change. If the dynamic parameters are not corrected or modified regularly, it is very likely to affect the operation accuracy. The current common practice is to collect data regularly and calculate again, which is obviously not intelligent enough and relatively complex. And collecting data also requires instruments such as sensors on the engineering equipment. However, there are certain errors in the sensors themselves, and coupled with the interference of external factors during the data collection process, the collected data is not accurate enough, resulting in inaccurate calculation of the dynamic parameters, and ultimately resulting in a certain difference between the execution result and the operation instruction during the operation of the engineering equipment, and the operation accuracy cannot be guaranteed. Summary of the Invention

[0004] In order to solve the above technical problems, the present application is proposed. Embodiments of the present application provide an engineering equipment and a method and device for identifying its dynamic parameters, which solve the above technical problems.

[0005] According to one aspect of the present application, a method for identifying dynamic parameters of an engineering equipment is provided, including: inputting an action instruction into a simulation model to obtain simulation data; wherein, the simulation model includes a dynamic model of the engineering equipment, the action instruction includes a control instruction for driving the engineering equipment to act, and the simulation data includes motion data simulated during the action process of the engineering equipment; inputting the simulation data into an identification model to obtain predicted dynamic parameters; wherein, the predicted dynamic parameters represent the dynamic parameters of the predicted dynamic model of the engineering equipment; verifying the identification model according to the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the engineering equipment; and when the verification result is that the identification model meets a preset condition, inputting the measured data of the engineering equipment into the identification model to obtain the target dynamic parameters of the engineering equipment; wherein, the measured data includes motion data generated during the action process of the engineering equipment.

[0006] In one embodiment, verifying the identification model according to the predicted kinetic parameters and the initial kinetic parameters of the kinetic model of the engineering equipment includes: comparing the predicted kinetic parameters with the initial kinetic parameters; and when the difference between the predicted kinetic parameters and the initial kinetic parameters is less than a preset difference threshold, the verification result is that the identification model meets the preset conditions.

[0007] In one embodiment, the method for identifying the kinetic parameters of the engineering equipment further includes: when the verification result is that the identification model does not meet the preset conditions, adjusting the kinetic model and / or the identification model of the engineering equipment.

[0008] In one embodiment, before inputting the action instruction into the simulation model, the method for identifying the kinetic parameters of the engineering equipment further includes: establishing the kinetic model of the engineering equipment by using the Newton-Euler method.

[0009] In one embodiment, the engineering equipment includes an excavator, and the excavator includes a boom, an arm, and a bucket; wherein, establishing the kinetic model of the engineering equipment by using the Newton-Euler method includes: establishing the kinetic models of the boom, the arm, and the bucket by using the Newton-Euler method; and adjusting the kinetic models of the boom, the arm, and the bucket according to the acting forces of the slewing platform of the excavator on the boom, the arm, and the bucket, so as to obtain the kinetic model of the engineering equipment.

[0010] In one embodiment, adjusting the kinetic models of the boom, the arm, and the bucket according to the acting forces of the slewing platform of the excavator on the boom, the arm, and the bucket includes: adding the acting forces generated by the Coriolis force, centrifugal force, and moment of inertia of the slewing platform of the excavator on the boom, the arm, and the bucket to the kinetic models of the boom, the arm, and the bucket.

[0011] In one embodiment, the kinetic model of the engineering equipment includes: wherein, D(θ) is the inertia matrix, is the influence matrix of the Coriolis force, centrifugal force, and moment of inertia, G(θ) is the gravity matrix, Γ(θ) is the generalized force matrix, θ is the angle, is the angular velocity, is the angular acceleration.

[0012] In one embodiment, inputting the simulation data into the identification model to obtain the predicted kinetic parameters includes: calculating the predicted kinetic parameters by using the least squares method according to the simulation data.

[0013] According to another aspect of the present application, a device for identifying dynamic parameters of engineering equipment is provided, comprising: a simulation module, used to input action instructions into a simulation model to obtain simulation data; wherein the simulation model includes the dynamic model of the engineering equipment, the action instructions include control instructions for driving the action of the engineering equipment, and the simulation data include motion data generated by simulating the engineering equipment during the action; a prediction module, used to input the simulation data into an identification model to obtain predicted dynamic parameters; wherein the predicted dynamic parameters represent the predicted dynamic parameters of the dynamic model of the engineering equipment; a verification module, used to verify the identification model based on the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the engineering equipment; and an identification module, used to input the measured data of the engineering equipment into the identification model to obtain the target dynamic parameters of the engineering equipment when the verification result is that the identification model meets the preset conditions; wherein the measured data includes the motion data generated by the engineering equipment during the action.

[0014] According to another aspect of the present application, there is provided an engineering equipment, comprising: a traveling mechanism; an operating mechanism, wherein the operating mechanism is arranged on the traveling mechanism and is used to perform an operating task; and a dynamic parameter identification device for the engineering equipment as described above, wherein the dynamic parameter identification device for the engineering equipment is connected to the operating mechanism.

[0015] The present application provides an engineering equipment and a method and device for identifying its dynamic parameters. The method inputs action instructions into a simulation model to obtain simulation data, then inputs the simulation data into the identification model to obtain predicted dynamic parameters, and verifies the identification model based on the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the engineering equipment. When the verification result shows that the identification model meets the preset conditions, the measured data of the engineering equipment is input into the identification model to obtain the target dynamic parameters of the engineering equipment, wherein the simulation model includes the dynamic model of the engineering equipment, and the measured data includes the motion data generated by the engineering equipment during the action process; that is, the simulation data is obtained by simulating the simulation dynamic model, the simulation data is input into the identification model to obtain predicted dynamic parameters, and the identification model is verified based on the predicted dynamic parameters and the initial dynamic parameters. When the verification passes, the measured data of the engineering equipment is input to identify the current dynamic parameters of the engineering equipment, thereby avoiding the use of external engineering equipment to collect data when verifying the identification model, which can reduce the complexity of verification and avoid interference in the data collection process, thereby improving the accuracy of the data, and providing a more accurate model basis for subsequent identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present application will become more apparent by describing the embodiments of the present application in more detail with reference to the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application, and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 It is a schematic flow chart of a method for identifying dynamic parameters of an engineering device provided by an exemplary embodiment of the present application.

[0018] Figure 2 It is a schematic flow chart of a method for identifying dynamic parameters of an engineering device provided by another exemplary embodiment of the present application.

[0019] Figure 3 It is a schematic flow chart of a method for identifying dynamic parameters of an engineering device provided by another exemplary embodiment of the present application.

[0020] Figure 4 It is a schematic flow chart of a method for identifying dynamic parameters of an engineering device provided by another exemplary embodiment of the present application.

[0021] Figure 5 It is a schematic flow chart of a method for identifying dynamic parameters of an engineering device provided by another exemplary embodiment of the present application.

[0022] Figure 6 It is a schematic structural diagram of a device for identifying dynamic parameters of an engineering device provided by an exemplary embodiment of the present application.

[0023] Figure 7 It is a schematic structural diagram of a device for identifying dynamic parameters of an engineering device provided by another exemplary embodiment of the present application.

[0024] Figure 8 It is a schematic structural diagram of an engineering device provided by an exemplary embodiment of the present application.

[0025] Figure 9 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. Detailed implementation manners

[0026] Hereinafter, exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0027] Application Overview

[0028] Due to the high intensity of operation, the operating mechanism (such as the boom, dipper rod, bucket, etc. of the excavator) of engineering equipment will be worn or deformed to varying degrees during operation, resulting in changes in the dynamic parameters of the operating mechanism (such as moment of inertia, lever arm, etc.). At this time, if the operation of the engineering equipment is still controlled according to the initial dynamic parameters, the operation accuracy will inevitably be reduced. Especially for engineering equipment with automated operation, after long-term operation (especially heavy-load operation), if the dynamic parameters are not corrected, it is likely to lead to reduced operation accuracy and operation effect, and even cause operation errors.

[0029] Therefore, in order to ensure the operation accuracy and operation effect of engineering equipment, the dynamic parameters of engineering equipment can be corrected and adjusted regularly. However, how to correct and adjust the dynamic parameters of engineering equipment is a difficult problem. If the real-time data of engineering equipment is collected and the corresponding calculations are performed, since the collection of real-time data is mostly achieved by using sensors and other instruments, there are certain errors in the data collected by the sensors themselves, and there are also certain losses and errors in the transmission path of the engineering equipment, which leads to errors between the actual data collected and the theoretical data. If the actual data collected is directly used for calculation, it may have a certain impact on the calculation results. In addition, data collection and calculation of dynamic parameters of engineering equipment during use require manual intervention, which is obviously inconvenient and will also cause the engineering equipment to suspend operation, thereby reducing operating efficiency.

[0030] To this end, the present application proposes a method and device for identifying engineering equipment and its dynamic parameters, which utilizes a simulation model to simulate the dynamic model of the engineering equipment to obtain simulation data, and uses the simulation data to verify the identification model to avoid errors caused by collecting actual data, thereby improving the accuracy and reliability of the identification model, and in the actual operation process, the collected actual data can be automatically used to identify the dynamic parameters to achieve real-time adjustment and correction of the dynamic parameters of the engineering equipment, thereby ensuring the operation accuracy and operation effect of the engineering equipment; that is, simulation data is obtained by simulating the dynamic model, the simulation data is input into the identification model to obtain predicted dynamic parameters, and the identification model is verified based on the predicted dynamic parameters and the initial dynamic parameters. When the verification passes, the measured data of the engineering equipment is input to identify the current dynamic parameters of the engineering equipment, thereby avoiding the use of external engineering equipment to collect data when verifying the identification model, which can not only reduce the complexity of verification, but also avoid interference in the data collection process, thereby improving the accuracy of the data, and then providing a more accurate model basis for subsequent identification.

[0031] The following describes in detail the implementation of the engineering equipment and its dynamic parameter identification method and device provided in the embodiments of the present application in conjunction with the accompanying drawings.

[0032] Exemplary Method

[0033] Figure 1 It is a schematic flow chart of a method for identifying dynamic parameters of a construction equipment provided by an exemplary embodiment of the present application. As Figure 1 shown, the method for identifying dynamic parameters of the construction equipment includes the following steps:

[0034] Step 110: Input an action instruction into the simulation model to obtain simulation data.

[0035] Among them, the simulation model includes the dynamic model of the construction equipment, the action instruction includes the control instruction for driving the construction equipment to act, and the simulation data includes the motion data generated by simulating the construction equipment during the action process. Specifically, a simulation model is established through Simulink simulation software. The simulation model verifies the dynamic model and obtains simulation data, that is, designs a certain or certain fixed action instructions, such as special or common action instructions input during the operation of an excavator, and inputs the fixed action instruction into the simulation model to obtain the output result (simulation data). That is to say, the operation mechanism of the construction equipment is simulated by using simulation software, and a fixed action instruction is input into the simulation software to obtain simulation data, that is, the operation process of the construction equipment is simulated, and relatively accurate action instructions and corresponding output results of the construction equipment are obtained theoretically (the output result corresponds to the output data of the construction equipment during the operation process, such as parameters such as angle, angular velocity, and angular acceleration).

[0036] Step 120: Input the simulation data into the identification model to obtain predicted dynamic parameters.

[0037] Among them, the predicted dynamic parameters represent the dynamic parameters of the predicted dynamic model of the construction equipment. The simulation data is obtained by using the above simulation model to avoid errors in the process of collecting actual data by instruments such as sensors, and provides relatively accurate data for the subsequent verification of the identification model. Specifically, the simulation data is input into the identification model to obtain the output result of the identification model (that is, the predicted dynamic parameters). That is to say, the predicted dynamic parameters of the construction equipment are calculated by using the simulation data and the identification model (the current parameters of the identification model are preset or after the last correction).

[0038] Step 130: Verify the identification model according to the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the construction equipment.

[0039] Although the dynamic parameters of construction equipment change during operation, without significant damage or alteration, the change in the dynamic parameters of the same construction equipment is not particularly large. Therefore, the accuracy of the identification model is verified by comparing the predicted dynamic parameters with the initial dynamic parameters of the construction equipment (i.e., the current dynamic parameters, which can be the dynamic parameters set at the time of the construction equipment's factory production or the dynamic parameters corrected last time).

[0040] Step 140: When the verification result indicates that the identification model meets the preset conditions, input the measured data of the construction equipment into the identification model to obtain the target dynamic parameters of the construction equipment.

[0041] Among them, the measured data includes the motion data generated by the construction equipment during operation. When the verification result of the identification model meets the preset conditions, that is, the verification is passed (the identification accuracy of the identification model meets the requirements), at this time, the measured data of the construction equipment can be collected in real time during the actual operation process and input into the verified identification model to obtain the real-time dynamic parameters of the construction equipment (i.e., the target dynamic parameters). Specifically, in order to reduce the computational workload of the construction equipment during operation, the dynamic parameters of the construction equipment can be calculated regularly. For example, a time is set, and the construction equipment will automatically calculate the dynamic parameters during the operation process, thus avoiding human participation.

[0042] A method for identifying the dynamic parameters of construction equipment provided by the present application includes inputting an action instruction into a simulation model to obtain simulation data, then inputting the simulation data into an identification model to obtain predicted dynamic parameters, and verifying the identification model based on the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the construction equipment. When the verification result indicates that the identification model meets the preset conditions, input the measured data of the construction equipment into the identification model to obtain the target dynamic parameters of the construction equipment, where the simulation model includes the dynamic model of the construction equipment, and the measured data includes the motion data generated by the construction equipment during operation; that is, simulation data is obtained through simulating the dynamic model, the simulation data is input into the identification model to obtain predicted dynamic parameters, and the identification model is verified based on the predicted dynamic parameters and the initial dynamic parameters. When the verification is passed, the measured data of the construction equipment is input to identify the current dynamic parameters of the construction equipment, thereby avoiding using an external construction equipment to collect data when verifying the identification model, which can not only reduce the complexity of verification but also avoid interference during the data collection process, thus improving the accuracy of the data and providing a relatively accurate model basis for subsequent identification.

[0043] Figure 2 is a schematic flowchart of a method for identifying the dynamic parameters of construction equipment provided by another exemplary embodiment of the present application. As Figure 2 shown, the above step 130 may include:

[0044] Step 131: Compare the predicted kinetic parameters with the initial kinetic parameters.

[0045] By comparing the predicted kinetic parameters with the initial kinetic parameters, it is verified whether the identification model meets the requirements of the identification accuracy. Specifically, the difference between the predicted kinetic parameters and the initial kinetic parameters can be calculated. Since there are usually more than one kinetic parameter, when calculating the difference between the predicted kinetic parameters and the initial kinetic parameters, the difference between each parameter in the predicted kinetic parameters and the corresponding parameter in the initial kinetic parameters can be calculated to obtain multiple differences, and then the average value or weighted average value of the multiple differences can be calculated to obtain a value measuring the difference between the predicted kinetic parameters and the initial kinetic parameters.

[0046] Step 132: When the difference between the predicted kinetic parameters and the initial kinetic parameters is less than the preset difference threshold, the verification result is that the identification model meets the preset conditions.

[0047] If the difference between the predicted kinetic parameters and the initial kinetic parameters is less than the preset difference threshold, it indicates that the difference between the predicted kinetic parameters and the initial kinetic parameters is small, which also means that the predicted kinetic parameters obtained by the identification model are close to the current kinetic parameters of the kinetic model (where the current kinetic parameters of the kinetic model can be those after verification, that is, relatively accurate kinetic parameters, such as the kinetic parameters when the engineering equipment leaves the factory). At this time, it can be determined that the identification model passes the verification, that is, the identification result can be applied to the kinetic parameter identification of the engineering equipment.

[0048] It should be understood that since there are certain differences in the kinetic parameters between different engineering equipment, for the same or the same type of engineering equipment, the same identification model can be used for the identification of kinetic parameters, and the simulation model corresponding to the engineering equipment is also used for verification during the verification process of the identification model to ensure the accuracy of the identification model.

[0049] Figure 3 is a schematic flow chart of a method for identifying kinetic parameters of an engineering equipment provided by another exemplary embodiment of the present application. As Figure 3 shown, the above method for identifying kinetic parameters of an engineering equipment may further include:

[0050] Step 150: When the verification result is that the identification model does not meet the preset conditions, adjust the kinetic model and / or the identification model of the engineering equipment.

[0051] If the difference between the predicted kinetic parameters obtained from the simulation data and the initial kinetic parameters is greater than the difference threshold, it indicates that the kinetic parameters obtained through this identification model deviate significantly from the current kinetic parameters. That is to say, the kinetic parameters identified from the simulation data of the simulation kinetic model are not accurate enough. At this time, the models in the verification process (i.e., the kinetic model and / or the identification model) need to be adjusted until the verification passes.

[0052] Figure 4 It is a schematic flow chart of the method for identifying the kinetic parameters of an engineering device provided by another exemplary embodiment of the present application. As Figure 4 shown, before step 110, the method for identifying the kinetic parameters of the above-mentioned engineering device may further include:

[0053] Step 160: Establish a kinetic model of the engineering device using the Newton-Euler method.

[0054] Using the Newton-Euler method, it is possible to consider only the relationship between mechanics and angles, and establish a kinetic model including various parameters required during the operation of the engineering device. This can not only simplify the difficulty of the model, but also avoid excessive parameter interference with the computational amount and computational accuracy of the model.

[0055] In one embodiment, the engineering device includes an excavator, and the excavator includes a boom, an arm, and a bucket; Figure 5 It is a schematic flow chart of the method for identifying the kinetic parameters of an engineering device provided by another exemplary embodiment of the present application. As Figure 5 shown, the above step 160 may include:

[0056] Step 161: Establish kinetic models of the boom, the arm, and the bucket using the Newton-Euler method.

[0057] First, completely ignore the slewing platform and only consider the boom, the arm, and the bucket, that is, establish a 3-degree-of-freedom kinetic model of the boom, the arm, and the bucket and a hydraulic cylinder driving force model.

[0058] Step 162: Adjust the kinetic models of the boom, the arm, and the bucket according to the forces exerted by the slewing platform of the excavator on the boom, the arm, and the bucket to obtain the kinetic model of the engineering device.

[0059] In one embodiment, the specific implementation manner of step 162 may be: adding the Coriolis force, centrifugal force, and the force generated by the moment of inertia of the slewing platform of the excavator on the boom, the arm, and the bucket to the kinetic models of the boom, the arm, and the bucket. After establishing the 3-degree-of-freedom kinetic models of the boom, the arm, and the bucket, supplement the influence of the Coriolis force, centrifugal force, and moment of inertia of the slewing platform on the boom, the arm, and the bucket, that is, adjust the kinetic model to obtain an accurate kinetic model.

[0060] In one embodiment, the dynamic model of the above engineering equipment may specifically be:

[0061]

[0062] where D(θ) is the inertia matrix, is the influence matrix of Coriolis force, centrifugal force and moment of inertia, G(θ) is the gravity matrix, Γ(θ) is the generalized force matrix, θ is the angle, is the angular velocity, is the angular acceleration.

[0063] Specifically,

[0064]

[0065]

[0066]

[0067]

[0068] where α4, α7, α 12 correspond to the angular accelerations of the boom, arm and bucket respectively, and ω4, ω7, ω 12 correspond to the angular velocities of the boom, arm and bucket respectively.

[0069] In one embodiment, the specific implementation manner of the above step 120 may be: According to the simulation data, the predicted dynamic parameters are calculated by using the least square method.

[0070] Specifically, the matrices D(θ), and G(θ) in the above dynamic model are changed from right multiplication to left multiplication:

[0071]

[0072] After multiplying each row and column vector in each item of the above matrix and adding them up, Γ1, Γ2, and Γ3 are obtained:

[0073]

[0074]

[0075]

[0076] Taking Γ1 as an example:

[0077] Define [α4 α7 α 12 ω4 ω7 ω 12 1 1 1] as H,

[0078] And define is θ (the kinetic parameter to be identified), then the least squares estimate of θ is:

[0079]

[0080] Exemplary Device

[0081] Figure 6 FIG. 1 is a schematic diagram of a structure of a dynamic parameter identification device for engineering equipment provided by an exemplary embodiment of the present application. Figure 6 As shown, the dynamic parameter identification device 60 of the engineering equipment includes: a simulation module 61, which is used to input the action instruction into the simulation model to obtain simulation data; wherein the simulation model includes the dynamic model of the engineering equipment, the action instruction includes the control instruction for driving the action of the engineering equipment, and the simulation data includes the motion data generated by the simulated engineering equipment during the action; a prediction module 62, which is used to input the simulation data into the identification model to obtain predicted dynamic parameters; wherein the predicted dynamic parameters represent the predicted dynamic parameters of the dynamic model of the engineering equipment; a verification module 63, which is used to verify the identification model according to the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the engineering equipment; and an identification module 64, which is used to input the measured data of the engineering equipment into the identification model to obtain the target dynamic parameters of the engineering equipment when the verification result is that the identification model meets the preset conditions; wherein the measured data includes the motion data generated by the engineering equipment during the action.

[0082] The present application provides a device for identifying dynamic parameters of engineering equipment. The simulation module 61 inputs action instructions into a simulation model to obtain simulation data, and then the prediction module 62 inputs the simulation data into the identification model to obtain predicted dynamic parameters. The verification module 63 verifies the identification model according to the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the engineering equipment. When the verification result shows that the identification model meets the preset conditions, the identification module 64 inputs the measured data of the engineering equipment into the identification model to obtain the target dynamic parameters of the engineering equipment. The simulation model includes the dynamic model of the engineering equipment, and the measured data includes the motion data generated by the engineering equipment during the action process. That is, the simulation data is obtained by simulating the dynamic model, and the simulation data is input into the identification model to obtain the predicted dynamic parameters. The identification model is verified according to the predicted dynamic parameters and the initial dynamic parameters. When the verification is passed, the measured data of the engineering equipment is input to identify the current dynamic parameters of the engineering equipment, thereby avoiding the use of external engineering equipment to collect data when verifying the identification model, which can reduce the complexity of verification and avoid interference in the data collection process, thereby improving the accuracy of the data, and providing a more accurate model basis for subsequent identification.

[0083] Figure 7 This is a schematic structural diagram of a dynamic parameter identification device for an engineering equipment provided by another exemplary embodiment of the present application. As Figure 7 shown, the above verification module 63 may include: a comparison unit 631 for comparing the predicted dynamic parameters and the initial dynamic parameters; a confirmation unit 632 for, when the difference between the predicted dynamic parameters and the initial dynamic parameters is less than a preset difference threshold, verifying that the identification model meets the preset conditions.

[0084] In one embodiment, as Figure 7 shown, the above dynamic parameter identification device 60 for the engineering equipment may further include: an adjustment module 65 for, when the verification result is that the identification model does not meet the preset conditions, adjusting the dynamic model and / or the identification model of the engineering equipment.

[0085] In one embodiment, as Figure 7 shown, the above dynamic parameter identification device 60 for the engineering equipment may further include: a modeling module 66 for establishing a dynamic model of the engineering equipment using the Newton-Euler method.

[0086] In one embodiment, the above modeling module 66 may be further configured to: establish dynamic models of the boom, the stick, and the bucket using the Newton-Euler method; adjust the dynamic models of the boom, the stick, and the bucket according to the forces exerted by the slewing platform of the excavator on the boom, the stick, and the bucket, so as to obtain the dynamic model of the engineering equipment.

[0087] In one embodiment, the above modeling module 66 may be further configured to: add the forces generated by the Coriolis force, the centrifugal force, and the moment of inertia of the slewing platform of the excavator on the boom, the stick, and the bucket to the dynamic models of the boom, the stick, and the bucket.

[0088] Exemplary Engineering Equipment

[0089] Figure 8 This is a schematic structural diagram of an engineering equipment provided by an exemplary embodiment of the present application. As Figure 8 shown, the engineering equipment includes: a traveling mechanism 1, a working mechanism 2, and the above dynamic parameter identification device for the engineering equipment; wherein, the working mechanism 2 is arranged on the traveling mechanism 1 for performing working tasks, and the dynamic parameter identification device for the engineering equipment is connected to the working mechanism 2.

[0090] The present application provides an engineering equipment, which obtains simulation data by inputting action instructions into a simulation model, and then inputs the simulation data into an identification model to obtain predicted dynamic parameters, and verifies the identification model based on the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the engineering equipment. When the verification result shows that the identification model meets the preset conditions, the measured data of the engineering equipment is input into the identification model to obtain the target dynamic parameters of the engineering equipment, wherein the simulation model includes the dynamic model of the engineering equipment, and the measured data includes the motion data generated by the engineering equipment during the action process; that is, the simulation data is obtained by simulating the simulation dynamic model, the simulation data is input into the identification model to obtain predicted dynamic parameters, and the identification model is verified based on the predicted dynamic parameters and the initial dynamic parameters. When the verification passes, the measured data of the engineering equipment is input to identify the current dynamic parameters of the engineering equipment, thereby avoiding the use of external engineering equipment to collect data when verifying the identification model, which can reduce the complexity of verification and avoid interference in the data collection process, thereby improving the accuracy of the data, and then providing a more accurate model basis for subsequent identification.

[0091] Exemplary Electronic Equipment

[0092] Below, reference Figure 9 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0093] Figure 9 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0094] like Figure 9 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0095] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0096] The memory 12 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 11 may run the program instructions to implement the dynamic parameter identification method of the engineering equipment in various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage media.

[0097] In one example, the electronic device 10 may further include: an input device 13 and an output device 14, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0098] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector for receiving the collected input signals from the first device and the second device.

[0099] In addition, the input device 13 may further include, for example, a keyboard, a mouse, and so on.

[0100] The output device 14 may output various information to the outside, including the determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0101] Of course, for simplicity, Figure 9 only some of the components related to the present application in the electronic device 10 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 10 may further include any other appropriate components.

[0102] The computer program products may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages, such as Java, C++, etc., and also include conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0103] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0104] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and subcombinations.

Claims

1. A method for identifying dynamic parameters of an engineering device, characterized in that, Including: Input an action instruction into a simulation model to obtain simulation data; wherein, the simulation model includes a dynamic model of the engineering equipment, the action instruction includes a control instruction for driving the engineering equipment to act, and the simulation data includes motion data simulating the engineering equipment generated during the action process; Input the simulation data into an identification model to obtain predicted dynamic parameters; wherein, the predicted dynamic parameters characterize the dynamic parameters of the predicted dynamic model of the engineering equipment; Verify the identification model according to the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the engineering equipment; and When the verification result is that the identification model meets a preset condition, input the measured data of the engineering equipment into the identification model to obtain the target dynamic parameters of the engineering equipment; wherein, the measured data includes motion data generated by the engineering equipment during the action process; When the verification result is that the identification model does not meet the preset condition, adjust the dynamic model of the engineering equipment and / or the identification model.

2. The method for identifying the dynamic parameters of the engineering equipment according to claim 1, wherein The verifying the identification model according to the predicted dynamic parameters and the initial dynamic parameters of the dynamic model of the engineering equipment includes: Comparing the predicted dynamic parameters with the initial dynamic parameters; and When the difference between the predicted dynamic parameters and the initial dynamic parameters is less than a preset difference threshold, the verification result is that the identification model meets the preset condition.

3. The method for identifying the dynamic parameters of the engineering equipment according to claim 1, characterized in that Before inputting the action instruction into the simulation model, the dynamic parameter identification method of the engineering equipment further includes: Establish the dynamic model of the engineering equipment by using the Newton-Euler method.

4. The method for identifying the dynamic parameters of the engineering equipment according to claim 3, characterized in that, The engineering equipment includes an excavator, and the excavator includes a boom, an arm, and a bucket; wherein, establishing the dynamic model of the engineering equipment by using the Newton-Euler method includes: Establish the dynamic models of the boom, the arm, and the bucket by using the Newton-Euler method; and Adjust the dynamic models of the boom, the arm, and the bucket according to the acting forces of the slewing platform of the excavator on the boom, the arm, and the bucket to obtain the dynamic model of the engineering equipment.

5. The method for identifying the dynamic parameters of the engineering equipment according to claim 4, characterized in that, The adjusting the dynamic models of the boom, the arm, and the bucket according to the acting forces of the slewing platform of the excavator on the boom, the arm, and the bucket includes: Add the acting forces generated by the Coriolis force, centrifugal force, and moment of inertia of the slewing platform of the excavator on the boom, the arm, and the bucket to the dynamic models of the boom, the arm, and the bucket.

6. The method for identifying the dynamic parameters of the engineering equipment according to any one of claims 1-5, characterized in that, The dynamic model of the engineering equipment includes: ； Among them, is the inertia matrix, is the influence matrix of Coriolis force, centrifugal force and moment of inertia, is the gravity matrix, is the generalized force matrix, is the angle, is the angular velocity, is the angular acceleration.

7. The method for identifying the dynamic parameters of the engineering equipment according to any one of claims 1-6, characterized in that The inputting the simulation data into the identification model to obtain predicted dynamic parameters includes: Calculating the predicted dynamic parameters by using the least squares method according to the simulation data.

8. A device for identifying dynamic parameters of an engineering equipment, characterized in that, Including: A simulation module, configured to input an action instruction into a simulation model to obtain simulation data; wherein, the simulation model includes a dynamic model of the engineering equipment, the action instruction includes a control instruction for driving the engineering equipment to act, and the simulation data includes motion data simulating the engineering equipment generated during the action process; A prediction module, configured to input the simulation data into an identification model to obtain predicted kinetic parameters; wherein the predicted kinetic parameters characterize the kinetic parameters of the predicted kinetic model of the engineering equipment; A verification module, configured to verify the identification model according to the predicted kinetic parameters and the initial kinetic parameters of the kinetic model of the engineering equipment; and An identification module, configured to, when the verification result indicates that the identification model meets a preset condition, input the measured data of the engineering equipment into the identification model to obtain the target kinetic parameters of the engineering equipment; wherein the measured data includes the motion data generated by the engineering equipment during operation; The kinetic parameter identification device of the engineering equipment further includes: an adjustment module, configured to, when the verification result indicates that the identification model does not meet the preset condition, adjust the kinetic model and / or the identification model of the engineering equipment.

9. An engineering device, characterized in that, Including: A traveling mechanism; An operating mechanism, which is arranged on the traveling mechanism and is used to perform an operation task; And The kinetic parameter identification device of the engineering equipment according to claim 8, wherein the kinetic parameter identification device of the engineering equipment is connected to the operating mechanism.

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