Control method and control device for excavating machine

Abstract

The present disclosure provides a control method and a control device of a digging machine, and relates to the technical field of automation control, in particular to the field of automation control of engineering machinery. The control method comprises the following steps: acquiring the position and speed of a bucket at the current moment; determining a reference point on a pre-determined planned motion path of the bucket according to the position and speed of the bucket at the current moment; determining a reference speed of the bucket according to the position of the reference point, so that the subsequent motion of the bucket is towards the reference point; determining a first target driving speed of a three-dimensional driving mechanism for driving the bucket according to at least the reference speed of the bucket; and controlling the three-dimensional driving mechanism to operate at the first target driving speed.

Description

Technical Field

[0001] This disclosure relates to the field of automation control technology, and in particular to the automation control of construction machinery, specifically to a control method and control device for excavating machinery, excavating machinery, electronic equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] With the development of excavator electronic control technology, increasingly higher requirements are being placed on the level of automation in excavator control. Unmanned excavating machinery used in related technologies can complete specific excavation tasks without the need for a driver.

[0003] However, when most unmanned excavators perform specific excavation tasks, their controllers directly control the excavator's drive mechanism according to pre-set instructions, without considering the control precision of the excavator's bucket. Due to the large mass and inertia of the bucket, it is easy for the actual movement path of the bucket to deviate significantly from the planned movement path, thereby reducing the excavation accuracy of the excavator.

[0004] The methods described in this section are not necessarily methods that had been previously conceived or adopted. Unless otherwise specified, no method described in this section should be assumed to be prior art simply because it is included in this section. Similarly, unless otherwise specified, the issues mentioned in this section should not be considered to be accepted in any prior art. Summary of the Invention

[0005] This disclosure provides a control method and control device for excavating machinery, excavating machinery, electronic equipment, computer-readable storage medium, and computer program product.

[0006] According to one aspect of this disclosure, a control method for excavating machinery is provided, wherein the excavating machinery includes a three-dimensional drive mechanism and a bucket disposed at the free end of the three-dimensional drive mechanism. The control method includes: determining a reference point and a reference speed of the bucket on a pre-determined planned motion path of the bucket based on the current position and speed of the bucket, so that the subsequent movement of the bucket is directed toward the reference point; determining a first target drive speed for the three-dimensional drive mechanism to drive the bucket based at least on the reference speed of the bucket; and controlling the three-dimensional drive mechanism to operate at the first target drive speed.

[0007] According to another aspect of this disclosure, a control device for excavating machinery is provided, wherein the excavating machinery includes a three-dimensional drive mechanism and a bucket disposed at the free end of the three-dimensional drive mechanism. The control device includes: a first determining unit configured to determine a reference point and a reference speed of the bucket on a pre-determined planned motion path of the bucket based on the current position and speed of the bucket, so that subsequent movement of the bucket is directed toward the reference point; a second determining unit configured to determine a first target driving speed for the three-dimensional drive mechanism to drive the bucket, at least based on the reference speed of the bucket; and a control unit configured to control the three-dimensional drive mechanism to operate at the first target driving speed.

[0008] According to another aspect of this disclosure, an excavating machine is provided, comprising: a body; a three-dimensional drive mechanism, the three-dimensional drive mechanism comprising: a rotary base disposed below the body for driving the body to rotate in a first direction; a rotating arm pivotally connected at one end to the body and configured to rotate in a second direction; and a sliding arm movably disposed on the rotating arm and configured to move in a third direction, wherein the first direction, the second direction, and the third direction form a complete spatial coordinate system; a bucket disposed at the end of the sliding arm away from the body; and the aforementioned control device.

[0009] According to another aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the methods described above.

[0010] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause a computer to perform the methods described above.

[0011] According to another aspect of this disclosure, a computer program product is provided, including a computer program, wherein the computer program implements the above-described method when executed by a processor.

[0012] According to one or more embodiments of this disclosure, the current position and velocity of the bucket can be analyzed and compared with the planned motion path of the bucket to determine a reference velocity that causes the bucket to move toward a reference point, thereby enabling the bucket to approach the planned motion path as closely as possible in subsequent movements. The method of this disclosure uses the bucket's reference velocity as a feedback variable to adjust the drive speed of the three-dimensional drive mechanism, improving the control accuracy of the excavating machinery.

[0013] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0014] The accompanying drawings exemplify embodiments and form part of the specification, serving together with the textual description to explain exemplary implementations of the embodiments. The illustrated embodiments are for illustrative purposes only and do not limit the scope of the claims. Throughout the drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0015] Figure 1 A schematic diagram of the structure of an excavating machine according to an embodiment of the present disclosure is shown;

[0016] Figure 2 A flowchart illustrating a control method for excavating machinery according to an embodiment of the present disclosure is shown;

[0017] Figure 3 It shows Figure 2 A schematic diagram illustrating the principle of the method shown;

[0018] Figure 4 A flowchart of a method for determining a reference point according to an embodiment of the present disclosure is shown;

[0019] Figure 5 A flowchart is shown of a method for determining a reference speed of a bucket according to an embodiment of the present disclosure;

[0020] Figure 6 A flowchart illustrating a method for determining a first target drive speed of a three-dimensional drive mechanism according to an embodiment of the present disclosure is shown;

[0021] Figure 7 A flowchart illustrating a method for controlling the operation of a three-dimensional drive mechanism according to an embodiment of the present disclosure is shown;

[0022] Figure 8 A structural block diagram of a control device for an excavating machine according to an embodiment of the present disclosure is shown;

[0023] Figure 9 A structural block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation

[0024] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0025] In this disclosure, unless otherwise stated, the use of terms such as "first," "second," etc., to describe various elements is not intended to limit the positional, temporal, or importance relationships of these elements; such terms are merely used to distinguish one element from another. In some examples, the first element and the second element may refer to the same instance of that element, while in other cases, based on the context, they may refer to different instances.

[0026] The terminology used in the description of the various examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context explicitly indicates otherwise, an element may be one or more unless the number of elements is specifically limited. Furthermore, the term "and / or" as used in this disclosure covers any one of the listed items and all possible combinations thereof.

[0027] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0028] Figure 1 A schematic diagram of an excavating machine 100 according to an embodiment of the present disclosure is shown. The excavating machine 100 may be an excavator, bulldozer, etc.; in this embodiment, the excavating machine 100 is an excavator. Figure 1 As shown, the excavator 100 includes a body 110, a three-dimensional drive mechanism 120, and a bucket 130. The body 110 includes, for example, the excavator's cab, which is equipped with various devices for driving or operating the excavator 100, including but not limited to a steering wheel, a gear lever, and a control panel for driving the three-dimensional drive mechanism 120.

[0029] The three-dimensional drive mechanism 120 includes: a rotating base 121, a rotating arm 122, and a sliding arm 133. The rotating base 121 is located below the main body 110 and is used to drive the main body 110 to rotate in a first direction, thereby causing the rotating arm 122 and the sliding arm 123 to rotate together. Figure 1 As shown, the slewing base 121 can drive the body 110 to rotate bidirectionally in the ω1 direction. The slewing base 121 may also include track wheels for driving the excavator 100 to move on the ground. One end of the rotating arm 122 is pivotally connected to the body 110 and configured to rotate in a second direction, such as... Figure 1As shown, the second direction is the direction indicated by ω2. The three-dimensional drive mechanism 120 may further include a lifting rope 125 and a pulley 124. The pulley 124 is disposed at the end of the rotating arm 122 away from the body 110, and the lifting rope 125 connects the body 110 and the pulley 124. The excavating machinery 100 can control the rotation of the rotating arm by setting the length of the lifting rope 125. For example, a device for extending or retracting the lifting rope 125 can be provided at the position where the lifting rope 125 connects to the body 110 to set the length of the lifting rope 125. By extending the lifting rope 125, the rotating arm 122 can be rotated along the direction of ω2, and by retracting the lifting rope 125, the rotating arm 122 can be rotated in the opposite direction of ω2. The sliding arm 123 is movably disposed on the rotating arm 122 and configured to move in a third direction, i.e., along Figure 1 The sliding arm 123 translates in the direction of v1 (or the opposite direction of v1), and multiple teeth are provided on one side of the sliding arm 123. The three-dimensional drive mechanism 120 may also additionally include a gear 126, which is disposed on the rotating arm 122 and meshes with multiple teeth on one side of the sliding arm 123. By rotating the gear 126, the sliding arm 123 can be translated along its own length direction (i.e., the direction of v1).

[0030] The bucket 130 is positioned at the free end of the three-dimensional drive mechanism 120. Figure 1 In the illustrated embodiment, the bucket 130 is disposed at the end of the sliding arm 123 away from the body 110. The bucket 130 can move (rotate or translate) with the various components in the three-dimensional drive mechanism 120, so the movement of the bucket 130 can be controlled by controlling the three-dimensional drive mechanism 120.

[0031] It should be further explained that the first direction, the second direction, and the third direction form a complete spatial coordinate system. That is to say, without considering the length limitations of the rotating arm 122 and the sliding arm 123 in the three-dimensional drive mechanism 120, the bucket 130 can be driven to any position in three-dimensional space.

[0032] Figure 2 A flowchart of a control method 200 for an excavating machine according to an embodiment of the present disclosure is shown. The excavating machine includes a three-dimensional drive mechanism and a bucket disposed at the free end of the three-dimensional drive mechanism. Figure 2 As shown, the control method 200 includes:

[0033] Step 201: Obtain the current position and velocity of the bucket;

[0034] Step 202: Based on the current position and speed of the bucket, determine a reference point and a reference speed of the bucket on the pre-determined planned motion path of the bucket, so that the subsequent movement of the bucket is directed toward the reference point.

[0035] Step 203: Determine, at least based on the reference speed of the bucket, the first target drive speed for the three-dimensional drive mechanism to drive the bucket; and

[0036] Step 204: Control the three-dimensional drive mechanism to run at the first target drive speed.

[0037] Embodiments of this disclosure provide a control method for excavating machinery. This method analyzes and compares the current position and velocity of the bucket with the planned motion path of the bucket to determine a reference velocity that causes the bucket to move towards a reference point. This allows the bucket to approach the planned motion path as closely as possible in subsequent movements. The method of this disclosure uses the bucket's reference velocity as a feedback variable to adjust the drive speed of the three-dimensional drive mechanism, thereby improving the control accuracy of the excavating machinery.

[0038] In step 201, the current position and speed can be determined from relevant data obtained from the monitoring equipment that monitors the relevant operating status of the excavating machinery. For example, the monitoring equipment can be used to record the driving speed of the bucket by the three-dimensional drive mechanism in real time. Specifically, the monitoring equipment can record the first driving speed of the slewing base, the second driving speed of the rotating arm, and the third driving speed of the sliding arm, respectively. In step 201, the driving speeds can be obtained and then converted into the bucket's movement speed according to a preset rule.

[0039] Figure 3 It shows Figure 2 The diagram illustrates the principle of the method. When the excavating machinery performs a specific excavation task, the relevant controller first sets a planned movement path for the bucket based on the specific excavation task. For example, if the excavation task is to excavate a circular cavity in a mountain, then the planned movement path can be set to an arc.

[0040] like Figure 3 As shown, curve 310 represents a pre-determined planned motion path, which can be represented by a parametric equation, namely:

[0041]

[0042] in, Let t represent the Cartesian coordinates of any point along the planned motion path. k This represents the trajectory parameters.

[0043] In the actual excavation process, the excavator is first driven to the predetermined construction location. Then, the three-dimensional drive mechanism is controlled to position the bucket at the starting point of the planned movement path before proceeding with the excavation work. It's important to note that the planned movement path is merely a hypothetical reference path; the bucket does not strictly adhere to it, and there is a certain deviation between the actual and planned movement. Subsequent adjustments to the three-dimensional drive mechanism are necessary to ensure that the bucket's actual movement closely approximates the planned path.

[0044] In this embodiment, the movement of the bucket during excavation can be divided into multiple time segments in advance so that the three-dimensional drive mechanism can be controlled within multiple time segments. In other words, the drive speed of the three-dimensional drive mechanism can be adjusted once every preset working time ΔT.

[0045] The working time ΔT can be set to 0.1s, 0.2s, 0.5s, 1s, etc. The shorter the working time ΔT, the more precise the control over the bucket's movement path. (Continue to refer to...) Figure 3 Pn represents the current position of the bucket (at the start of the nth time segment), and Pn* represents a reference point on the planned motion path for the same time segment. In this embodiment, the planned motion path refers to the motion path of the bucket's end point; however, in other embodiments, the planned motion path can also be the motion path of other specific points in the bucket besides the end point. In step 202, the current position of the bucket and the planned motion path can be compared and analyzed, taking into account the current speed of the bucket, to determine a reference point on the planned motion path.

[0046] In step 202, a reference speed is also determined based on the difference between the position of the reference point and the current position of the bucket. First, the direction of the reference speed can be determined based on the direction of the line connecting the current position of the bucket and the position of the reference point. Then, the magnitude of the reference speed is determined based on the distance difference between the two positions and the working duration ΔT of the aforementioned time interval. Specifically, the reference speed... The following formula can be used for calculation:

[0047]

[0048] in, Indicates reference speed. A scalar value representing the current velocity of the bucket.

[0049] In step 203, the first target driving speed for the three-dimensional drive mechanism to drive the bucket can be determined by referring to the reference speed of the bucket, so that the subsequent motion path of the bucket is as close as possible to the planned motion path.

[0050] Figure 4 A flowchart of a method 400 for determining a reference point according to an embodiment of the present disclosure is shown, such as... Figure 4 As shown, the method 400 includes:

[0051] Step 401: Determine the movement delay time of the bucket;

[0052] Step 402: Determine the delayed position and delayed speed of the bucket after experiencing the motion delay time based on the bucket's current position and speed and the motion delay time.

[0053] Step 403: Determine the associated points corresponding to the delay positions on the planned motion path; and

[0054] Step 404 determines the reference point of the bucket on the planned motion path based on the associated point and the delay speed.

[0055] Because the bucket contains soil, rocks, and other materials when performing excavation tasks, it typically has significant inertia. Therefore, after a control command is issued to the 3D drive mechanism, the mechanism may not respond immediately, resulting in a command response delay. Consequently, it is necessary to compensate for this delay in the bucket's current position and velocity to improve the accuracy of the subsequently calculated reference velocity.

[0056] In step 401, the motion delay duration can be determined based on the current weight of the bucket. The current weight of the bucket can be obtained from relevant detection devices on the excavating machinery, such as a gravimeter installed on the three-dimensional drive mechanism to detect the weight of the bucket. It can be understood that the greater the weight of the bucket, the longer the determined delay duration.

[0057] In step 402, the delayed position of the bucket can be obtained by summing the current position with the distance the bucket travels within the motion delay duration. The distance the bucket travels within the motion delay duration can be the product of the bucket's current speed and the motion delay duration. The delayed speed of the bucket can be determined based on its current speed and its current motion state.

[0058] In step 403, the associated point represents the expected position of the bucket at the current moment, assuming the bucket moves strictly according to the planned motion path. In this embodiment, the associated point may include the point on the planned motion path that is closest to the delayed position, such as... Figure 3 As shown, Pc represents the aforementioned associated point. This method of determining associated points is relatively simple and can significantly reduce the related computational load. In other embodiments, associated points can also be determined in other ways, such as first determining a straight line parallel to the direction of the bucket's delayed speed and tangent to the planned motion path, and then using the point of tangency between this straight line and the planned motion path as the associated point.

[0059] In step 404, the trajectory parameters t corresponding to the associated points can be determined first based on the parametric equations of the planned motion path. n Reference point It can be calculated using the following formula:

[0060]

[0061] in, The scalar value representing the delayed speed of the bucket, k, is an adjustable parameter. Specifically, k can be set according to the aforementioned duration ΔT. The reference point represents the expected position of the bucket after the current working time ΔT, assuming the bucket moves strictly according to the planned motion path. The subsequent reference speed of the bucket is determined based on the aforementioned reference point, so that the subsequent movement of the bucket is as close as possible to the planned motion path.

[0062] Figure 5 A flowchart of a method 500 for determining a reference speed of a bucket according to an embodiment of the present disclosure is shown, such as... Figure 5 As shown, the method 500 includes:

[0063] Step 501: Obtain the current motion state of the bucket, including accelerated motion, uniform motion, and decelerated motion; and

[0064] Step 502: Determine the reference speed of the bucket based at least on the motion state.

[0065] To further optimize bucket motion, the reference speed of the bucket can be calculated using a trapezoidal geometry method. Specifically, the reference speed can be calculated using the following formula:

[0066]

[0067] In the above formula, The scalar value representing the delayed speed of the bucket is given by equation (1), which represents the reference speed of the bucket in an accelerated state, where a1 is a pre-set first acceleration value. Equation (2) represents the reference speed of the bucket in a uniform state, and equation (3) represents the reference speed of the bucket in a decelerated state, where a2 is a pre-set second acceleration value. Δt can represent the duration of the bucket's movement in the current state. In step 501, the bucket's current state of motion can be determined before determining the reference speed, and in step 502, the reference speed is calculated based on the bucket's state of motion according to the above equation.

[0068] Figure 6 A flowchart of a method 600 for determining a first target drive speed of a three-dimensional drive mechanism according to an embodiment of the present disclosure is shown, as follows: Figure 6 As shown, the method 600 includes:

[0069] Step 601: Obtain the second target drive speed for driving the bucket, which was determined in the previous time step and is used by the three-dimensional drive mechanism; and

[0070] Step 602: Determine the first target drive speed for the three-dimensional drive mechanism to drive the bucket based on the reference speed of the bucket and the second target drive speed.

[0071] As mentioned above, the current time can be the start time of a certain working period. In step 601, the second target drive speed can be the target drive speed determined at the start time of the previous working period ΔT. At the start time of each working period, the target drive speed of the three-dimensional drive mechanism is redefined to adjust the movement path of the bucket. The target drive speeds determined in all working periods before the current time are recorded in the excavator's related storage device for later reference.

[0072] In step 602, the first target drive speed can be determined jointly by the bucket's reference speed and the second target drive speed. For example, a first target drive speed can be determined to ensure that the difference between the first and second target drive speeds is less than a threshold difference, while simultaneously making the subsequent bucket movement speed as close as possible to the reference speed. The first target drive speed determined in this way ensures that the bucket's speed is relatively smooth and without abrupt changes, allowing the bucket to move as close as possible to the planned movement path.

[0073] The following details how the first target drive speed is determined. In some embodiments, determining the first target drive speed for the three-dimensional drive mechanism to drive the bucket, based on a reference speed of the bucket and a second target drive speed, includes: determining the first target drive speed such that the optimization parameter is minimized. The optimization parameter Ob can be expressed by the following formula:

[0074]

[0075] in, The first target driving speed, determined at the start time of the nth working period, is a variable to be determined. This represents the second target drive speed determined at the start time of the (n-1)th working period. This second target drive speed is predetermined and can be obtained from the relevant storage device. For Figure 1 The three-dimensional drive mechanism of the excavating machine shown is It can be represented in the following form:

[0076]

[0077] Among them, w n1 w represents the angular velocity of the rotating base. n2 The angular velocity v of the rotating arm represents the rotational speed of the arm. n3 This indicates the translational speed of the sliding arm.

[0078] J is a Jacobian matrix used for the velocity transformation between the drive speed of the three-dimensional drive mechanism and the corresponding bucket speed. J is determined by the current positions of the slewing base, rotating arm, and sliding arm. Applying J to... When the three-dimensional drive mechanism is driven at the first target speed During operation, the target speed of the corresponding bucket (i.e. ).

[0079] The above optimization parameters include the first sub-parameter. Second sub-parameter The first sub-parameter is determined based on the difference between the bucket's reference speed and the bucket's target speed. The second sub-parameter is determined based on the difference between the first target driving speed and the second target driving speed. The target speed of the bucket is obtained by performing a matrix transformation on the first target driving speed. The transformation matrix J converts the driving speed used by the three-dimensional drive mechanism to drive the bucket into the bucket's motion speed.

[0080] It is understandable that the smaller the first sub-parameter mentioned above, the closer the target speed of the bucket is to the reference speed, and the closer the subsequent movement path of the bucket is to the planned movement path. The smaller the second sub-parameter mentioned above, the smaller the change in the driving speed of the three-dimensional drive mechanism between different time points, thus making the subsequent movement of the bucket smoother. The first target driving speed is subsequently determined. The goal is to minimize the overall optimization parameters mentioned above, so that the bucket's movement speed is relatively smooth and without abrupt changes, and the bucket moves as close to the planned path as possible.

[0081] The optimization parameters also include a first weight Q and a second weight R. The first weight Q determines the proportion of the first sub-parameter relative to the optimization parameters, and the second weight R determines the proportion of the second sub-parameter relative to the optimization parameters. The first weight Q and the second weight R can be set according to the specific excavation task. For example, if the excavation task requires the bucket's movement path to be as close as possible to the planned movement path, then Q can be set to be greater than R. Conversely, if the excavation task requires the bucket's movement to be as smooth as possible, then Q can be set to be less than R.

[0082] In some embodiments, determining a first target drive speed for the three-dimensional drive mechanism to drive the bucket, at least based on a reference speed of the bucket, includes: determining a first mechanism drive speed for the first mechanism to drive the bucket, a second mechanism drive speed for the second mechanism to drive the bucket, and a third mechanism drive speed for the third mechanism to drive the bucket, respectively. (Refer to...) Figure 1 ,exist Figure 1 In the illustrated embodiment, the first mechanism can be a rotating base, the second mechanism can be a rotating arm, and the third mechanism can be a sliding arm. The driving speed of the first mechanism is as follows: Figure 1 As shown in w1, the second mechanism's drive speed is shown in w2, and the third mechanism's drive speed is shown in v1. The above reference speeds... It can be represented as a three-component matrix, which is ultimately determined. It can be represented as a three-component matrix consisting of w1, w2, and v1. When determining... At that time, the magnitudes of the three components w1, w2, and v1 can be determined separately.

[0083] Understandably, although Figure 1 In the illustrated embodiment, the three-dimensional drive mechanism may include two rotating components and one translational component. However, in other embodiments, the three-dimensional drive mechanism may also include one rotating component and two translational components, or only three translational components, and these components may operate in different ways. Figure 1 Set it as shown.

[0084] In some embodiments, when determining the first target drive speed to minimize the optimization parameters, predetermined constraints regarding the drive speeds of the first, second, and / or third mechanisms can be obtained first. Subsequently, the first target drive speed is determined within the range of these constraints to minimize the optimization parameters. This prevents the speeds of each drive mechanism from exceeding the maximum or minimum permissible speed, avoiding difficulties in the operation of the three-dimensional drive mechanism.

[0085] Figure 7 A flowchart illustrating a method for controlling the operation of a three-dimensional drive mechanism according to an embodiment of the present disclosure is shown, such as... Figure 7 As shown, the method 700 includes:

[0086] Step 701: Query a pre-set instruction table based on the first target driving speed to obtain control instruction information corresponding to the first target driving speed; and

[0087] Step 702: Send a control command to the controller that controls the three-dimensional drive mechanism to control the three-dimensional drive mechanism to run at the first target drive speed.

[0088] The excavator's memory can also pre-store an instruction table, which includes instruction information corresponding to multiple first target drive speeds. Before controlling the three-dimensional drive mechanism, the instruction table can be queried to obtain the control instruction information corresponding to the first target drive speed. Subsequently, control instructions are sent to the controller that controls the three-dimensional drive mechanism to control the three-dimensional drive mechanism to run at the first target drive speed.

[0089] According to another aspect of this disclosure, a control device for excavating machinery is also provided. Figure 8 A structural block diagram of a control device 800 for an excavating machine according to an embodiment of the present disclosure is shown. The excavating machine includes a three-dimensional drive mechanism and a bucket disposed at the free end of the three-dimensional drive mechanism. The control device 800 includes: a first determining unit 810 configured to determine a reference point and a reference speed of the bucket on a pre-determined planned motion path of the bucket based on the current position and speed of the bucket, so that subsequent movement of the bucket is directed toward the reference point; a second determining unit 820 configured to determine a first target driving speed for the three-dimensional drive mechanism to drive the bucket, at least based on the reference speed of the bucket; and a control unit 830 configured to control the three-dimensional drive mechanism to operate at the first target driving speed.

[0090] According to another aspect of this disclosure, an excavating machine is also provided, comprising: a body, a three-dimensional drive mechanism, a bucket, and a control device. The three-dimensional drive mechanism includes: a slewing base disposed below the body for driving the body to rotate in a first direction; a rotating arm, one end of which is pivotally connected to the body and configured to rotate in a second direction; and a sliding arm movably disposed on the rotating arm and configured to move in a third direction. The first, second, and third directions form a complete spatial coordinate system; the bucket is disposed at the end of the sliding arm away from the body. The excavating machine of this embodiment may be referenced... Figure 1 The excavating machinery shown in this embodiment is similar to... Figure 1 The difference in the excavating machinery shown is that it also includes... Figure 8 The control device 800 shown.

[0091] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0092] According to embodiments of this disclosure, an electronic device, a readable storage medium, and a computer program product are also provided.

[0093] refer to Figure 9The present invention describes a structural block diagram of an electronic device 900 that can serve as a server or client of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0094] like Figure 9 As shown, the electronic device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded into a random access memory (RAM) 903 from a storage unit 908. The RAM 903 may also store various programs and data required for the operation of the electronic device 900. The computing unit 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0095] Multiple components in electronic device 900 are connected to I / O interface 905, including: input unit 906, output unit 907, storage unit 908, and communication unit 909. Input unit 906 can be any type of device capable of inputting information to electronic device 900. Input unit 906 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device, and can include, but is not limited to, a mouse, keyboard, touchscreen, trackpad, trackball, joystick, microphone, and / or remote control. Output unit 907 can be any type of device capable of presenting information, and can include, but is not limited to, a monitor, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 908 can include, but is not limited to, disk and optical disk. Communication unit 909 allows electronic device 900 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and can include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and / or chipsets, such as Bluetooth™ devices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0096] The computing unit 901 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs the various methods and processes described above, such as the control method for excavating machinery. For example, in some embodiments, the control method for excavating machinery may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 900 via ROM 902 and / or communication unit 909. When the computer program is loaded into RAM 903 and executed by the computing unit 901, one or more steps of the control method for excavating machinery described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the control method for excavating machinery by any other suitable means (e.g., by means of firmware).

[0097] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0098] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0099] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0100] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0101] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0102] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0103] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0104] While embodiments or examples of this disclosure have been described with reference to the accompanying drawings, it should be understood that the methods, systems, and devices described above are merely exemplary embodiments or examples, and the scope of the invention is not limited by these embodiments or examples, but only by the granted claims and their equivalents. Various elements in the embodiments or examples may be omitted or replaced by their equivalents. Furthermore, the steps may be performed in a different order than that described in this disclosure. Further, various elements in the embodiments or examples may be combined in various ways. Importantly, as the technology evolves, many elements described herein can be replaced by equivalents that appear after this disclosure.

Claims

1. A control method of an excavating machine, wherein, The excavating machine comprises a three-dimensional driving mechanism and a bucket arranged at a free end of the three-dimensional driving mechanism, and the control method comprises: determining a reference point and a reference speed of the bucket on a predetermined planned movement path of the bucket according to a current position and speed of the bucket, so that a subsequent movement of the bucket is towards the reference point; determining a first target driving speed of the three-dimensional driving mechanism for driving the bucket according to at least the reference speed of the bucket; and controlling the three-dimensional driving mechanism to operate at the first target driving speed, wherein the determining of the reference point and the reference speed of the bucket on the predetermined planned movement path of the bucket according to the current position and speed of the bucket comprises: determining a movement delay duration of the bucket; determining a delayed position and a delayed speed of the bucket after experiencing the movement delay duration according to the current position and speed of the bucket and the movement delay duration; determining the reference point according to the delayed position and the delayed speed of the bucket after experiencing the movement delay duration; and determining the reference speed of the bucket according to the position of the reference point.

2. The control method according to claim 1, wherein The determining of the reference point according to the delayed position and the delayed speed of the bucket after experiencing the movement delay duration comprises: determining an associated point corresponding to the delayed position on the planned movement path; and determining the reference point of the bucket on the planned movement path according to the associated point and the delayed speed.

3. The control method according to claim 2, wherein The associated point comprises a point on the planned movement path closest to the delayed position.

4. The control method according to claim 1, wherein The determining of the reference speed of the bucket according to the position of the reference point further comprises: obtaining a movement state of the bucket at the current time, wherein the movement state comprises acceleration movement, constant speed movement and deceleration movement; and determining the reference speed of the bucket according to at least the movement state.

5. The control method according to any one of claims 1 to 4, wherein The determining of the first target driving speed of the three-dimensional driving mechanism for driving the bucket according to at least the reference speed of the bucket comprises: obtaining a second target driving speed of the three-dimensional driving mechanism for driving the bucket determined at a previous time of the current time; and determining the first target driving speed of the three-dimensional driving mechanism for driving the bucket according to the reference speed of the bucket and the second target driving speed.

6. The control method according to claim 5, wherein The determining of the first target driving speed of the three-dimensional driving mechanism for driving the bucket according to the reference speed of the bucket and the second target driving speed comprises: determining the first target driving speed so as to minimize an optimization parameter, wherein the optimization parameter comprises a first sub-parameter and a second sub-parameter, the first sub-parameter being determined according to a difference between a reference speed of the bucket and a target speed of the bucket, the second sub-parameter being determined according to a difference between the first target driving speed and the second target driving speed, wherein the target speed of the bucket is obtained by matrix transforming the first target driving speed, wherein the matrix transforming converts driving speeds of the three-dimensional driving mechanism for driving the bucket into a movement speed of the bucket.

7. The control method of claim 6, wherein, the optimization parameter further comprises a first weight and a second weight, wherein the first weight is used to determine a proportion of the first sub-parameter with respect to the optimization parameter, and the second weight is used to determine a proportion of the second sub-parameter with respect to the optimization parameter.

8. The control method according to claim 6, wherein the three-dimensional driving mechanism comprises a first mechanism for driving the bucket to move in a first direction, a second mechanism for driving the bucket to move in a second direction, and a third mechanism for driving the bucket to move in a third direction, the first direction, the second direction and the third direction forming a complete spatial coordinate system, wherein the determining the first target driving speed of the three-dimensional driving mechanism for driving the bucket according to at least the reference speed of the bucket comprises: respectively determining a first mechanism driving speed of the first mechanism for driving the bucket, a second mechanism driving speed of the second mechanism for driving the bucket, and a third mechanism driving speed of the third mechanism for driving the bucket.

9. The control method according to claim 8, wherein the determining the first target driving speed so as to minimize the optimization parameter further comprises: obtaining a predetermined constraint condition about the first mechanism driving speed, the second mechanism driving speed and / or the third mechanism driving speed; and determining the first target driving speed within a value range of the constraint condition so as to minimize the optimization parameter.

10. The control method according to any one of claims 1 to 4, wherein the controlling the three-dimensional driving mechanism to operate according to the first target driving speed comprises: querying a pre-set instruction table according to the first target driving speed to obtain control instruction information corresponding to the first target driving speed; and sending the control instruction to a controller for controlling the three-dimensional driving mechanism to operate according to the first target driving speed.

11. A control device of an excavating machine, wherein, the excavating machine comprises a three-dimensional driving mechanism and a bucket arranged at a free end of the three-dimensional driving mechanism, and the control device comprises: a first determining unit configured to determine a reference point and a reference speed of the bucket so that a subsequent movement of the bucket is towards the reference point, according to a current position and speed of the bucket and on a predetermined planned movement path of the bucket; a second determining unit configured to determine a first target driving speed of the three-dimensional driving mechanism for driving the bucket according to at least the reference speed of the bucket; and a control unit configured to control the three-dimensional driving mechanism to operate according to the first target driving speed, The determining the reference point and the reference speed of the bucket according to the current position and speed of the bucket on the predetermined planned movement path of the bucket comprises: determining a movement delay duration of the bucket; determining a delayed position and a delayed speed of the bucket after experiencing the movement delay duration according to the current position and speed of the bucket and the movement delay duration; determining the reference point according to the delayed position and the delayed speed of the bucket after experiencing the movement delay duration; and determining the reference speed of the bucket according to the position of the reference point.

12. An excavating machine comprising: a body; a three-dimensional driving mechanism comprising: a slewing base arranged below the body for driving the body to rotate in a first direction; a rotating arm having one end pivotally connected to the body and configured to rotate in a second direction; and a sliding arm movably arranged on the rotating arm and configured to move in a third direction, wherein the first direction, the second direction and the third direction form a complete spatial coordinate system; a bucket arranged at an end of the sliding arm away from the body; and the control device according to claim 11.

13. An electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-10.

14. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method according to any one of claims 1-10.

15. A computer program product comprising a computer program, wherein, The computer program, when executed by a processor, implements the method of any one of claims 1-10. The computer program, when executed by a processor, implements the method of any one of claims 1-10.

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