Excavator motion trail control method, device and system

Abstract

The invention discloses an excavator motion trail control method, device and system.The excavator motion trail control method comprises the steps that obtained excavator latitude and longitude coordinates are corrected based on obtained satellite differential data, and the corrected excavator latitude and longitude coordinates are converted into European-style coordinates; obtaining real-time position coordinates of the excavator; generating a walking track of the excavator based on the real-time position coordinate of the excavator and a preset excavator target point coordinate; when the excavator moves to a preset excavator target point coordinate, calculating a current position coordinate of the tail end of the bucket based on the obtained data of each execution component of the excavator; and on the basis of the current position coordinates of the tail end of the bucket and preset target position coordinates of the tail end of the bucket, motion tracks of all execution components in the excavator are generated. The positioning precision can be improved, the operation precision and efficiency of the excavator are remarkably improved, and the safety of a construction site is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering machinery, and in particular relates to a method, device and system for controlling the motion trajectory of an excavator. Background Art

[0002] An excavator is a kind of engineering machinery widely used in construction, infrastructure construction, mining and demolition projects. It is mainly used to dig soil, sand, coal, and other materials. It can also be used for leveling the ground, loading and transporting vehicles, demolishing buildings and other operations. As an important equipment in the field of engineering machinery, the development trend of excavators is affected by many factors such as technological progress, market demand, environmental regulations and operational safety. The operation of an excavator requires professional skills and experience. For novice operators, the learning curve may be steep, and improper operation may cause accidents such as overturning and collision. In response to this problem, excavators are gradually integrating more automatic control technologies, such as automatic excavation, automatic leveling and automatic loading. Through built-in sensors and intelligent systems, excavators can monitor their own status in real time, predict potential faults, and automatically diagnose faults. In terms of operating efficiency, using GPS and sensor technology, excavators can accurately operate according to the predetermined trajectory, improve operating accuracy, reduce operator fatigue, and improve work efficiency.

[0003] Among the many intelligent technologies for excavators, the motion trajectory control of excavators plays a pivotal role. Combined with navigation equipment, the construction route of the excavator can be accurately controlled to ensure that the operation is carried out according to the predetermined trajectory, reduce material waste and improve the quality of the operation. Through automated trajectory control, the operator's manual adjustment time and operation complexity are reduced, the operation speed is accelerated, and the output per unit time is increased. On complex or irregular terrain, trajectory control technology can ensure that the excavator operates according to the designed path and adapt to different working conditions. With the continuous advancement of technology, the application of excavator motion trajectory control technology will become more and more extensive, bringing more convenience and benefits to the engineering construction industry.

[0004] In the Chinese invention patent application with publication number CN112982540A, a method, device, excavator and storage medium for controlling the trajectory of an excavator are mentioned, wherein the excavator trajectory control method includes: obtaining the motion trajectory of the excavator, and obtaining the initial control signal of the motion mechanism in the excavator at the current moment according to the motion trajectory; obtaining the parameters used to characterize the actual load of the motion mechanism at the same moment, and obtaining the adjustment amount of the initial control signal based on the parameters; adjusting the initial control signal using the adjustment amount to obtain the final control signal of the motion mechanism at the current moment. In this way, the trajectory control method can also have good accuracy under high load and variable load conditions, and at the same time, it can solve the problem of large lag phenomenon when the trajectory feedback control is just started. In the actual technical application of this scheme, there are certain measurement deviations in the calculation of the transmission hydraulic mechanism and the excavator model, especially when the adjustment amount is calculated according to the empirical formula in combination with the parameters, a cumulative error will be generated. At the same time, the algorithm complexity is high, which affects the versatility and extensibility of the trajectory control system.

[0005] In the Chinese invention patent application with publication number CN113445568A, a method, device and excavator trajectory control method are provided, the method comprising: receiving a switching operation of a user on the handle of the excavator, selecting a target trajectory mode from a plurality of trajectory modes in response to the switching operation, unlocking a specific key on the handle corresponding to the target trajectory mode; receiving an operation of a specific key by a user in the target trajectory mode; and controlling the trajectory of the excavator executing the target action in response to the operation of the specific key. The method, device and excavator trajectory control method provided by the present invention can avoid the user's operation on the excavator display device during the excavator trajectory control process, can realize the trajectory control of the excavator through simpler operations, can reduce the difficulty of the excavator trajectory control operation, can avoid the user's attention being distracted during the operation of the excavator, and can improve the operation safety. This scheme needs to be modified on the basis of the original handle of the excavator, and is designed as a multi-function button, which changes the original system composition of the excavator. At the same time, in the operation of the multi-function operating handle, it will change the driver's operating habits, which is not conducive to the subsequent market development. Summary of the invention

[0006] In view of the above problems, the present invention proposes an excavator motion trajectory control method, device and system, which can improve positioning accuracy, significantly improve the operating accuracy and efficiency of the excavator, and improve the safety of the construction site.

[0007] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions: In a first aspect, the present invention provides a method for controlling a motion trajectory of an excavator, comprising: The acquired latitude and longitude coordinates of the excavator are corrected based on the acquired satellite differential data, and the corrected latitude and longitude coordinates of the excavator are converted into Euclidean coordinates to obtain the real-time position coordinates of the excavator; Generate a walking track of the excavator based on the real-time position coordinates of the excavator and the preset excavator target point coordinates; When the excavator moves to the preset excavator target point coordinates, the current position coordinates of the bucket end are calculated based on the acquired data of each actuator of the excavator; Based on the current position coordinates of the bucket end and the preset target position coordinates of the bucket end, the motion trajectory of each execution component in the excavator is generated.

[0008] In combination with the first aspect, optionally, the position coordinates of the bucket end are calculated by the following formula: x = L 2cos( i 2)+ L 3cos( i 2+ i 3)+ L 4 cos ( i 2+ i 3+ i 4)+ H ; y = L 2sin( i 2)+ L 3 sin ( i 2+ i 3)+ L 4 sin ( i 2+ i 3+ i 4)+ H1 ; in, x , y Respectively represent the horizontal and vertical position coordinates of the bucket end, L 2. L 3. L 4 are the lengths of the boom, arm and bucket respectively. i 2 represents the relative angle between the boom and the horizontal plane, i 3 represents the relative angle between the boom and the dipper arm. θ4 Indicates the relative angle between the bucket and the dipper arm. H is the horizontal distance between the boom root and the rotation center O, H1 It is the vertical distance between the root of the boom and the rotation center point O.

[0009] In combination with the first aspect, optionally, the real-time position coordinates of the excavator are calculated by the following formula: X= R * cos(lat) * cos(lon) ; Y= R * cos(lat) * sin(lon) ; lat=lat2-Δlat ; lon=lon2-Δlon ; Δlat=lat0-lat1 ; Δlon=lon0-lon1 ; in, X , Y Represent the horizontal and vertical coordinates of the excavator, respectively. lat0、lon0 are the latitude and longitude coordinates of the known location of the base station, lat1、lon1 are the latitude and longitude coordinates of the base station respectively, Δlat、Δlon The latitude error and longitude error are ,lat2、lon2 They are the latitude coordinate and precision coordinate output by the mobile station on the excavator respectively; Latin, long is the corrected latitude coordinate and precision coordinate of the excavator, that is, the real-time position coordinate of the excavator; R is the radius of the Earth.

[0010] In combination with the first aspect, optionally, an RTK mobile station is provided on the excavator, and a base station communicating with the RTK mobile station is provided at a fixed position in the construction area, and the RTK mobile station, the base station and the satellite constitute an RTK navigation unit; the method for generating satellite differential data includes: The satellite differential data is generated by receiving and analyzing satellite signals using a base station.

[0011] In combination with the first aspect, optionally, while obtaining the longitude and latitude coordinates of the excavator, a timestamp corresponding to the longitude and latitude coordinates of the excavator is also obtained; the excavator motion trajectory control method further includes: When at least one of the following conditions is met, a control signal is generated to control the excavator to return to the initial position coordinates of the excavator: Condition 1: The latitude and longitude coordinates of the excavator cannot be obtained; Condition 2: The longitude and latitude coordinates of the excavator obtained at adjacent moments are exactly the same; Condition 3: The timestamps corresponding to the latitude and longitude coordinates of the excavator obtained at adjacent moments are the same.

[0012] In combination with the first aspect, optionally, the excavator motion trajectory control method further includes: When the excavator is in automatic mode, the completion progress of a single job is generated, and the human-computer interaction interface module is controlled to display the completion progress of the job in real time. The initial value of the completion progress of the job is 0. If the current single job is completed, the human-computer interaction interface module is controlled to display 100%; When the excavator can normally obtain the longitude and latitude coordinates of the excavator, the human-computer interaction interface module is controlled to display that the RTK navigation unit connected to the excavator is in an online state; the RTK navigation unit is used to generate satellite differential data and the longitude and latitude coordinates of the excavator; Based on the acquired data of each excavator's actuators and the pre-built excavator kinematic model, a three-dimensional model that moves synchronously with the excavator body is generated, and the human-computer interaction interface module is controlled to display the three-dimensional model in real time.

[0013] In a second aspect, the present invention provides an excavator motion trajectory control device, comprising: a controller, and a sensor unit and an RTK navigation unit connected to the controller; The sensor unit is used to collect data of various execution components of the excavator; The RTK navigation unit is used to generate satellite differential data and latitude and longitude coordinates of the excavator; The controller is configured to execute the method according to any one of claims 1-5.

[0014] In combination with the second aspect, optionally, the excavator motion trajectory control device further includes a human-machine interaction interface module connected to the controller; the human-machine interaction interface module is provided with an A zone, a B zone, a C zone, a D zone and an E zone; The A area is used to switch between automatic mode and manual mode, and the default mode is manual mode; If the excavator is in automatic mode, the B area is used to display the completion progress of a single job. The initial value of the completion progress is 0. If the current single job is completed, it will display 100%. If the next job is not performed in the automatic mode, the human-computer interaction interface module is in standby mode. When a new single job starts, the B area will automatically start counting from 0 until it displays 100%; If the excavator is in manual mode, the B area does not display the progress of the work completion; When the RTK navigation unit operates normally and the controller can obtain the latitude and longitude coordinates of the excavator normally, the C area will display that the RTK navigation unit is online. If the C area displays that the RTK navigation unit is offline, the controller controls the excavator to switch to manual mode. In manual mode and automatic mode, the D area and E area are used to display in real time a three-dimensional model that moves synchronously with the excavator body. The three-dimensional model is generated by data of each actuator of the excavator output by each sensor and a pre-built kinematic model of the excavator.

[0015] In a third aspect, the present invention provides an excavator motion trajectory control device, comprising: The real-time position coordinate acquisition module of the excavator is used to correct the acquired longitude and latitude coordinates of the excavator based on the acquired satellite differential data, and convert the corrected longitude and latitude coordinates of the excavator into Euclidean coordinates to obtain the real-time position coordinates of the excavator; A first trajectory generating module, used for generating a walking trajectory of the excavator based on the real-time position coordinates of the excavator and the preset excavator target point coordinates; A module for acquiring the current position coordinates of the bucket end, used to calculate the current position coordinates of the bucket end based on the acquired data of each execution component of the excavator; The second trajectory generation module is used to generate the motion trajectory of each execution component in the excavator based on the current position coordinates of the bucket end and the preset target position coordinates of the bucket end when the excavator moves to the preset excavator target point coordinates.

[0016] In a fourth aspect, the present invention provides an excavator motion trajectory control system, comprising a storage medium and a processor; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the method according to any one of the first aspects.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The excavator motion trajectory control method, device and system of the present invention, combined with RTK navigation technology to control the excavator's walking trajectory, can greatly improve positioning accuracy and significantly improve the operating accuracy and efficiency of the excavator. Performing operations according to the generated excavator's walking trajectory can reduce over-excavation or under-excavation, improve construction quality, reduce reliance on manual operations, and improve the consistency and repeatability of operations. Accurate trajectory control can reduce operating errors, reduce the risk of excavator tipping over or colliding, and improve the safety of the construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor, among which: Figure 1 The sensor equipment arrangement of an excavator according to an embodiment of the present invention is shown in FIG. Figure one ; Figure 2A schematic structural diagram of an excavator according to an embodiment of the present invention; Figure 3 A schematic diagram of a human-computer interaction interface according to an embodiment of the present invention; Figure 4 This is a flow chart of excavator motion trajectory control according to an embodiment of the present invention; in: 1- rocker arm posture sensor, 2- bucket arm posture sensor, 3- boom posture sensor, 4- vehicle body rotation posture sensor, 5- controller, 6- RTK mobile station, 7- data conversion module, 8- base station; H1 is the vertical distance between the boom root hinge point C and the rotation center O; H is the horizontal distance between the boom root hinge point C and the rotation center O, F is the hinge point between the boom and the bucket, Q is the bucket arm and bucket hinge point, V is the bucket tooth tip point, L2 is the length between the boom root hinge point C and the boom bucket arm hinge point F, L3 is the length between the boom bucket arm hinge point F and the bucket arm and bucket hinge point Q, L4 is the length between the bucket arm and bucket hinge point Q and the bucket tooth tip V, i 2 is the angle of the boom relative to the horizontal plane, i 3 is the relative angle between the boom and the stick, i 4 is the relative angle between bucket and dipper arm. DETAILED DESCRIPTION

[0019] 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.

[0020] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention. Example 1

[0021] An embodiment of the present invention provides a method for controlling the motion trajectory of an excavator. Figure 4 As shown, the following steps are included: (1) Correct the longitude and latitude coordinates of the excavator based on the acquired satellite differential data, and convert the corrected longitude and latitude coordinates of the excavator into Euclidean coordinates to obtain the real-time position coordinates of the excavator; (2) generating a travel trajectory of the excavator based on the real-time position coordinates of the excavator and the preset excavator target point coordinates; (3) When the excavator moves to the preset excavator target point coordinates, the current position coordinates of the bucket end are calculated based on the data of each actuator of the excavator; (4) Based on the current position coordinates of the bucket end and the preset target position coordinates of the bucket end, the motion trajectory of each actuator in the excavator is generated.

[0022] In a specific implementation of the embodiment of the present invention, the position coordinates of the bucket end are calculated by the following formula: x = L 2cos( i 2)+ L 3cos( i 2+ i 3)+ L 4 cos ( i 2+ i 3+ i 4)+ H ; y = L 2sin( i 2)+ L 3 sin ( i 2+ i 3)+ L 4 sin ( i 2+ i 3+ i 4)+ H1 ; in, x , y Respectively represent the horizontal and vertical position coordinates of the bucket end, L 2. L 3. L 4 are the lengths of the boom, arm and bucket respectively. i 2 represents the relative angle between the boom and the horizontal plane, i 3 represents the relative angle between the boom and the dipper arm. θ4 Indicates the relative angle between the bucket and the dipper arm. H is the horizontal distance between the boom root and the rotation center O, H1 It is the vertical distance between the root of the boom and the rotation center point O.

[0023] In a specific implementation of the embodiment of the present invention, the real-time position coordinates of the excavator are calculated by the following formula: X= R * cos(lat) * cos(lon) ; Y= R * cos(lat) * sin(lon) ; lat=lat2-Δlat ; lon=lon2-Δlon ; Δlat=lat0-lat1 ; Δlon=lon0-lon1 ; in, X , Y Represent the horizontal and vertical coordinates of the excavator, respectively. lat0、lon0 are the latitude and longitude coordinates of the known location of the base station, lat1、lon1 are the latitude and longitude coordinates of the base station respectively, Δlat、Δlon The latitude error and longitude error are ,lat2、lon2 They are the latitude coordinate and precision coordinate output by the mobile station on the excavator respectively; Latin, long is the corrected latitude coordinate and precision coordinate of the excavator, that is, the real-time position coordinate of the excavator; R is the radius of the Earth.

[0024] In a specific implementation of the embodiment of the present invention, in order to realize that an RTK mobile station is provided on the excavator, a base station communicating with the RTK mobile station is provided at a fixed position in the construction area, and the RTK mobile station, the base station and the satellite constitute an RTK navigation unit; the method for generating satellite differential data includes: The satellite differential data is generated by receiving and analyzing satellite signals using a base station.

[0025] In a specific implementation of an embodiment of the present invention, in order to make the present invention have a safety mechanism, while obtaining the longitude and latitude coordinates of the excavator, a timestamp corresponding to the longitude and latitude coordinates of the excavator is also obtained; the excavator motion trajectory control method also includes: When at least one of the following conditions is met, a control signal is generated to control the excavator to return to the initial position coordinates of the excavator: Condition 1: The latitude and longitude coordinates of the excavator cannot be obtained; Condition 2: The longitude and latitude coordinates of the excavator obtained at adjacent moments are exactly the same; Condition 3: The timestamps corresponding to the latitude and longitude coordinates of the excavator obtained at adjacent moments are the same.

[0026] In a specific implementation of the embodiment of the present invention, the excavator motion trajectory control method further includes: When the excavator is in automatic mode, the completion progress of a single job is generated, and the human-computer interaction interface module is controlled to display the completion progress of the job in real time. The initial value of the completion progress of the job is 0. If the current single job is completed, the human-computer interaction interface module is controlled to display 100%; When the excavator can normally obtain the longitude and latitude coordinates of the excavator, the human-computer interaction interface module is controlled to display that the RTK navigation unit connected to the excavator is in an online state; the RTK navigation unit is used to generate satellite differential data and the longitude and latitude coordinates of the excavator; Based on the acquired data of each excavator's actuators and the pre-built excavator kinematic model, a three-dimensional model that moves synchronously with the excavator body is generated, and the human-computer interaction interface module is controlled to display the three-dimensional model in real time. Example 2

[0027] An embodiment of the present invention provides an excavator motion trajectory control device, comprising: a controller, and a sensor unit and an RTK navigation unit connected to the controller; The sensor unit is used to collect data of various execution components of the excavator; The RTK navigation unit is used to generate satellite differential data and latitude and longitude coordinates of the excavator; The controller is configured to execute the method described in any one of Embodiment 1.

[0028] In a specific implementation of the embodiment of the present invention, the excavator motion trajectory control device further includes a human-machine interaction interface module connected to the controller; the human-machine interaction interface module is provided with an A zone, a B zone, a C zone, a D zone and an E zone; The A area is used to switch between automatic mode and manual mode, and the default mode is manual mode; If the excavator is in automatic mode, the B area is used to display the completion progress of a single job. The initial value of the completion progress is 0. If the current single job is completed, it will display 100%. If the next job is not performed in the automatic mode, the human-computer interaction interface module is in standby mode. When a new single job starts, the B area will automatically start counting from 0 until it displays 100%; If the excavator is in manual mode, the B area does not display the progress of the work completion; When the RTK navigation unit operates normally and the excavator can obtain the latitude and longitude coordinates of the excavator normally, the C area will display that the RTK navigation unit is online. If the C area displays that the RTK navigation unit is offline, the controller controls the excavator to switch to manual mode. In manual mode and automatic mode, the D area and E area are used to display in real time a three-dimensional model that moves synchronously with the excavator body. The three-dimensional model is generated by data of each actuator of the excavator output by each sensor and a pre-built kinematic model of the excavator.

[0029] The excavator motion trajectory control device in the embodiment of the present invention is described in detail below in conjunction with a specific implementation.

[0030] like Figure 1 As shown, the excavator motion trajectory control device includes a rocker arm posture sensor 1, a bucket arm posture sensor 2, a boom posture sensor 3, a body rotation posture sensor 4, a controller 5, a data conversion module 7, an RTK navigation unit and a human-computer interaction unit, and the RTK navigation unit includes an RTK mobile station 6 and a base station 8. The controller 5 is the control core, which is responsible for sending control commands to each actuator of the excavator and receiving data information from the human-computer interaction unit and the RTK navigation unit.

[0031] The RTK mobile station 6 is arranged above the counterweight block at the rear of the excavator body and is equipped with a vehicle-mounted mushroom antenna, which is responsible for receiving data from the satellite and the base station 8. The output data of the RTK mobile station 6 is a serial port signal, which outputs a CAN bus signal through a data conversion module 7 and then enters the controller 5.

[0032] The kinematic model of the excavator is established, and the center of rotation is used as the origin of the coordinate system. The end of the bucket is calculated by the following formula: Figure 2 The coordinate point of the tooth tip V in .

[0033] x = L 2cos( i 2)+ L 3cos( i 2+ i 3)+ L 4 cos ( i 2+ i 3+ i 4)+ H ; y = L 2sin( i 2)+ L 3 sin ( i 2+ i 3)+ L 4 sin ( i 2+ i 3+ i 4)+ H1 ; in, x ,y Respectively represent the horizontal and vertical position coordinates of the bucket end, L 2. L 3. L 4 are the lengths of the boom, arm and bucket respectively. i 2 represents the relative angle between the boom and the horizontal plane, i 3 represents the relative angle between the boom and the dipper arm. θ4 Indicates the relative angle between the bucket and the dipper arm. H is the horizontal distance between the boom root and the rotation center O, H1 It is the vertical distance between the root of the boom and the rotation center point O. i 2. i 3. θ4 All can be measured by sensors. L 2. L 3. L 4. H , H1 These are fixed parameters.

[0034] On the original display screen of the excavator, a human-machine interaction interface module is developed separately. For details about the human-machine interaction interface module, see Figure 3 Area A of the human-machine interaction interface module is used to switch the working mode. You can switch between automatic mode and manual mode by touching the screen. The default mode is manual mode. Area B is used to display the completion progress of a single job (one-key slope repair / one-key trenching) in automatic mode. After the current single job is completed, the screen will display the completion progress of 100%. If there is no next step in automatic mode, the human-machine interaction interface module is in standby mode. When a new single job starts, area B will automatically start counting from 0 and proceed back and forth. When the excavator is in manual mode, area B is displayed in gray. Area C is used to display the status of the RTK navigation unit. When the RTK navigation unit is operating normally, it will display that the RTK navigation unit is online; if the RTK navigation unit is in offline mode, the controller will switch to manual mode; Area D and Area E are located in the center. In manual / automatic mode, this area will display the working status of the excavator in real time, that is, it will display a three-dimensional model that moves synchronously with the excavator body, which can effectively assist the excavator driver to view the current working conditions and the key parameters and alarm information of the excavator operation; Area F and Area G display the coordinate information of the excavator and bucket. Area F is used to grasp the position of the excavator itself, and Area G displays the position of the excavator bucket working surface; Area H displays the connection status between the human-computer interaction interface and the controller.

[0035] After the excavator is started, key parameters need to be configured on the vehicle display, including the initial position coordinates of the current vehicle, the construction target coordinates, etc. After the configuration is completed, the initial bucket tooth tip position coordinates will be displayed on the screen; after the navigation device is turned on, the RTK mobile station 6 on the excavator will first search for the base station and establish communication with it; after the excavator target point coordinates and initial position coordinates are determined, perform the following steps: (1) Calibrate the sensors on the excavator to ensure that the system can accurately sense the position and posture of the excavator; the calibration work includes: (1.1) Make sure all the excavator's actuators are in the neutral position.

[0036] (1.2) Draw a horizontal line parallel to the ground from the hinge point between the excavator's boom and the excavator platform, and control the hinge point between the excavator's boom and the dipper arm to be on this horizontal line, that is, the boom's 0-degree position. In this state, read the actual sensor data. The current sensor data is represented as 0 degrees of the boom, and the data is recorded as the offset of the sensor at the boom.

[0037] (1.3) Draw a vertical line perpendicular to the horizontal ground from the hinge point of the excavator's boom and dipper arm, and control the hinge point of the excavator's dipper arm and bucket to be on this vertical line. In this state, calibrate the dipper arm angle sensor. The calibration process is the same as step (1.2).

[0038] (1.4) Raise the boom, dipper arm and bucket of the excavator to the maximum value, which is the inherent parameter of the excavator. In this state, calibrate the bucket sensor. The calibration process is the same as step (1.2).

[0039] (2) Start the excavator's motion trajectory control system and input slope repair parameters, such as slope and width, on the human-computer interaction interface.

[0040] (3) generating a walking trajectory of the excavator based on the real-time position coordinates of the excavator and the preset excavator target point coordinates; (4) Based on the slope and width, the slope is divided into several sections using the differential principle to ensure the linearity of the bucket tooth tip movement. After completing the task of the current section, the system will automatically jump to the next section.

[0041] (5) When the excavator reaches the excavator target point coordinates, the positions of the boom, arm and bucket are automatically adjusted according to the calculated bucket tooth tip initial point and the preset bucket tooth tip target point to perform slope repair operations.

[0042] (6) The excavator stops automatically at the bottom of the slope and waits for instructions for the next task. Example 3

[0043] Based on the same inventive concept as that of Embodiment 1, an excavator motion trajectory control device is provided in an embodiment of the present invention, comprising: The real-time position coordinate acquisition module of the excavator is used to correct the acquired longitude and latitude coordinates of the excavator based on the acquired satellite differential data, and convert the corrected longitude and latitude coordinates of the excavator into Euclidean coordinates to obtain the real-time position coordinates of the excavator; A first trajectory generating module, used for generating a walking trajectory of the excavator based on the real-time position coordinates of the excavator and the preset excavator target point coordinates; The current position coordinate acquisition module of the bucket end is used to calculate the current position coordinate of the bucket end based on the acquired data of each execution component of the excavator after the excavator moves to the preset excavator target point coordinate; The second trajectory generating module is used to generate the motion trajectory of each execution component in the excavator based on the current position coordinates of the bucket end and the preset target position coordinates of the bucket end.

[0044] The rest are the same as in Example 1. Example 4

[0045] An embodiment of the present invention provides an excavator motion trajectory control system, including a storage medium and a processor; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the method according to any one of the embodiments 1.

[0046] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0047] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure one A process or multiple processes and / or boxes Figure oneA device that provides the functions specified in a block or multiple blocks.

[0048] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure one A process or multiple processes and / or boxes Figure one A function specified in one or more boxes.

[0049] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure one A process or multiple processes and / or boxes Figure one The steps for the functions specified in one or more boxes.

[0050] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

[0051] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for controlling the motion trajectory of an excavator, characterized in that: include: The acquired latitude and longitude coordinates of the excavator are corrected based on the acquired satellite differential data, and the corrected latitude and longitude coordinates of the excavator are converted into Euclidean coordinates to obtain the real-time position coordinates of the excavator; Generate a walking track of the excavator based on the real-time position coordinates of the excavator and the preset excavator target point coordinates; When the excavator moves to the preset excavator target point coordinates, the current position coordinates of the bucket end are calculated based on the acquired data of each actuator of the excavator; Based on the current position coordinates of the bucket end and the preset target position coordinates of the bucket end, the motion trajectory of each execution component in the excavator is generated.

2. The excavator motion trajectory control method according to claim 1, characterized in that: The position coordinates of the bucket end are calculated by the following formula: x = L 2cos( θ 2)+ L 3cos( θ 2+ θ 3)+ L 4 cos ( θ 2+ θ 3+ θ 4)+ H ; y = L 2sin( θ 2)+ L 3 sin ( θ 2+ θ 3)+ L 4 sin ( θ 2+ θ 3+ θ 4)+ H1 ; in, x , y Respectively represent the horizontal and vertical position coordinates of the bucket end, L 2. L 3. L 4 are the lengths of the boom, arm and bucket respectively. θ 2 represents the relative angle between the boom and the horizontal plane, θ 3 represents the relative angle between the boom and the dipper arm. θ4 Indicates the relative angle between the bucket and the dipper arm. H is the horizontal distance between the boom root and the rotation center O, H1 It is the vertical distance between the root of the boom and the rotation center point O.

3. The excavator motion trajectory control method according to claim 1, characterized in that: The real-time position coordinates of the excavator are calculated by the following formula: X = R * cos(lat) * cos(lon) ； Y = R * cos(lat) * sin(lon) ； lat=lat2-Δlat ； lon=lon2-Δlon ； Δlat=lat0-lat1 ； Δlon=lon0-lon1 ； in, X , Y Represent the horizontal and vertical coordinates of the excavator, respectively. lat0,lon0 are the latitude and longitude coordinates of the known location of the base station, lat1, lon1 are the latitude and longitude coordinates of the base station respectively, Δlat , Δlon The latitude error and longitude error are , lat2, lon2 They are the latitude coordinate and precision coordinate output by the mobile station on the excavator respectively; lat、lon is the corrected latitude coordinate and precision coordinate of the excavator, that is, the real-time position coordinate of the excavator; R is the radius of the Earth.

4. The excavator motion trajectory control method according to claim 1, characterized in that: An RTK mobile station is provided on the excavator, and a base station communicating with the RTK mobile station is provided at a fixed position in the construction area. The RTK mobile station, the base station and the satellite constitute an RTK navigation unit; The method for generating satellite differential data comprises: The satellite differential data is generated by receiving and analyzing satellite signals using a base station.

5. The method for controlling the motion trajectory of an excavator according to claim 1, characterized in that: While obtaining the longitude and latitude coordinates of the excavator, a timestamp corresponding to the longitude and latitude coordinates of the excavator is also obtained; the excavator motion trajectory control method further includes: When at least one of the following conditions is met, a control signal is generated to control the excavator to return to the initial position coordinates of the excavator: Condition 1: The latitude and longitude coordinates of the excavator cannot be obtained; Condition 2: The longitude and latitude coordinates of the excavator obtained at adjacent moments are exactly the same; Condition 3: The timestamps corresponding to the latitude and longitude coordinates of the excavator obtained at adjacent moments are the same.

6. The excavator motion trajectory control method according to claim 1, characterized in that: The excavator motion trajectory control method also includes: When the excavator is in automatic mode, the completion progress of a single job is generated, and the human-computer interaction interface module is controlled to display the completion progress of the job in real time. The initial value of the completion progress of the job is 0. If the current single job is completed, the human-computer interaction interface module is controlled to display 100%; When the excavator can normally obtain the longitude and latitude coordinates of the excavator, the human-machine interaction interface module is controlled to display that the RTK navigation unit connected to the excavator is in an online state; the RTK navigation unit is used to generate satellite differential data and the longitude and latitude coordinates of the excavator; Based on the acquired data of each excavator's actuators and the pre-built excavator kinematic model, a three-dimensional model that moves synchronously with the excavator body is generated, and the human-computer interaction interface module is controlled to display the three-dimensional model in real time.

7. An excavator motion trajectory control device, characterized in that: include: A controller, and a sensor unit and an RTK navigation unit connected to the controller; The sensor unit is used to collect data of various execution components of the excavator; The RTK navigation unit is used to generate satellite differential data and latitude and longitude coordinates of the excavator; The controller is configured to execute the method according to any one of claims 1-5.

8. The excavator motion trajectory control device according to claim 7, characterized in that: The excavator motion trajectory control device also includes a human-machine interaction interface module connected to the controller; the human-machine interaction interface module is provided with an A zone, a B zone, a C zone, a D zone and an E zone; The A area is used to switch between automatic mode and manual mode, and the default mode is manual mode; If the excavator is in automatic mode, the B area is used to display the completion progress of a single job. The initial value of the completion progress is 0. If the current single job is completed, it will display 100%. If the next job is not performed in the automatic mode, the human-computer interaction interface module is in standby mode. When a new single job starts, the B area will automatically start counting from 0 until it displays 100%; If the excavator is in manual mode, the B area does not display the progress of the work completion; When the RTK navigation unit operates normally and the controller can obtain the latitude and longitude coordinates of the excavator normally, the C area will display that the RTK navigation unit is online. If the C area displays that the RTK navigation unit is offline, the controller controls the excavator to switch to manual mode. In manual mode and automatic mode, the D area and E area are used to display in real time a three-dimensional model that moves synchronously with the excavator body. The three-dimensional model is generated by data of each actuator of the excavator output by each sensor and a pre-built kinematic model of the excavator.

9. An excavator motion trajectory control device, characterized in that: include: The real-time position coordinate acquisition module of the excavator is used to correct the acquired longitude and latitude coordinates of the excavator based on the acquired satellite differential data, and convert the corrected longitude and latitude coordinates of the excavator into Euclidean coordinates to obtain the real-time position coordinates of the excavator; A first trajectory generating module, used for generating a walking trajectory of the excavator based on the real-time position coordinates of the excavator and the preset excavator target point coordinates; A module for acquiring the current position coordinates of the bucket end, used to calculate the current position coordinates of the bucket end based on the acquired data of each execution component of the excavator; The second trajectory generation module is used to generate the motion trajectory of each execution component in the excavator based on the current position coordinates of the bucket end and the preset target position coordinates of the bucket end when the excavator moves to the preset excavator target point coordinates.

10. An excavator motion trajectory control system, characterized in that: including storage media and processors; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the method according to any one of claims 1-6.

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