Accurate positioning control method for excavator arm

Abstract

The invention discloses a precise positioning control method for an excavator arm, and the method comprises the steps: collecting the surrounding environment information of an excavator body through radar scanning, and building a three-dimensional coordinate by taking a connection point between the excavator arm and the excavator body as an original point; scanning to determine the postures of the excavator body and all the mechanisms, and performing node marking on the excavator and all the mechanisms, including the positions and angles of an arm, a bucket rod and a bucket of the excavator body; constructing a target attitude of excavation of the excavator body; and comparing the position difference between the current position and the target position of the excavator body. According to the invention, the driving elements of the machine arm, the bucket rod and the bucket are monitored in real time, so that the dynamic positions of the machine arm, the bucket rod and the bucket are calculated and positioned, and the target postures of the machine arm, the bucket rod and the bucket are set, so that accurate positioning and driving of the machine arm, the bucket rod and the bucket are realized, and the excavation operation of the excavator is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a method for precise positioning control of an excavator arm. Background Art

[0002] With the continuous development of modern engineering machinery, excavators are increasingly used in fields such as construction, mining and infrastructure construction. In order to improve the operating efficiency and accuracy of excavators, the automation and intelligent control technology of excavators has become a research hotspot. Especially in complex environments, the precise positioning and control of the excavator arm are crucial to ensuring the quality and safety of excavator operations. However, traditional manual operation methods are difficult to meet the requirements of high precision and high efficiency. Therefore, the development of an efficient and accurate excavator arm positioning control method has important significance. Summary of the invention

[0003] The object of the present invention is to provide a method for precise positioning control of an excavator arm, so as to solve the technical problem in the prior art that the positioning of the excavator arm is not precise enough when the excavator is operating.

[0004] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0005] A method for precise positioning control of an excavator arm, comprising:

[0006] The surrounding environment information of the excavator body is collected through radar scanning, and the three-dimensional coordinates are established with the connection point between the excavator arm and the excavator body as the origin;

[0007] Scan and determine the posture of the excavator body and each mechanism, and mark the nodes of the excavator and each mechanism, including the position and angle of the arm, dipper arm and bucket of the excavator body;

[0008] Constructing a target excavation posture of the excavator body;

[0009] Comparing the position difference between the current position of the excavator body and the target position, planning the walking trajectory of the excavator body from the current position to the target position, and performing adaptive adjustment when the excavator body moves on the walking trajectory;

[0010] The difference between the current posture of the excavator body and the target excavation posture is compared, and an excavation trajectory of the excavator body from the current posture to the target posture is planned, and the excavator body is adaptively adjusted when moving on the excavation trajectory.

[0011] As a preferred solution of the present invention, the surrounding environment information of the excavator body is collected by radar scanning, and a three-dimensional coordinate is established with the connection point between the arm of the excavator body and the excavator body as the origin, including:

[0012] A radar scanner is arranged on the excavator body, and a three-dimensional rectangular coordinate system is established by expanding outwards with a cube of a standard unit, taking the connection point between the arm of the excavator body and the excavator body as the origin;

[0013] And as the excavator body moves, the radar scanner scans the environmental information around the excavator body in real time.

[0014] As a preferred solution of the present invention, the posture of the excavator body and each mechanism is determined by scanning, and the nodes of the excavator body and each mechanism are marked, including the position and angle of the arm, the dipper arm and the bucket of the excavator body, including:

[0015] The radar scanning is started to determine the posture and position of the excavator body and the arm, the dipper arm and the bucket of the excavator body in a three-dimensional rectangular coordinate system;

[0016] It also includes: a stretching encoder is arranged on the excavator body, and the length data of the hydraulic rod of the machine arm, the bucket arm and the bucket mechanism are obtained in real time through the stretching encoder, and the posture of each mechanism of the excavator body and the angle of the machine arm, the bucket arm and the bucket are calculated according to the length data.

[0017] As a preferred solution of the present invention, constructing the target posture of the excavator body for excavation includes:

[0018] The radar scanner records the predetermined excavation position of the excavator body, and presets the posture of each mechanism of the excavator body during excavation in the excavator body, including the angles of the machine arm, the bucket and the bucket, and the length data of the hydraulic rods of the machine arm, the bucket and the bucket mechanism.

[0019] As a preferred solution of the present invention, the position difference between the current position of the excavator body and the target position is compared, and a walking trajectory of the excavator body from the current position to the target position is planned, and the excavator body is adaptively adjusted when moving on the walking trajectory, including:

[0020] The radar scanner records the relative position between the predetermined excavation position of the excavator body and the current position of the excavator body, plans the shortest distance travel path of the excavator body to the predetermined position, and during the movement of the excavator body, the radar scanner scans the obstacles on the path in real time to adjust the travel path of the excavator body in real time.

[0021] As a preferred solution of the present invention, the difference between the current posture of each mechanism of the excavator body and the target excavation posture of each mechanism is compared, and the excavation trajectory of the excavator body from the current posture to the target posture is planned, and the excavator body is adaptively adjusted when moving on the excavation trajectory, including:

[0022] According to the preset hydraulic rod length data of the machine arm, the bucket arm and the bucket in the excavator body, the hydraulic rod length data of the machine arm, the bucket arm and the bucket on the current excavator body is determined by the stretching encoder, which is compared with the preset hydraulic rod length data of the machine arm, the bucket arm and the bucket in the excavator body, and the corresponding difference is input into the machine arm, the bucket arm and the bucket to drive the machine arm, the bucket arm and the bucket to move along a predetermined trajectory, thereby completing the predetermined excavation work.

[0023] As a preferred solution of the present invention, after comparing the difference between the current hydraulic rods of the machine arm, the bucket arm and the bucket and the preset hydraulic rod length data of the machine arm, the bucket arm and the bucket, the corresponding difference is input to the hydraulic rods of the machine arm, the bucket arm and the bucket through a PID controller. The PID controller can dynamically adjust the input difference parameters according to real-time feedback data to achieve the purpose of adjusting the excavation posture of the excavator in real time according to the posture difference of the machine arm, the bucket arm and the bucket.

[0024] As a preferred solution of the present invention, the difference parameter input after the dynamic adjustment of the PID controller is recorded, so as to obtain relative difference adjustment data when the machine arm, the bucket arm and the bucket are adjusted at the next moment, and the relative difference adjustment data is input into the PID controller to adjust the posture of the machine arm, the bucket arm and the bucket;

[0025] The above steps are repeated through the loop iteration of the PID controller, thereby realizing the trajectory control of the differential adjustment of the machine arm, the dipper arm and the bucket.

[0026] As a preferred solution of the present invention, the acquisition of target posture data when the excavator body is excavating includes:

[0027] In the training mode, the excavator is driven to perform repeated excavation work, and the angles of the machine arm, the bucket arm and the bucket, as well as the length data and pressure status of the hydraulic rods of the machine arm, the bucket arm and the bucket are recorded at different time intervals.

[0028] As a preferred solution of the present invention, when the excavator body moves along the excavation trajectory, the radar scanner scans the surrounding obstacles in real time to adjust the postures of the machine arm, the bucket arm and the bucket in real time. At this time, the PID controller does not target the target excavation posture for the differential adjustment of the machine arm, the bucket arm and the bucket.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] In the present invention, the driving elements of the machine arm, the bucket and the bucket are monitored in real time, so as to calculate and locate the dynamic positions of the machine arm, the bucket and the bucket, and set the target postures of the machine arm, the bucket and the bucket, thereby achieving accurate positioning and driving of the machine arm, the bucket and then the bucket, thereby realizing the excavation operation of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0032] Figure 1 A schematic flow chart of a method for precise positioning control of an excavator arm is provided for an embodiment of the present invention; DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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 creative work are within the scope of protection of the present invention.

[0034] In order to solve the technical problem that the positioning of the excavator arm is not accurate enough when the excavator is working in the prior art, such as Figure 1 As shown, the present invention provides a method for precise positioning control of an excavator arm, comprising:

[0035] The surrounding environment information of the excavator body is collected through radar scanning, and the three-dimensional coordinates are established with the connection point between the excavator arm and the excavator body as the origin.

[0036] The scan determines the posture of the excavator body and each mechanism, and marks the nodes of the excavator and each mechanism, including the position and angle of the excavator body's arm, dipper arm and bucket.

[0037] Construct the target posture of the excavator body for excavation.

[0038] The position difference between the current position of the excavator body and the target position is compared, and the walking trajectory of the excavator body from the current position to the target position is planned, and the excavator body is adaptively adjusted when moving on the walking trajectory.

[0039] The difference between the current posture of the excavator and the target excavation posture is compared, and the excavation trajectory of the excavator from the current posture to the target posture is planned. The excavator makes adaptive adjustments when moving on the excavation trajectory.

[0040] In this embodiment, the surrounding environment information of the excavator body is collected by radar scanning, and a three-dimensional coordinate is established with the connection point between the excavator arm and the excavator body as the origin, including:

[0041] A radar scanner is set on the excavator body, and a three-dimensional rectangular coordinate system is established by taking the connection point between the excavator arm and the excavator body as the origin and expanding outward with a cube of standard unit.

[0042] And as the excavator body moves, the radar scanner scans the environmental information around the excavator body in real time.

[0043] In this embodiment, the posture of the excavator body and each mechanism is determined by scanning, and nodes of the excavator body and each mechanism are marked, including the position and angle of the excavator body's arm, dipper arm, and bucket, including:

[0044] The radar scan is started to determine the posture and position of the excavator body and the arm, dipper arm and bucket of the excavator body in the three-dimensional rectangular coordinate system.

[0045] It also includes: a stretching encoder is arranged on the excavator body, and the length data of the hydraulic rods of the machine arm, bucket arm and bucket mechanism are obtained in real time through the stretching encoder. According to the length data, since the machine arm, bucket arm and bucket mechanism and the corresponding hydraulic rods are known, and the mode of the hydraulic rod driving the corresponding machine arm, bucket arm and bucket to move is existing, when the hydraulic rod is used to drive the corresponding machine arm, bucket arm and bucket, the relative positions of the machine arm, bucket arm and bucket with respect to the excavator body can be calculated, so that the positions of the machine arm, bucket arm and bucket with respect to the coordinate origin can be known through the stretching encoder, so as to calculate the postures of the various mechanisms of the excavator body, as well as the angles of the machine arm, bucket arm and bucket.

[0046] In this embodiment, constructing the target posture of the excavator body for excavation includes:

[0047] The radar scanner records the predetermined excavation position of the excavator body, and presets the posture of each mechanism of the excavator body during excavation in the excavator body, including the angles of the machine arm, bucket arm and bucket, and the length data of the hydraulic rods of the machine arm, bucket arm and bucket mechanism.

[0048] And according to different excavation requirements, the positions and angles of the machine arm, dipper arm and bucket under multiple excavation postures are set in the excavator body to meet different excavation requirements.

[0049] Among them, the method for obtaining target posture data when the excavator body is excavating includes:

[0050] In the training mode, the excavator is driven to perform repeated excavation work, and the angles of the machine arm, dipper arm and bucket, as well as the length data and pressure status of the hydraulic rods of the machine arm, dipper arm and bucket are recorded at different time intervals, so as to obtain the target posture of the excavator in different excavation modes.

[0051] In this embodiment, the position difference between the current position of the excavator body and the target position is compared, and a walking trajectory of the excavator body from the current position to the target position is planned. When the excavator body moves on the walking trajectory, adaptive adjustment is performed, including:

[0052] The radar scanner records the relative position of the predetermined excavation position of the excavator body and the current position of the excavator body, plans the shortest distance travel path from the excavator body to the predetermined position, and during the movement of the excavator body, the radar scanner scans the obstacles on the path in real time to adjust the travel path of the excavator body in real time.

[0053] In this embodiment, the difference between the current posture of the excavator body and the target excavation posture is compared, and the excavation trajectory of the excavator body from the current posture to the target posture is planned. When the excavator body moves on the excavation trajectory, adaptive adjustment is performed, including:

[0054] According to the preset hydraulic rod length data of the arm, arm and bucket in the excavator body, the hydraulic rod length data of the arm, arm and bucket on the current excavator body is determined by the stretching encoder, which is compared with the preset hydraulic rod length data of the arm, arm and bucket in the excavator body, and the corresponding difference is input into the arm, arm and bucket to drive the arm, arm and bucket to move along the predetermined trajectory, thereby completing the predetermined excavation work.

[0055] In this embodiment, after comparing the difference between the hydraulic rods of the current arm, arm and bucket and the preset hydraulic rod length data of the arm, arm and bucket, the corresponding difference is input to the hydraulic rods of the arm, arm and bucket through the PID controller. The PID controller can dynamically adjust the input difference parameters according to real-time feedback data to achieve the purpose of adjusting the excavation posture of the excavator in real time according to the posture differences of the arm, arm and bucket.

[0056] Since PID has the ability to adjust the input difference vertically according to actual feedback, in fact, there is an error between the difference value between the current posture of the excavator and the target posture and the actual difference value. In order to reduce the error during the repeated excavation process of the excavator body, this embodiment solves the above problem through the following scheme:

[0057] In this embodiment, the difference value input after the dynamic adjustment of the PID controller is recorded, so as to obtain the relative difference adjustment data when the arm, arm and bucket are differentially adjusted at the next moment, and the relative difference adjustment data is input into the PID controller to adjust the posture of the arm, arm and bucket, thereby reducing the error between the difference value between the current posture of the excavator and the target posture and the actual difference value, so as to quickly and more accurately adjust the trajectory of the movement of the arm, arm and bucket.

[0058] Repeat the above steps and iterate the PID controller to achieve more precise trajectory control of the machine arm, arm and bucket differences.

[0059] During the excavation process, the excavator's arm, dipper arm and bucket will also encounter obstacles.

[0060] In this embodiment, when the excavator body drives the arm, arm and bucket to move along the excavation trajectory, the radar scanner scans the surrounding obstacles in real time. When the arm, arm and bucket encounter obstacles, the excavator body adjusts the posture of the arm, arm and bucket in real time. At this time, the PID controller does not target the target excavation posture for the differential adjustment of the arm, arm and bucket.

[0061] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A method for precise positioning control of an excavator arm, characterized in that: have: The surrounding environment information of the excavator body is collected through radar scanning, and the three-dimensional coordinates are established with the connection point between the excavator arm and the excavator body as the origin; Scan and determine the posture of the excavator body and each mechanism, and mark the nodes of the excavator and each mechanism, including the position and angle of the arm, dipper arm and bucket of the excavator body; Constructing a target excavation posture of the excavator body; Comparing the position difference between the current position of the excavator body and the target position, planning the walking trajectory of the excavator body from the current position to the target position, and performing adaptive adjustment when the excavator body moves on the walking trajectory; The difference between the current posture of the excavator body and the target excavation posture is compared, and an excavation trajectory of the excavator body from the current posture to the target posture is planned, and the excavator body is adaptively adjusted when moving on the excavation trajectory.

2. The method for precise positioning control of an excavator arm according to claim 1, characterized in that: Collecting the surrounding environment information of the excavator body through radar scanning, and establishing three-dimensional coordinates with the connection point between the arm of the excavator body and the excavator body as the origin, including: A radar scanner is arranged on the excavator body, and a three-dimensional rectangular coordinate system is established by expanding outwards with a cube of a standard unit, taking the connection point between the arm of the excavator body and the excavator body as the origin; And as the excavator body moves, the radar scanner scans the environmental information around the excavator body in real time.

3. The method for precise positioning control of an excavator arm according to claim 2, characterized in that: Scan and determine the posture of the excavator body and each mechanism, and mark the nodes of the excavator body and each mechanism, including the position and angle of the arm, dipper arm and bucket of the excavator body, including: The radar scanning is started to determine the posture and position of the excavator body and the arm, the dipper arm and the bucket of the excavator body in a three-dimensional rectangular coordinate system; It also includes: a stretching encoder is arranged on the excavator body, and the length data of the hydraulic rod of the machine arm, the bucket arm and the bucket mechanism are obtained in real time through the stretching encoder, and the posture of each mechanism of the excavator body and the angle of the machine arm, the bucket arm and the bucket are calculated according to the length data.

4. The method for precise positioning control of an excavator arm according to claim 3, characterized in that: Constructing the target posture of the excavator body for excavation, including: The radar scanner records the predetermined excavation position of the excavator body, and presets the posture of each mechanism of the excavator body during excavation in the excavator body, including the angles of the machine arm, the bucket and the bucket, and the length data of the hydraulic rods of the machine arm, the bucket and the bucket mechanism.

5. The method for precise positioning control of an excavator arm according to claim 4, characterized in that: Comparing the position difference between the current position of the excavator body and the target position, planning the walking trajectory of the excavator body from the current position to the target position, and performing adaptive adjustment when the excavator body moves on the walking trajectory, including: The radar scanner records the relative position between the predetermined excavation position of the excavator body and the current position of the excavator body, plans the shortest distance travel path of the excavator body to the predetermined position, and during the movement of the excavator body, the radar scanner scans the obstacles on the path in real time to adjust the travel path of the excavator body in real time.

6. The method for precise positioning control of an excavator arm according to claim 4, characterized in that: Comparing the difference between the current posture of each mechanism of the excavator body and the target excavation posture of each mechanism, planning the excavation trajectory of the excavator body from the current posture to the target posture, and performing adaptive adjustment when the excavator body moves on the excavation trajectory, including: According to the preset hydraulic rod length data of the machine arm, the bucket arm and the bucket in the excavator body, the hydraulic rod length data of the machine arm, the bucket arm and the bucket on the current excavator body is determined by the stretching encoder, which is compared with the preset hydraulic rod length data of the machine arm, the bucket arm and the bucket in the excavator body, and the corresponding difference is input into the machine arm, the bucket arm and the bucket to drive the machine arm, the bucket arm and the bucket to move along a predetermined trajectory, thereby completing the predetermined excavation work.

7. The method for precise positioning control of an excavator arm according to claim 6, characterized in that: After comparing the current hydraulic rods of the machine arm, bucket arm and bucket with the preset hydraulic rod length data of the machine arm, bucket arm and bucket, the corresponding difference is input to the hydraulic rods of the machine arm, bucket arm and bucket through the PID controller. The PID controller can dynamically adjust the input difference parameters according to real-time feedback data to achieve the purpose of adjusting the excavation posture of the excavator in real time according to the posture difference of the machine arm, bucket arm and bucket.

8. The method for precise positioning control of an excavator arm according to claim 7, characterized in that: The difference parameters input after the dynamic adjustment of the PID controller are recorded, so as to obtain relative difference adjustment data when the machine arm, the bucket arm and the bucket are adjusted at the next moment, and the relative difference adjustment data is input into the PID controller to adjust the posture of the machine arm, the bucket arm and the bucket; The above steps are repeated through the loop iteration of the PID controller, thereby realizing the trajectory control of the differential adjustment of the machine arm, the dipper arm and the bucket.

9. The method for precise positioning control of an excavator arm according to claim 4, characterized in that: The acquisition of target posture data when the excavator body is excavating includes: In the training mode, the excavator is driven to perform repeated excavation work, and the angles of the machine arm, the bucket arm and the bucket, as well as the length data and pressure status of the hydraulic rods of the machine arm, the bucket arm and the bucket are recorded at different time intervals.

10. The method for precise positioning control of an excavator arm according to claim 6, characterized in that: When the excavator body moves along the excavation trajectory, the radar scanner scans the surrounding obstacles in real time to adjust the postures of the machine arm, the bucket arm and the bucket in real time. At this time, the PID controller does not target the target excavation posture for the differential adjustment of the machine arm, the bucket arm and the bucket.

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