Excavator working device trajectory parameter solution and control method, device and medium

Abstract

The present invention discloses a method, device, and medium for solving and controlling the trajectory parameters of an excavator working device. The method obtains the first hinge point of the current excavator and uses the first hinge point as the coordinate origin to construct a current plane parameter solving coordinate system; obtains the body tilt angle and working surface slope corresponding to the current excavator, adjusts the current plane parameter solving coordinate system, and obtains the current standard plane parameter solving coordinate system; obtains the initial excavator joint description angle, and calculates the initial state posture trajectory parameters in the current standard plane parameter solving coordinate system; obtains the current excavator joint description angle and the current excavator's working mode to calculate the target state posture trajectory parameters corresponding to the current excavator, thereby controlling the excavator working device. The method solves the problems of complex and large computational complexity in solving the excavator trajectory parameters, reduces the complexity of the trajectory parameter solving calculation, and better realizes the control of the excavator.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator control, and in particular to a method, device and medium for solving and controlling trajectory parameters of an excavator working device. Background Art

[0002] Excavators are essential pieces of engineering machinery, widely used in infrastructure construction, mining, and other fields, playing a vital role. When leveling the bucket tip or bottom, the excavator requires determining the trajectory parameters of the working device's target position. This allows the working device to be controlled to ensure that the bucket tip or bottom closely adheres to the working surface.

[0003] In the process of realizing the present invention, the inventors found that the existing technology has the following defects: At present, for the solution calculation of conventional methods, the calculation is relatively complex and the amount of calculation is large, and the computing power and performance requirements of the controller are high, which is not conducive to improving efficiency. Summary of the Invention

[0004] The present invention provides a method, device and medium for solving and controlling trajectory parameters of an excavator working device, so as to simplify the complexity of trajectory parameter solving calculation and better realize the control of the excavator.

[0005] According to one aspect of the present invention, a method for solving trajectory parameters of an excavator working device is provided, which includes:

[0006] Obtaining a first hinge point of the current excavator, and using the first hinge point as a coordinate origin to construct a current plane parameter solution coordinate system;

[0007] Wherein, the first hinge point is the hinge point between the boom and the frame of the current excavator, and the X-axis of the current plane parameter solution coordinate system is parallel to the current working surface;

[0008] Obtaining the body tilt angle and working surface slope corresponding to the current excavator, adjusting the current plane parameter solution coordinate system, and obtaining the current standard plane parameter solution coordinate system;

[0009] Obtain the initial excavator joint description angle and calculate the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system;

[0010] The initial state posture trajectory parameters include: the initial projection distance of the line connecting the bucket arm rotation pin and the bucket working point relative to the vertical coordinate, and the initial projection distance of the boom on the vertical coordinate;

[0011] Obtaining the current excavator joint description angle and the current excavator operation mode, and calculating the target state posture trajectory parameters corresponding to the current excavator based on the initial state posture trajectory parameters, so as to control the excavator working device according to the target state posture trajectory parameters;

[0012] Among them, the target state posture trajectory parameters include: the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate, the change in the projection distance of the boom on the vertical coordinate, the difference between the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, and the horizontal distance of the working point.

[0013] According to another aspect of the present invention, a method for controlling a trajectory of an excavator working device is provided, comprising:

[0014] According to the horizontal distance of the working point, the current of the boom action proportional valve, the reference current of the boom action proportional valve, and the reference current of the bucket action proportional valve are calculated;

[0015] Obtaining the difference between the projected distance change of the line connecting the bucket arm pivot pin and the bucket operating point relative to the ordinate and the projected distance change of the boom on the ordinate, performing current adjustment processing on the boom action proportional valve reference current to obtain the boom action proportional valve adjustment current;

[0016] Obtaining the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to maintain parallelism with the working surface and the actual rotation angle of the bucket relative to the initial state, and performing current adjustment processing on the reference current of the bucket action proportional valve to obtain the bucket action proportional valve adjustment current;

[0017] The trajectory of the excavator's working device is controlled according to the current of the boom action proportional valve, the boom action proportional valve adjustment current and the bucket action proportional valve adjustment current.

[0018] According to another aspect of the present invention, a device for solving trajectory parameters of an excavator working device is provided, comprising:

[0019] A current plane parameter solution coordinate system construction module is used to obtain a first hinge point of the current excavator and use the first hinge point as a coordinate origin to construct a current plane parameter solution coordinate system;

[0020] Wherein, the first hinge point is the hinge point between the boom and the frame of the current excavator, and the X-axis of the current plane parameter solution coordinate system is parallel to the current working surface;

[0021] A current standard plane parameter solution coordinate system determination module is used to obtain the body tilt angle and working surface slope corresponding to the current excavator, adjust the current plane parameter solution coordinate system, and obtain the current standard plane parameter solution coordinate system;

[0022] The initial state posture trajectory parameter calculation module is used to obtain the initial excavator joint description angle and calculate the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system;

[0023] The initial state posture trajectory parameters include: the initial projection distance of the line connecting the bucket arm rotation pin and the bucket working point relative to the vertical coordinate, and the initial projection distance of the boom on the vertical coordinate;

[0024] A target state posture trajectory parameter calculation module is used to obtain the current excavator joint description angle and the current excavator operation mode, and calculate the target state posture trajectory parameters corresponding to the current excavator based on the initial state posture trajectory parameters, so as to control the excavator working device according to the target state posture trajectory parameters;

[0025] Among them, the target state posture trajectory parameters include: the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate, the change in the projection distance of the boom on the vertical coordinate, the difference between the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, and the horizontal distance of the working point.

[0026] According to another aspect of the present invention, there is provided a trajectory control device for an excavator working device, comprising:

[0027] The current calculation module is used to calculate the current of the boom action proportional valve, the reference current of the arm action proportional valve, and the reference current of the bucket action proportional valve according to the horizontal distance of the working point;

[0028] a boom action proportional valve adjustment current determination module, configured to obtain a difference between a change in the projected distance of a line connecting the boom pivot pin and the bucket operating point relative to the ordinate and a change in the projected distance of the boom on the ordinate, and perform current adjustment processing on the boom action proportional valve reference current to obtain the boom action proportional valve adjustment current;

[0029] a bucket action proportional valve adjustment current determination module, configured to obtain a difference between an angle required for the bucket bottom to remain parallel to the work surface relative to an initial state and an actual rotation angle of the bucket relative to the initial state, and to perform current adjustment processing on the bucket action proportional valve reference current to obtain a bucket action proportional valve adjustment current;

[0030] The trajectory control module is used to control the trajectory of the excavator working device according to the current of the boom action proportional valve, the arm action proportional valve adjustment current and the bucket action proportional valve adjustment current.

[0031] According to another aspect of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for solving the trajectory parameters of the excavator working device described in any embodiment of the present invention is implemented, or the method for controlling the trajectory of the excavator working device described in any embodiment of the present invention is implemented.

[0032] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions, and the computer instructions are used to enable a processor to implement the method for solving the trajectory parameters of the excavator working device described in any embodiment of the present invention, or to implement the method for controlling the trajectory of the excavator working device described in any embodiment of the present invention when executed.

[0033] The technical solution of the embodiment of the present invention obtains the first hinge point of the current excavator and uses the first hinge point as the coordinate origin to construct the current plane parameter solution coordinate system; obtains the body tilt angle and working surface slope corresponding to the current excavator, adjusts the current plane parameter solution coordinate system, and obtains the current standard plane parameter solution coordinate system; obtains the initial excavator joint description angle, and calculates the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system; obtains the current excavator joint description angle and the current excavator's working mode, and calculates the target state posture trajectory parameters corresponding to the current excavator based on the initial state posture trajectory parameters, so as to realize control of the excavator working device according to the target state posture trajectory parameters. This solves the problem of complex and large computational complexity in solving the excavator trajectory parameters, reduces the complexity of the trajectory parameter solution calculation, and better realizes the control of the excavator.

[0034] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1aThis is a flow chart of a method for solving trajectory parameters of an excavator working device provided in accordance with the first embodiment of the present invention;

[0037] Figure 1b 2 is a schematic diagram of the structure of the coordinate system for solving the current plane parameters of the current excavator in the method provided in the first embodiment of the present invention;

[0038] Figure 1c 2 is a schematic structural diagram of a coordinate system for solving the current standard plane parameters of a current excavator in the method provided in the first embodiment of the present invention;

[0039] Figure 2 This is a flow chart of a method for controlling the trajectory of an excavator working device according to a second embodiment of the present invention;

[0040] Figure 3 2 is a schematic structural diagram of a device for solving trajectory parameters of an excavator working device according to a third embodiment of the present invention;

[0041] Figure 4 2 is a schematic structural diagram of a trajectory control device for an excavator working device according to a fourth embodiment of the present invention;

[0042] Figure 5 It is a structural diagram of an electronic device provided according to the fifth embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0044] It should be noted that the terms "target", "current", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0045] Example 1

[0046] Figure 1a A flowchart of a method for solving the trajectory parameters of an excavator working device is provided for the first embodiment of the present invention. This embodiment is applicable to situations where the trajectory parameters of an excavator working device are solved when the excavator is performing bucket tip or bucket bottom operations. The method can be executed by a device for solving the trajectory parameters of an excavator working device, and the device for solving the trajectory parameters of an excavator working device can be implemented in the form of hardware and / or software.

[0047] Correspondingly, such as Figure 1a As shown, the method includes:

[0048] S110 , obtaining a first hinge point of the current excavator, and using the first hinge point as a coordinate origin to construct a current plane parameter solution coordinate system.

[0049] The first hinge point is the hinge point between the boom and the frame of the current excavator, and the X-axis of the current plane parameter solution coordinate system is parallel to the current working surface.

[0050] In this embodiment, Figure 1b The schematic diagram of the structure for solving the coordinate system of the current plane parameters of the current excavator. Figure 1b In the figure, the hinge point between the boom and the frame of the current excavator constitutes the first hinge point, that is, point C in the figure, that is, point C is used as the coordinate origin.

[0051] Furthermore, the X-axis of the current plane parameter solution coordinate system is constructed. Specifically, the X-axis is parallel to the current working surface, and the Y-axis is perpendicular to the current working surface.

[0052] exist Figure 1b In the current excavator, the boom, arm, and bucket are connected. The hinge point between the arm and boom is point F. The hinge point between the arm and bucket is point Q.

[0053] S120 , obtaining the vehicle body tilt angle and working surface slope corresponding to the current excavator, adjusting the current plane parameter solution coordinate system, and obtaining the current standard plane parameter solution coordinate system.

[0054] The body tilt angle may be the tilt angle of the excavator body, which may include the body pitch angle and the body pitch angle. The working surface slope may describe the slope of the working surface where the excavator is currently located.

[0055] Optionally, the method of obtaining the vehicle body tilt angle and working surface slope corresponding to the current excavator, adjusting the current plane parameter solution coordinate system, and obtaining the current standard plane parameter solution coordinate system includes: if the vehicle body tilt angle is the vehicle body downward pitch angle, calculating the first adjustment boom angle a1 according to the formula a1=a-σ1, and adjusting the current plane parameter solution coordinate system according to the first adjustment boom angle to obtain the current standard plane parameter solution coordinate system; wherein σ1 represents the vehicle body downward pitch angle; a represents the boom angle in the current plane parameter solution coordinate system; if the vehicle body tilt angle is the vehicle body upward pitch angle, calculating the first adjustment boom angle a1 according to the formula a2= a+σ2 is calculated to obtain the second adjustment boom angle a2, and the current plane parameter solution coordinate system is adjusted according to the second adjustment boom angle to obtain the current standard plane parameter solution coordinate system; wherein, σ2 represents the upward angle of the vehicle body; if the working surface slope is the working surface slope downward angle η, then the coordinate axis of the current plane parameter solution coordinate system is adjusted according to the clockwise rotation angle η to obtain the current standard plane parameter solution coordinate system; if the working surface slope is the working surface slope upward angle η, then the coordinate axis of the current plane parameter solution coordinate system is adjusted according to the counterclockwise rotation angle η to obtain the current standard plane parameter solution coordinate system.

[0056] For example, assuming the vehicle body tilt angle is the vehicle body pitch angle, and the vehicle body pitch angle is 45 degrees, that is, σ1 = 45 degrees, and the boom angle in the current plane parameter solution coordinate system is 90 degrees, then according to the formula a1 = a - σ1 = 45 degrees, the first adjustment boom angle is calculated to be 45 degrees. Furthermore, the current plane parameter solution coordinate system can be adjusted based on the first adjustment boom angle of 45 degrees to obtain the current standard plane parameter solution coordinate system.

[0057] Similarly, assuming the vehicle body tilt angle is the vehicle body pitch angle, and the vehicle body pitch angle is 45 degrees, that is, σ2 = 45 degrees, and the boom angle in the current plane parameter solution coordinate system is 90 degrees, then according to the formula a2 = a + σ2 = 135 degrees, the second adjusted boom angle is calculated to be 135 degrees. Furthermore, the current plane parameter solution coordinate system can be adjusted based on the second adjusted boom angle of 135 degrees to obtain the current standard plane parameter solution coordinate system.

[0058] Correspondingly, if the working surface slope is the working surface slope downward angle η, assuming η = 50 degrees, the coordinate axis of the current plane parameter solution coordinate system can be adjusted by rotating 50 degrees clockwise to obtain the current standard plane parameter solution coordinate system.

[0059] In addition, if the working surface slope is the working surface slope upward angle η, assuming η = 40 degrees, then the coordinate axis of the current plane parameter solution coordinate system is adjusted by rotating 40 degrees counterclockwise to obtain the current standard plane parameter solution coordinate system.

[0060] In this embodiment, Figure 1c Schematic diagram of the structure for solving the coordinate system for the current standard plane parameters of the current excavator.

[0061] S130 , obtaining an initial excavator joint description angle, and calculating initial state posture trajectory parameters in the current standard plane parameter solution coordinate system.

[0062] The initial state posture trajectory parameters may include an initial projection distance of a line connecting the boom rotation pin and the bucket operating point relative to the ordinate, and an initial projection distance of the boom on the ordinate.

[0063] The initial state posture trajectory parameters may be trajectory parameters used to describe the initial state posture of the current excavator.

[0064] Specifically, the initial excavator joint description angle includes: in the current standard plane parameter solution coordinate system, the angle between the boom and the X-axis, the angle between the boom and the boom, the angle between the line between the hinge point of the boom and the boom and the bucket working point and the hinge point between the boom and the boom and the vertical line of the working surface, the angle between the line between the hinge point of the boom and the boom and the bucket working point and the hinge point between the boom and the boom and the hinge point between the boom and the bucket, the line between the hinge point of the boom and the boom and the bucket working point, and the line between the hinge point of the boom and the boom and the coordinate origin.

[0065] exist Figure 1c In the equation, α represents the angle between the boom and the X axis; β represents the angle between the stick and the boom; θ1 (also known as Figure 1c Where θ) represents the angle between the line between the hinge point of the bucket arm and boom and the bucket working point and the line between the hinge point of the bucket arm and boom and the vertical line of the working surface; μ represents the angle between the line between the hinge point of the bucket arm and boom and the bucket working point and the line between the hinge point of the bucket arm and boom and the hinge point between the bucket arm and bucket; l FV Indicates the line connecting the hinge point of the bucket arm and boom and the bucket operating point; FC Represents the line between the hinge point of the bucket rod and the boom and the coordinate origin; φ1 (also known as Figure 1c The φ) in the formula represents the angle between the hinge point between the boom and the vertical line of the working surface and the hinge point between the bucket arm and boom and the hinge point between the bucket arm and bucket.

[0066] Specifically, the initial excavator joint description angle is obtained, and the initial state posture trajectory parameters are calculated in the current standard plane parameter solution coordinate system, including: according to the formula In the current standard plane parameter solution coordinate system, the initial projection distance h0 of the line connecting the bucket arm rotation pin and the bucket working point relative to the ordinate, as well as the initial projection distance h1 of the boom on the ordinate are calculated.

[0067] In this embodiment, the formula To calculate h0 and h1.

[0068] S140. Obtain the current excavator joint description angle and the current excavator operation mode, and calculate the target state posture trajectory parameters corresponding to the current excavator based on the initial state posture trajectory parameters, so as to control the excavator working device according to the target state posture trajectory parameters.

[0069] Among them, the target state posture trajectory parameters include: the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate, the change in the projection distance of the boom on the vertical coordinate, the difference between the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, and the horizontal distance of the working point.

[0070] In this embodiment, the current operation mode of the excavator may include bucket tip leveling operation or bucket bottom leveling operation. For different operation modes, different target state posture trajectory parameters are calculated.

[0071] Specifically, if the current operation mode of the excavator is bucket tip leveling operation, the current excavator joint description angle is obtained, and the target state posture trajectory parameters corresponding to the current excavator are calculated based on the initial state posture trajectory parameters.

[0072] Specifically, the current excavator joint description angle is obtained; wherein the current excavator joint description angle includes: the change in the angle between the boom and the X axis is Δα; the change in the angle between the arm and the boom is Δβ; according to the initial state posture trajectory parameters, through the formula To calculate the projected distance change Δh'0 of the line connecting the bucket pivot pin and the bucket operating point corresponding to the current excavator relative to the ordinate, the projected distance change Δh1' of the boom on the ordinate, the difference H between the projected distance change of the line connecting the bucket pivot pin and the bucket operating point relative to the ordinate and the projected distance change of the boom on the ordinate, and the horizontal distance l of the operating point Vx ; Among them, φ xIndicates the angle between the hinge point between the boom and the vertical line of the working surface and the hinge point between the bucket arm and boom and the hinge point between the bucket arm and bucket when working on the bucket tip or bucket bottom; θ x It indicates the angle between the line between the hinge point of the bucket arm and boom and the bucket working point and the vertical line between the hinge point of the bucket arm and boom and the working surface when working on the bucket tip or bucket bottom; h 0x It indicates the projection distance of the line connecting the bucket arm pivot pin and the bucket working point relative to the vertical coordinate when the bucket tip or bucket bottom is working on flat ground; h 1x It indicates the projection distance of the boom on the vertical coordinate when the bucket tip is operating on flat ground.

[0073] In this embodiment, the initial state posture trajectory parameters are h0 and h1, and the formula To perform Δh'0, Δh1', H and l Vx Calculation.

[0074] Alternatively, if the excavator's current operating mode is bucket-bottom leveling, the current excavator's joint description angle is obtained and, based on the initial state trajectory parameters, the corresponding target state trajectory parameters are calculated. Specifically, the target state trajectory parameters include the angle required to rotate the bucket bottom relative to the initial state to maintain parallelism with the work surface.

[0075] Optionally, the method of obtaining the joint description angle of the current excavator and the operating mode of the current excavator, and calculating the target state posture trajectory parameters corresponding to the current excavator according to the initial state posture trajectory parameters, includes: if the operating mode of the current excavator is bucket bottom leveling operation, obtaining the joint description angle of the current excavator; according to the initial state posture trajectory parameters, calculating the target state posture trajectory parameters according to the formula To calculate the projected distance change Δh'0 of the line connecting the bucket pivot pin and the bucket operating point corresponding to the current excavator relative to the ordinate, the projected distance change Δh1" of the boom on the ordinate, the difference H between the projected distance change of the line connecting the bucket pivot pin and the bucket operating point relative to the ordinate and the projected distance change of the boom on the ordinate, and the horizontal distance l of the operating point. Vx , and the angle ε that the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface x ; Among them, h1' x It represents the projection distance of the boom on the vertical coordinate when the bucket bottom is operating on flat ground; ε represents the angle between the bucket and the boom.

[0076] In this embodiment, the initial state posture trajectory parameters are h0 and h1, and the formula To perform Δh'0, Δh1", H, l Vx and εx Calculation.

[0077] In this embodiment, regardless of bucket tip leveling operation or bucket bottom leveling operation, the corresponding target state posture trajectory parameters can be calculated, and then the excavator working device can be controlled according to the target state posture trajectory parameters.

[0078] The technical solution of the embodiment of the present invention obtains the first hinge point of the current excavator and uses the first hinge point as the coordinate origin to construct the current plane parameter solution coordinate system; obtains the body tilt angle and working surface slope corresponding to the current excavator, adjusts the current plane parameter solution coordinate system, and obtains the current standard plane parameter solution coordinate system; obtains the initial excavator joint description angle, and calculates the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system; obtains the current excavator joint description angle and the current excavator's working mode, and calculates the target state posture trajectory parameters corresponding to the current excavator based on the initial state posture trajectory parameters, so as to realize control of the excavator working device according to the target state posture trajectory parameters. This solves the problem of complex and large computational complexity in solving the excavator trajectory parameters, reduces the complexity of the trajectory parameter solution calculation, and better realizes the control of the excavator.

[0079] Example 2

[0080] Figure 2 A flowchart of a method for controlling the trajectory of an excavator working device is provided for the second embodiment of the present invention. This embodiment is applicable to the situation where the trajectory of an excavator working device is controlled. The method can be executed by a trajectory control device for an excavator working device, and the trajectory control device for an excavator working device can be implemented in the form of hardware and / or software.

[0081] Correspondingly, such as Figure 2 As shown, the method includes:

[0082] S210 , calculating the arm action proportional valve current, the boom action proportional valve reference current, and the bucket action proportional valve reference current according to the horizontal distance of the working point.

[0083] S220. Obtain the difference between the change in the projection distance of the line connecting the boom pivot pin and the bucket operating point relative to the ordinate and the change in the projection distance of the boom on the ordinate, perform current adjustment processing on the reference current of the boom action proportional valve, and obtain the boom action proportional valve adjustment current.

[0084] S230. Obtain the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface and the actual rotation angle of the bucket relative to the initial state, and perform current adjustment processing on the reference current of the bucket action proportional valve to obtain the bucket action proportional valve adjustment current.

[0085] S240 , controlling the trajectory of the excavator working device according to the arm action proportional valve current, the boom action proportional valve adjustment current, and the bucket action proportional valve adjustment current.

[0086] In this embodiment, the controller of the current excavator stores a boom action proportional valve current curve, a boom action proportional valve reference current curve, and a bucket action proportional valve reference current curve, which are set with the horizontal distance of the working point as the horizontal coordinate.

[0087] In this embodiment, a bucket tip operation mode or a bucket bottom operation mode can be included. In the bucket tip operation mode, the bucket remains stationary and the bucket motion proportional valve current adjustment is not performed. In the bucket bottom operation mode, the bucket motion proportional valve current adjustment is required.

[0088] In detail, when adjusting the reference current of the boom action proportional valve, if the change in the projection distance of the line connecting the boom rotation pin and the bucket operating point relative to the vertical coordinate is greater than the change in the projection distance of the boom on the vertical coordinate, and the difference in the change relative to a previous moment in history shows an increasing trend, then the reference current of the boom action proportional valve is increased to obtain the boom action proportional valve adjustment current.

[0089] In addition, if the change in the projection distance of the line connecting the boom swing pin and the bucket operating point relative to the vertical coordinate is less than the change in the projection distance of the boom on the vertical coordinate, and the difference in the change relative to a previous moment in history tends to increase, then the reference current of the boom action proportional valve is reduced to obtain the adjustment current of the boom action proportional valve.

[0090] Furthermore, when adjusting the reference current of the bucket action proportional valve, if the angle required to rotate the bucket bottom relative to the initial state to keep it parallel to the working surface is greater than the actual rotation angle of the bucket relative to the initial state, and the angle difference relative to a previous moment in history tends to increase, then the reference current of the bucket action proportional valve is increased to obtain the bucket action proportional valve adjustment current.

[0091] Correspondingly, if the angle required to rotate the bucket bottom relative to the initial state to keep it parallel to the working surface is smaller than the actual rotation angle of the bucket relative to the initial state, and the angle difference relative to a previous moment in history tends to increase, then the reference current of the bucket action proportional valve is reduced to obtain the bucket action proportional valve adjustment current.

[0092] The technical solution of the embodiment of the present invention calculates the boom action proportional valve current, the arm action proportional valve reference current, and the bucket action proportional valve reference current according to the horizontal distance of the working point; obtains the difference between the change in the projection distance of the boom rotation pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, performs current adjustment processing on the boom action proportional valve reference current, and obtains the boom action proportional valve adjustment current; obtains the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface and the actual rotation angle of the bucket relative to the initial state, performs current adjustment processing on the bucket action proportional valve reference current, and obtains the bucket action proportional valve adjustment current; and controls the trajectory of the excavator working device according to the boom action proportional valve current, the arm action proportional valve adjustment current, and the bucket action proportional valve adjustment current. Better trajectory control of the excavator working device is achieved based on the calculated horizontal distance of the working point, the difference between the change in the projection distance of the boom rotation pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, and the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface and the actual rotation angle of the bucket relative to the initial state.

[0093] Example 3

[0094] Figure 3 This is a schematic diagram of the structure of an excavator working device trajectory parameter solving device provided in the third embodiment of the present invention. The excavator working device trajectory parameter solving device provided in this embodiment can be implemented by software and / or hardware, and can be configured in a terminal device or server to implement an excavator working device trajectory parameter solving method in the embodiment of the present invention. Figure 3 As shown, the device includes: a current plane parameter solution coordinate system construction module 310, a current standard plane parameter solution coordinate system determination module 320, an initial state posture trajectory parameter calculation module 330 and a target state posture trajectory parameter calculation module 340.

[0095] The current plane parameter solution coordinate system construction module 310 is used to obtain the first hinge point of the current excavator and use the first hinge point as the coordinate origin to construct the current plane parameter solution coordinate system;

[0096] Wherein, the first hinge point is the hinge point between the boom and the frame of the current excavator, and the X-axis of the current plane parameter solution coordinate system is parallel to the current working surface;

[0097] The current standard plane parameter solution coordinate system determination module 320 is used to obtain the body tilt angle and working surface slope corresponding to the current excavator, and adjust the current plane parameter solution coordinate system to obtain the current standard plane parameter solution coordinate system;

[0098] The initial state posture trajectory parameter calculation module 330 is used to obtain the initial excavator joint description angle and calculate the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system;

[0099] The initial state posture trajectory parameters include: the initial projection distance of the line connecting the bucket arm rotation pin and the bucket working point relative to the vertical coordinate, and the initial projection distance of the boom on the vertical coordinate;

[0100] The target state posture trajectory parameter calculation module 340 is used to obtain the current excavator joint description angle and the current excavator operation mode, and calculate the target state posture trajectory parameters corresponding to the current excavator based on the initial state posture trajectory parameters, so as to control the excavator working device according to the target state posture trajectory parameters;

[0101] Among them, the target state posture trajectory parameters include: the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate, the change in the projection distance of the boom on the vertical coordinate, the difference between the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, and the horizontal distance of the working point.

[0102] The technical solution of the embodiment of the present invention obtains the first hinge point of the current excavator and uses the first hinge point as the coordinate origin to construct the current plane parameter solution coordinate system; obtains the body tilt angle and working surface slope corresponding to the current excavator, adjusts the current plane parameter solution coordinate system, and obtains the current standard plane parameter solution coordinate system; obtains the initial excavator joint description angle, and calculates the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system; obtains the current excavator joint description angle and the current excavator's working mode, and calculates the target state posture trajectory parameters corresponding to the current excavator based on the initial state posture trajectory parameters, so as to realize control of the excavator working device according to the target state posture trajectory parameters. This solves the problem of complex and large computational complexity in solving the excavator trajectory parameters, reduces the complexity of the trajectory parameter solution calculation, and better realizes the control of the excavator.

[0103] On the basis of the above embodiments, the current standard plane parameter solution coordinate system determination module 320 can be specifically used to: if the vehicle body tilt angle is the vehicle body pitch angle, then the first adjustment arm angle a1 is calculated according to the formula a1=a-σ1, and the current plane parameter solution coordinate system is adjusted according to the first adjustment arm angle to obtain the current standard plane parameter solution coordinate system; wherein σ1 represents the vehicle body pitch angle; a represents the arm angle in the current plane parameter solution coordinate system; if the vehicle body tilt angle is the vehicle body pitch angle, then the second adjustment arm angle a1 is calculated according to the formula a2=a+σ2 Adjust the boom angle a2, and adjust the current plane parameter solution coordinate system according to the second adjustment boom angle to obtain the current standard plane parameter solution coordinate system; wherein, σ2 represents the upward angle of the vehicle body; if the working surface slope is the downward angle of the working surface slope, adjust the coordinate axis of the current plane parameter solution coordinate system according to the clockwise rotation angle to obtain the current standard plane parameter solution coordinate system; if the working surface slope is the upward angle of the working surface slope, adjust the coordinate axis of the current plane parameter solution coordinate system according to the counterclockwise rotation angle to obtain the current standard plane parameter solution coordinate system.

[0104] Based on the above embodiments, the initial excavator joint description angle may include: in the current standard plane parameter solution coordinate system, the angle between the boom and the X-axis, the angle between the boom and the boom, the angle between the line between the hinge point of the boom and the boom and the bucket working point and the hinge point between the boom and the boom and the vertical line of the working surface, the angle between the line between the hinge point of the boom and the boom and the bucket working point and the hinge point between the boom and the boom and the hinge point between the boom and the bucket, the line between the hinge point of the boom and the boom and the bucket working point, and the line between the hinge point of the boom and the boom and the coordinate origin.

[0105] On the basis of the above embodiments, the initial state posture trajectory parameter calculation module 330 can be specifically used to: According to the formula In the current standard plane parameter solution coordinate system, calculate the initial projection distance h0 of the line connecting the bucket pivot pin and the bucket working point relative to the ordinate, and the initial projection distance h1 of the boom on the ordinate; where α represents the angle between the boom and the X-axis; β represents the angle between the boom and the boom; θ1 represents the angle between the line connecting the hinge point of the boom and the bucket working point and the hinge point between the boom and the boom and the vertical line of the working surface; μ represents the angle between the line connecting the hinge point of the boom and the bucket working point and the hinge point between the boom and the boom and the hinge point between the boom and the bucket; l FV Indicates the line connecting the hinge point of the bucket arm and boom and the bucket operating point; FCIt represents the line connecting the hinge point of the boom and the coordinate origin; φ1 represents the angle between the hinge point between the boom and the vertical line of the working surface and the line connecting the hinge point between the boom and the boom and the hinge point between the boom and bucket.

[0106] Based on the above embodiments, the target state posture trajectory parameter calculation module 340 can be specifically used to: if the current excavator operation mode is bucket tip leveling operation, then obtain the current excavator joint description angle; wherein the current excavator joint description angle includes: the change in the angle between the boom and the X-axis is Δα; the change in the angle between the bucket arm and the boom is Δβ; according to the initial state posture trajectory parameters, through the formula To calculate the projected distance change Δh'0 of the line connecting the bucket pivot pin and the bucket operating point corresponding to the current excavator relative to the ordinate, the projected distance change Δh1' of the boom on the ordinate, the difference H between the projected distance change of the line connecting the bucket pivot pin and the bucket operating point relative to the ordinate and the projected distance change of the boom on the ordinate, and the horizontal distance l of the operating point Vx ; Among them, φ x Indicates the angle between the hinge point between the boom and the vertical line of the working surface and the hinge point between the bucket arm and boom and the hinge point between the bucket arm and bucket when working on the bucket tip or bucket bottom; θ x It indicates the angle between the line between the hinge point of the bucket arm and boom and the bucket working point and the vertical line between the hinge point of the bucket arm and boom and the working surface when working on the bucket tip or bucket bottom; h 0x It indicates the projection distance of the line connecting the bucket arm pivot pin and the bucket working point relative to the vertical coordinate when the bucket tip or bucket bottom is working on flat ground; h 1x It indicates the projection distance of the boom on the vertical coordinate when the bucket tip is operating on flat ground.

[0107] On the basis of the above embodiments, the target state posture trajectory parameters further include: the angle that the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface.

[0108] On the basis of the above embodiments, the target state posture trajectory parameter calculation module 340 can be specifically used to: obtain the current excavator joint description angle and the current excavator operation mode, and calculate the target state posture trajectory parameter corresponding to the current excavator according to the initial state posture trajectory parameter, including: if the current excavator operation mode is bucket bottom leveling operation, obtain the current excavator joint description angle; according to the initial state posture trajectory parameter, through the formula To calculate the projected distance change Δh'0 of the line connecting the bucket pivot pin and the bucket operating point corresponding to the current excavator relative to the ordinate, the projected distance change Δh1" of the boom on the ordinate, the difference H between the projected distance change of the line connecting the bucket pivot pin and the bucket operating point relative to the ordinate and the projected distance change of the boom on the ordinate, and the horizontal distance l of the operating point. Vx , and the angle ε that the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface x ; Among them, h1' x It represents the projection distance of the boom on the vertical coordinate when the bucket bottom is operating on flat ground; ε represents the angle between the bucket and the boom.

[0109] The excavator working device trajectory parameter solving device provided in the embodiment of the present invention can execute the excavator working device trajectory parameter solving method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0110] Example 4

[0111] Figure 4 This is a schematic diagram of the structure of an excavator working device trajectory control device provided in the fourth embodiment of the present invention. The excavator working device trajectory control device provided in this embodiment can be implemented by software and / or hardware, and can be configured in a terminal device or server to implement an excavator working device trajectory control method in the embodiment of the present invention. Figure 4 As shown, the device includes: a current calculation module 410 , a boom action proportional valve adjustment current determination module 420 , a bucket action proportional valve adjustment current determination module 430 and a trajectory control module 440 .

[0112] The current calculation module 410 is used to calculate the arm action proportional valve current, the boom action proportional valve reference current, and the bucket action proportional valve reference current according to the horizontal distance of the working point;

[0113] A boom action proportional valve adjustment current determination module 420 is configured to obtain a difference between a change in the projected distance of a line connecting the boom arm pivot pin and the bucket operating point relative to the ordinate and a change in the projected distance of the boom on the ordinate, and to perform current adjustment processing on the boom action proportional valve reference current to obtain a boom action proportional valve adjustment current;

[0114] The bucket motion proportional valve adjustment current determination module 430 is configured to obtain the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to maintain parallelism with the work surface and the actual rotation angle of the bucket relative to the initial state, and to perform current adjustment processing on the bucket motion proportional valve reference current to obtain the bucket motion proportional valve adjustment current;

[0115] The trajectory control module 440 is used to control the trajectory of the excavator working device according to the dipper arm action proportional valve current, the boom action proportional valve adjustment current and the bucket action proportional valve adjustment current.

[0116] The technical solution of the embodiment of the present invention calculates the boom action proportional valve current, the arm action proportional valve reference current, and the bucket action proportional valve reference current according to the horizontal distance of the working point; obtains the difference between the change in the projection distance of the boom rotation pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, performs current adjustment processing on the boom action proportional valve reference current, and obtains the boom action proportional valve adjustment current; obtains the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface and the actual rotation angle of the bucket relative to the initial state, performs current adjustment processing on the bucket action proportional valve reference current, and obtains the bucket action proportional valve adjustment current; and controls the trajectory of the excavator working device according to the boom action proportional valve current, the arm action proportional valve adjustment current, and the bucket action proportional valve adjustment current. Better trajectory control of the excavator working device is achieved based on the calculated horizontal distance of the working point, the difference between the change in the projection distance of the boom rotation pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, and the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface and the actual rotation angle of the bucket relative to the initial state.

[0117] The excavator working device trajectory control device provided by the embodiment of the present invention can execute the excavator working device trajectory control method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0118] Example 5

[0119] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement the fifth embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, 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 processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0120] like Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0121] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0122] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for determining and controlling trajectory parameters of an excavator working device.

[0123] In some embodiments, the excavator working device trajectory parameter solution and control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the excavator working device trajectory parameter solution and control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the excavator working device trajectory parameter solution and control method in any other appropriate manner (for example, by means of firmware).

[0124] The method includes: obtaining the first hinge point of the current excavator, and using the first hinge point as the coordinate origin to construct the current plane parameter solution coordinate system; wherein, the first hinge point is the hinge point between the boom and the frame of the current excavator, and the X axis of the current plane parameter solution coordinate system is parallel to the current working surface; obtaining the body inclination angle and the working surface slope corresponding to the current excavator, adjusting the current plane parameter solution coordinate system, and obtaining the current standard plane parameter solution coordinate system; obtaining the initial excavator joint description angle, and calculating the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system; wherein, the initial state posture trajectory parameters include: the relative position of the bucket arm rotation pin and the line connecting the bucket working point The initial projection distance on the ordinate and the initial projection distance of the boom on the ordinate; obtaining the current excavator joint description angle and the current excavator operation mode, and calculating the target state posture trajectory parameters corresponding to the current excavator according to the initial state posture trajectory parameters, so as to realize the control of the excavator working device according to the target state posture trajectory parameters; wherein the target state posture trajectory parameters include: the projection distance change of the connecting line between the boom swivel pin and the bucket working point relative to the ordinate, the projection distance change of the boom on the ordinate, the difference between the projection distance change of the connecting line between the boom swivel pin and the bucket working point relative to the ordinate and the projection distance change of the boom on the ordinate, and the horizontal distance of the working point.

[0125] Alternatively, the method further includes: calculating the boom action proportional valve current, the arm action proportional valve reference current, and the bucket action proportional valve reference current based on the horizontal distance of the working point; obtaining the difference between the change in the projection distance of the boom rotation pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, performing current adjustment processing on the boom action proportional valve reference current to obtain the boom action proportional valve adjustment current; obtaining the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface and the actual rotation angle of the bucket relative to the initial state, performing current adjustment processing on the bucket action proportional valve reference current to obtain the bucket action proportional valve adjustment current; and controlling the trajectory of the excavator working device based on the boom action proportional valve current, the arm action proportional valve adjustment current, and the bucket action proportional valve adjustment current.

[0126] Various embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0127] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0128] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0129] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the 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 acoustic input, voice input, or tactile input).

[0130] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0131] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0132] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0133] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

[0134] Example 6

[0135] The sixth embodiment of the present invention also provides a computer-readable storage medium, wherein the computer-readable instructions are used to execute a method for solving and controlling the trajectory parameters of an excavator working device when executed by a computer processor, the method comprising: obtaining a first hinge point of the current excavator, and using the first hinge point as the coordinate origin to construct a current plane parameter solution coordinate system; wherein the first hinge point is the hinge point between the boom and the frame of the current excavator, and the X-axis of the current plane parameter solution coordinate system is parallel to the current working surface; obtaining the vehicle body inclination angle and the working surface slope corresponding to the current excavator, adjusting the current plane parameter solution coordinate system, and obtaining the current standard plane parameter solution coordinate system; obtaining the initial excavator joint description angle, and calculating the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system. ; Wherein, the initial state posture trajectory parameters include: the initial projection distance of the line connecting the boom swivel pin and the bucket working point relative to the ordinate, and the initial projection distance of the boom on the ordinate; obtain the current excavator joint description angle and the current excavator working mode, and calculate the target state posture trajectory parameters corresponding to the current excavator according to the initial state posture trajectory parameters, so as to realize the control of the excavator working device according to the target state posture trajectory parameters; wherein, the target state posture trajectory parameters include: the projection distance change of the line connecting the boom swivel pin and the bucket working point relative to the ordinate, the projection distance change of the boom on the ordinate, the difference between the projection distance change of the line connecting the boom swivel pin and the bucket working point relative to the ordinate and the projection distance change of the boom on the ordinate, and the horizontal distance of the working point.

[0136] Alternatively, the method further includes: calculating the boom action proportional valve current, the arm action proportional valve reference current, and the bucket action proportional valve reference current based on the horizontal distance of the working point; obtaining the difference between the change in the projection distance of the boom rotation pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, performing current adjustment processing on the boom action proportional valve reference current to obtain the boom action proportional valve adjustment current; obtaining the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface and the actual rotation angle of the bucket relative to the initial state, performing current adjustment processing on the bucket action proportional valve reference current to obtain the bucket action proportional valve adjustment current; and controlling the trajectory of the excavator working device based on the boom action proportional valve current, the arm action proportional valve adjustment current, and the bucket action proportional valve adjustment current.

[0137] Of course, the embodiment of the present invention provides a computer-readable storage medium, and its computer-executable instructions are not limited to the method operations described above, but can also execute related operations in the excavator working device trajectory parameter solution and control method provided by any embodiment of the present invention.

[0138] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0139] It is worth noting that in the embodiment of the above-mentioned excavator working device trajectory parameter solution and control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the various functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0140] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for solving trajectory parameters of an excavator working device, characterized in that: include: Obtaining a first hinge point of the current excavator, and using the first hinge point as a coordinate origin to construct a current plane parameter solution coordinate system; Wherein, the first hinge point is the hinge point between the boom and the frame of the current excavator, and the X-axis of the current plane parameter solution coordinate system is parallel to the current working surface; Obtaining the body tilt angle and working surface slope corresponding to the current excavator, adjusting the current plane parameter solution coordinate system, and obtaining the current standard plane parameter solution coordinate system; Obtain the initial excavator joint description angle and calculate the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system; The initial state posture trajectory parameters include: the initial projection distance of the line connecting the bucket arm rotation pin and the bucket working point relative to the vertical coordinate, and the initial projection distance of the boom on the vertical coordinate; Obtaining the current excavator joint description angle and the current excavator operation mode, and calculating the target state posture trajectory parameters corresponding to the current excavator based on the initial state posture trajectory parameters, so as to control the excavator working device according to the target state posture trajectory parameters; Among them, the target state posture trajectory parameters include: the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate, the change in the projection distance of the boom on the vertical coordinate, the difference between the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, and the horizontal distance of the working point.

2. The method according to claim 1, characterized in that The step of obtaining the vehicle body tilt angle and working surface slope corresponding to the current excavator and adjusting the current plane parameter solution coordinate system to obtain the current standard plane parameter solution coordinate system includes: If the vehicle body tilt angle is the vehicle body pitch angle, the first adjustment arm angle a1 is calculated according to the formula a1=a-σ1, and the current plane parameter solution coordinate system is adjusted according to the first adjustment arm angle to obtain the current standard plane parameter solution coordinate system; Among them, σ1 represents the vehicle body pitch angle; a represents the boom angle in the current plane parameter solution coordinate system; If the vehicle body tilt angle is a vehicle body tilt angle, a second adjustment arm angle a2 is calculated according to the formula a2=a+σ2, and the current plane parameter solution coordinate system is adjusted according to the second adjustment arm angle to obtain the current standard plane parameter solution coordinate system; Among them, σ2 represents the tilt angle of the vehicle body; If the working surface slope is the working surface slope downward angle η, the coordinate axis of the current plane parameter solution coordinate system is adjusted according to the clockwise rotation angle η to obtain the current standard plane parameter solution coordinate system; If the working surface slope is the working surface slope upward angle η, the coordinate axis of the current plane parameter solution coordinate system is adjusted according to the counterclockwise rotation angle η to obtain the current standard plane parameter solution coordinate system.

3. The method according to claim 2, characterized in that The initial excavator joint description angle includes: in the current standard plane parameter solution coordinate system, the angle between the boom and the X-axis, the angle between the arm and the boom, the angle between the line between the hinge point of the arm and the boom and the bucket working point and the hinge point between the arm and the boom and the vertical line of the working surface, the angle between the line between the hinge point of the arm and the boom and the bucket working point and the line between the hinge point between the arm and the boom and the hinge point between the arm and the bucket, the line between the hinge point of the arm and the boom and the bucket working point, and the line between the hinge point of the arm and the boom and the coordinate origin; The initial excavator joint description angle is obtained, and the initial state posture trajectory parameters are calculated in the current standard plane parameter solution coordinate system, including: According to the formula In the current standard plane parameter solution coordinate system, calculate the initial projection distance h0 of the line connecting the bucket arm rotation pin and the bucket working point relative to the vertical coordinate, and the initial projection distance h1 of the boom on the vertical coordinate; Wherein, α represents the angle between the boom and the X-axis; β represents the angle between the arm and boom; θ1 represents the angle between the line connecting the hinge point of the arm and boom and the bucket working point and the line connecting the hinge point between the arm and boom and the vertical line of the working surface; μ represents the angle between the line connecting the hinge point of the arm and boom and the bucket working point and the line connecting the hinge point between the arm and boom and the hinge point between the arm and bucket; l FV Indicates the line connecting the hinge point of the bucket arm and boom and the bucket operating point; FC It represents the line connecting the hinge point of the boom and the coordinate origin; φ1 represents the angle between the hinge point between the boom and the vertical line of the working surface and the line connecting the hinge point between the boom and the boom and the hinge point between the boom and bucket.

4. The method according to claim 3, characterized in that The method of obtaining the joint description angle of the current excavator and the operation mode of the current excavator and calculating the target state posture trajectory parameters corresponding to the current excavator according to the initial state posture trajectory parameters includes: If the current excavator operation mode is bucket tip leveling operation, obtain the current excavator joint description angle; Among them, the current excavator joint description angle includes: the change in the angle between the boom and the X-axis is Δα; the change in the angle between the bucket arm and the boom is Δβ; According to the initial state posture trajectory parameters, through the formula To calculate the projected distance change Δh'0 of the line connecting the bucket pivot pin and the bucket operating point corresponding to the current excavator relative to the ordinate, the projected distance change Δh'1 of the boom on the ordinate, the difference H between the projected distance change of the line connecting the bucket pivot pin and the bucket operating point relative to the ordinate and the projected distance change of the boom on the ordinate, and the horizontal distance l of the operating point Vx ; Among them, φ x Indicates the angle between the hinge point between the boom and the vertical line of the working surface and the hinge point between the bucket arm and boom and the hinge point between the bucket arm and bucket when working on the bucket tip or bucket bottom; θ x It indicates the angle between the line between the hinge point of the bucket arm and boom and the bucket working point and the vertical line between the hinge point of the bucket arm and boom and the working surface when the bucket tip or bucket bottom is working on the flat ground; h 0x It indicates the projection distance of the line connecting the bucket arm pivot pin and the bucket working point relative to the vertical coordinate when the bucket tip or bucket bottom is working on flat ground; h 1x It indicates the projection distance of the boom on the vertical coordinate when the bucket tip is operating on flat ground.

5. The method according to claim 4, characterized in that The target state posture trajectory parameters also include: the angle that the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface; The method of obtaining the joint description angle of the current excavator and the operation mode of the current excavator and calculating the target state posture trajectory parameters corresponding to the current excavator according to the initial state posture trajectory parameters includes: If the current excavator operation mode is bucket bottom leveling operation, obtain the current excavator joint description angle; According to the initial state posture trajectory parameters, through the formula To calculate the projected distance change Δh'0 of the line connecting the bucket pivot pin and the bucket operating point corresponding to the current excavator relative to the ordinate, the projected distance change Δh"1 of the boom on the ordinate, the difference H between the projected distance change of the line connecting the bucket pivot pin and the bucket operating point relative to the ordinate and the projected distance change of the boom on the ordinate, and the horizontal distance l of the operating point. Vx , and the angle ε that the bucket bottom needs to rotate relative to the initial state to keep it parallel to the working surface x ; Where h′ 1x It represents the projection distance of the boom on the vertical coordinate when the bucket bottom is operating on flat ground; ε represents the angle between the bucket and the boom.

6. A method for controlling the trajectory of an excavator working device, which adopts the method for solving the trajectory parameters of the excavator working device according to any one of claims 1 to 5, characterized in that: include: According to the horizontal distance of the working point, the current of the boom action proportional valve, the reference current of the boom action proportional valve, and the reference current of the bucket action proportional valve are calculated; Obtaining the difference between the projected distance change of the line connecting the bucket arm pivot pin and the bucket operating point relative to the ordinate and the projected distance change of the boom on the ordinate, performing current adjustment processing on the boom action proportional valve reference current to obtain the boom action proportional valve adjustment current; Obtaining the difference between the angle at which the bucket bottom needs to rotate relative to the initial state to maintain parallelism with the working surface and the actual rotation angle of the bucket relative to the initial state, and performing current adjustment processing on the reference current of the bucket action proportional valve to obtain the bucket action proportional valve adjustment current; The trajectory of the excavator's working device is controlled according to the boom action proportional valve current, the arm action proportional valve adjustment current and the bucket action proportional valve adjustment current.

7. A device for solving trajectory parameters of an excavator working device, which adopts the method for solving trajectory parameters of an excavator working device as claimed in claim 1, characterized in that: include: A current plane parameter solution coordinate system construction module is used to obtain a first hinge point of the current excavator and use the first hinge point as a coordinate origin to construct a current plane parameter solution coordinate system; Wherein, the first hinge point is the hinge point between the boom and the frame of the current excavator, and the X-axis of the current plane parameter solution coordinate system is parallel to the current working surface; A current standard plane parameter solution coordinate system determination module is used to obtain the body tilt angle and working surface slope corresponding to the current excavator, adjust the current plane parameter solution coordinate system, and obtain the current standard plane parameter solution coordinate system; The initial state posture trajectory parameter calculation module is used to obtain the initial excavator joint description angle and calculate the initial state posture trajectory parameters in the current standard plane parameter solution coordinate system; The initial state posture trajectory parameters include: the initial projection distance of the line connecting the bucket arm rotation pin and the bucket working point relative to the vertical coordinate, and the initial projection distance of the boom on the vertical coordinate; A target state posture trajectory parameter calculation module is used to obtain the current excavator joint description angle and the current excavator operation mode, and calculate the target state posture trajectory parameters corresponding to the current excavator based on the initial state posture trajectory parameters, so as to control the excavator working device according to the target state posture trajectory parameters; Among them, the target state posture trajectory parameters include: the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate, the change in the projection distance of the boom on the vertical coordinate, the difference between the change in the projection distance of the line connecting the boom pivot pin and the bucket working point relative to the vertical coordinate and the change in the projection distance of the boom on the vertical coordinate, and the horizontal distance of the working point.

8. An excavator working device trajectory control device, which adopts the excavator working device trajectory control method according to claim 6, characterized in that: include: The current calculation module is used to calculate the current of the boom action proportional valve, the reference current of the arm action proportional valve, and the reference current of the bucket action proportional valve according to the horizontal distance of the working point; a boom action proportional valve adjustment current determination module, configured to obtain a difference between a change in the projected distance of a line connecting the boom pivot pin and the bucket operating point relative to the ordinate and a change in the projected distance of the boom on the ordinate, and perform current adjustment processing on the boom action proportional valve reference current to obtain the boom action proportional valve adjustment current; a bucket action proportional valve adjustment current determination module, configured to obtain a difference between an angle required for the bucket bottom to remain parallel to the work surface relative to an initial state and an actual rotation angle of the bucket relative to the initial state, and to perform current adjustment processing on the bucket action proportional valve reference current to obtain a bucket action proportional valve adjustment current; The trajectory control module is used to control the trajectory of the excavator working device according to the current of the boom action proportional valve, the arm action proportional valve adjustment current and the bucket action proportional valve adjustment current.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for solving the trajectory parameters of the excavator working device according to any one of claims 1 to 5 is implemented, or the method for controlling the trajectory of the excavator working device according to claim 6 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, which are used to enable a processor to implement the method for solving the trajectory parameters of an excavator working device according to any one of claims 1 to 5, or to implement the method for controlling the trajectory of an excavator working device according to claim 6 when executed.

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