Excavator slope brushing method, device, storage medium and excavator

Abstract

The present invention relates to an excavator slope brushing method, device, storage medium and excavator. The method comprises the following steps: obtaining a simulation model corresponding to a mechanical arm, calculating a motion trajectory of the mechanical arm based on preset starting point position information, end point position information and the simulation model, and obtaining angle values ​​of joints of the mechanical arm; obtaining joint trajectories of various joints based on a non-uniform rational B-spline algorithm and the angle values, and obtaining motion parameters according to the joint trajectories; interpolating the joint trajectories and adding time information to the joint trajectories based on the motion parameters, and establishing a joint space trajectory curve; optimizing the joint space trajectory curve based on preset objective functions and constraints by using a hybrid bee colony algorithm, and obtaining an optimal joint space trajectory curve and trajectory equation; and controlling the excavator's mechanical arm to automatically perform a slope brushing operation according to the optimal joint space trajectory curve and trajectory equation, thereby improving slope brushing efficiency and slope brushing quality.

Description

Technical Field

[0001] The invention relates to the field of excavator slope brushing, and in particular to an excavator slope brushing method, a device, a storage medium and an excavator. Background Art

[0002] During earthwork construction, slope correction is often encountered. Slope correction refers to trimming the slope into a flat slope.

[0003] The traditional slope correction method is for the driver to operate the excavator to manually brush the slope. However, the above method depends on the driver's operating level and has a low slope brushing efficiency. Summary of the invention

[0004] The embodiments of the present application provide an excavator slope brushing method, device, storage medium and excavator, which can improve the excavator slope brushing efficiency.

[0005] In a first aspect, an embodiment of the present application provides an excavator slope brushing method, which is applied to an excavator, wherein the excavator includes a mechanical arm, and the method includes the following steps:

[0006] Get the simulation model corresponding to the robotic arm;

[0007] Based on the preset starting point position information, the end point position information and the simulation model, the motion trajectory of the robotic arm is calculated to obtain the angle values ​​of the joints of the robotic arm;

[0008] Based on the non-uniform rational B-spline algorithm and the angle value, the joint trajectory of each joint is obtained, and the motion parameter is obtained according to the joint trajectory;

[0009] Interpolating the joint trajectory and adding time information to the joint trajectory based on the motion parameters to establish a joint space trajectory curve;

[0010] Based on the preset objective function and constraint conditions, the joint space trajectory curve is optimized using a hybrid bee colony algorithm to obtain the optimal joint space trajectory curve and trajectory equation;

[0011] According to the optimal joint space trajectory curve and trajectory equation, the mechanical arm of the excavator is controlled to perform a slope brushing operation.

[0012] In a second aspect, an embodiment of the present application provides an excavator slope brushing device, which is applied to an excavator, wherein the excavator includes a mechanical arm, and the posture detection device is used to obtain posture data of the excavator, and the device includes:

[0013] A model acquisition module is used to obtain a simulation model corresponding to the robotic arm;

[0014] An angle value acquisition module, used to calculate the motion trajectory of the robotic arm and acquire the angle values ​​of the joints of the robotic arm based on the preset starting position information, the end position information and the simulation model;

[0015] A motion parameter acquisition module, used to acquire the joint trajectory of each joint based on a non-uniform rational B-spline algorithm and the angle value, and acquire the motion parameter according to the joint trajectory;

[0016] A curve establishing module, used for interpolating the joint trajectory and adding time information to the joint trajectory based on the motion parameters to establish a joint space trajectory curve;

[0017] An optimization module, used to optimize the joint space trajectory curve based on a preset objective function and constraint conditions using a hybrid bee colony algorithm to obtain an optimal joint space trajectory curve and trajectory equation;

[0018] The slope brushing module is used to control the mechanical arm of the excavator to perform a slope brushing operation according to the optimal joint space trajectory curve and trajectory equation.

[0019] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the excavator slope brushing method as described in any one of the above.

[0020] In a fourth aspect, an embodiment of the present application provides an excavator, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor;

[0021] When the processor executes the computer program, the steps of the excavator slope brushing method as described in any one of the above items are implemented.

[0022] In an embodiment of the present application, by obtaining a simulation model corresponding to a robotic arm, based on preset starting position information, end position information and the simulation model, the motion trajectory of the robotic arm is calculated, and the angle values ​​of the joints of the robotic arm are obtained; based on a non-uniform rational B-spline algorithm and the angle values, the joint trajectories of each joint are obtained, and motion parameters are obtained according to the joint trajectories; the joint trajectories are interpolated and time information is added to the joint trajectories based on the motion parameters to establish a joint space trajectory curve; based on preset objective functions and constraints, a hybrid bee colony algorithm is used to optimize the joint space trajectory curve to obtain the optimal joint space trajectory curve and trajectory equation; according to the optimal joint space trajectory curve and trajectory equation, the robotic arm of the excavator is controlled to automatically perform slope brushing operations to improve slope brushing efficiency and quality.

[0023] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A flow chart of an excavator slope brushing method in one embodiment of the present invention;

[0025] Figure 2 is a flow chart of step S130 in one embodiment of the present invention;

[0026] Figure 3 is a flow chart of step S160 in one embodiment of the present invention;

[0027] Figure 4 A schematic diagram of an excavator in one embodiment of the present invention;

[0028] Figure 5 It is a structural schematic diagram of an excavator slope brushing device in one embodiment of the present invention;

[0029] Figure 6 The figure is a schematic structural diagram of an excavator in one embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0031] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present application.

[0032] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0033] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and do not have to be used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0034] In addition, in the description of this application, unless otherwise specified, "several" means two or more. "And / or" describes the corresponding relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0035] An embodiment of the present application provides an excavator slope brushing method, which can be applied to an excavator to achieve automatic slope brushing of the excavator and improve the slope brushing efficiency of the excavator.

[0036] See also Figure 1 The excavator slope brushing method of the embodiment of the present application is applied to an excavator, the excavator includes a mechanical arm, the mechanical arm includes at least two parts, and the method specifically includes:

[0037] S110: Obtain a simulation model corresponding to the robotic arm;

[0038] The simulation model is used to simulate the mechanical arm of the excavator, which is a component required for the excavator to perform slope brushing work. The simulation model can be a model pre-input by the user.

[0039] The mechanical arm of an excavator may include a boom, an arm, a bucket, and the like.

[0040] S120: Calculating the motion trajectory of the robotic arm based on the preset starting point position information, the end point position information and the simulation model, and obtaining the angle values ​​of the joints of the robotic arm;

[0041] The motion trajectory refers to the motion trajectory of the robot arm when it performs a slope brushing operation based on the preset starting point and end point.

[0042] A joint may refer to a connection between two adjacent parts of a robotic arm, and an angle value of a joint is an angle value formed between two adjacent parts of a robotic arm, for example, an angle value formed between a boom and an arm.

[0043] The starting position information and the end position information are used to determine the starting and end positions of the mechanical arm of the excavator for performing the slope brushing operation. For example, the starting point may be the highest point of the slope, and the end point may be the origin of the slope. The starting position information and the end position information may be information input by the user.

[0044] The angle value may include the angle value of each joint when the robot arm works at the starting position and the angle value of each joint when the robot arm works at the end position.

[0045] S130: Based on the non-uniform rational B-spline algorithm and the angle value, obtaining the joint trajectory of each joint, and obtaining the motion parameter according to the joint trajectory;

[0046] Non-Uniform Rational B-Splines (NURBS) is a mathematical model that can be used to accurately represent free curves and surfaces. Through the non-uniform rational B-splines fitting algorithm, given discrete data points can be fitted into a smooth curve.

[0047] In an embodiment of the present application, according to the angle value of each joint of the robotic arm, the motion trajectory of each joint is planned based on the non-uniform rational B-spline fitting algorithm to obtain the joint trajectory of each joint, and the motion parameters of each joint are obtained according to the joint trajectory of each joint.

[0048] The motion parameters can include each step moment of each joint, acceleration, angular velocity, moment of inertia, torque and other parameters. The step moment refers to the moment when the input quantity changes suddenly. The sudden change of the input quantity may be caused by external interference, command switching or other reasons. The step moment can be used to measure the actual response speed and stability, thereby further improving the control accuracy.

[0049] S140: interpolating the joint trajectory and adding time information to the joint trajectory based on the motion parameters to establish a joint space trajectory curve;

[0050] When interpolating the joint trajectory, a polynomial interpolation algorithm or other existing interpolation algorithms may be used for interpolation.

[0051] The time information may include the time to reach a certain point on the trajectory, etc. The time information may be obtained based on the motion parameters.

[0052] By adding time information to the joint trajectory, each point on the trajectory includes not only the spatial position, but also the time to reach the point and dynamic information such as speed and acceleration on the path. Adding consideration of the time dimension on the basis of path planning can meet dynamic constraints and optimization goals and realize path planning more accurately.

[0053] Specifically, adding a time series to the joint trajectory may be implemented to add time information to the joint trajectory.

[0054] S150: Based on a preset objective function and constraint conditions, the joint space trajectory curve is optimized using a hybrid bee colony algorithm to obtain an optimal joint space trajectory curve and trajectory equation;

[0055] The hybrid bee colony algorithm is an optimization technology based on the artificial bee colony algorithm (ABC). It improves the performance of the algorithm by combining the advantages of different swarm intelligence algorithms. The artificial bee colony algorithm simulates the nectar-collecting behavior of bees and has the advantages of simple structure, easy implementation and good global performance, but it has the problems of slow convergence speed and weak local search ability. The hybrid bee colony algorithm can improve the artificial bee colony algorithm by introducing the symbiotic search algorithm, the explosion search operator of the fireworks algorithm, combining it with the particle swarm optimization (PSO) algorithm, and combining it with the Nelder-Mead method, thereby effectively improving the optimization performance of the algorithm, accelerating the convergence speed, and enhancing the balance between the global search and local search of the algorithm.

[0056] The objective function is used to define the goals that need to be maximized or minimized during the optimization process. The goals may include path length, energy consumption, motion time, and accuracy requirements. The objective function can be used to minimize the total distance the robot moves, minimize the energy consumption of the robot while performing the task, minimize the time required to complete the task, and ensure that the robot can accurately reach the target position; the target position can be the origin or zero point of the robot.

[0057] Constraints are conditions that must be met during the optimization process. Constraints limit the range of feasible solutions for the objective function.

[0058] In the embodiment of the present application, the constraints may include dynamic constraints, terminal constraints, sensor constraints and mechanical structure constraints. Dynamic constraints refer to the establishment of a dynamic model based on the dynamic characteristics of the robot arm, and the constraint of the motion trajectory based on the dynamic model to avoid collisions and improve the accuracy of motion control; terminal constraints refer to the application of terminal state equation constraints in the original constraints in the trajectory tracking problem to ensure that the robot arm can effectively track the expected trajectory in each prediction time domain. These constraints help to improve the tracking accuracy and control stability of the robot arm; sensor constraints are equivalent to controlling the motion trajectory of the robot arm according to the surrounding environment and its own state detected by the sensor. The sensor may include an angle sensor, an inertial measurement unit, a positioning module, etc.; mechanical structure constraints are used to determine the range of motion of the robot arm. Through mechanical structure constraints, the error and jitter of the robot arm when performing tasks can be reduced, and the motion accuracy and stability of the robot arm can be improved.

[0059] The objective function and constraint conditions are used to optimize the joint space trajectory curve. Through the objective function and constraint conditions, the objective function and constraint conditions can be set according to actual application requirements.

[0060] The optimal joint space trajectory curve can be the joint space trajectory curve with the simplest action to be performed and the most linear and smooth trajectory. The optimal joint space trajectory curve can be used to visualize and analyze the motion path of the robotic arm.

[0061] The trajectory equation can be a mathematical expression generated based on the optimal joint space trajectory curve. The trajectory equation can be used to calculate the coordinates, velocity, acceleration and other information of any point on the joint space trajectory curve and control the movement of the robotic arm.

[0062] S160: According to the optimal joint space trajectory curve and trajectory equation, the mechanical arm of the excavator is controlled to perform a slope brushing operation.

[0063] In an embodiment of the present application, by obtaining a simulation model corresponding to a robotic arm, based on preset starting position information, end position information and the simulation model, the motion trajectory of the robotic arm is calculated, and the angle values ​​of the joints of the robotic arm are obtained; based on a non-uniform rational B-spline algorithm and the angle values, the joint trajectories of each joint are obtained, and motion parameters are obtained according to the joint trajectories; the joint trajectories are interpolated and time information is added to the joint trajectories based on the motion parameters to establish a joint space trajectory curve; based on preset objective functions and constraints, a hybrid bee colony algorithm is used to optimize the joint space trajectory curve to obtain the optimal joint space trajectory curve and trajectory equation; according to the optimal joint space trajectory curve and trajectory equation, the robotic arm of the excavator is controlled to automatically perform slope brushing operations to improve slope brushing efficiency and quality.

[0064] In step S130, the non-uniform rational B-spline (NURBS) algorithm is a curve interpolation technology based on non-uniform rational B-spline. The non-uniform rational B-spline algorithm can be used to fit the curve, thereby realizing the planning of the running trajectory of the robot and processing equipment.

[0065] In the embodiment of the present application, the joint trajectories of the joints of the excavator for performing the slope brushing operation are generated based on the non-uniform rational B-spline algorithm, so as to control the excavator to move according to the operation trajectory to achieve automatic slope brushing.

[0066] Specifically, Figure 2 As shown, in one embodiment, the motion parameters include interpolation speed and interpolation distance, and the joint trajectory includes a dry node space. The motion parameters are obtained according to the joint trajectory, including:

[0067] The node space can be divided into curve segments by dividing the joint trajectory. A curve segment is a node space, and the spacing of the node space can be set according to the specific application scenario.

[0068] The node space may include at least one node.

[0069] S131: Obtaining node curvature change information in each node space;

[0070] The node curvature change information is used to determine the change of the curvature of the node in the node space. The node curvature change information may include the size of the node curvature, the change trend and other information.

[0071] S132: determining whether there is an inflection point in the node space according to the node curvature change information, and obtaining a node value of the inflection point;

[0072] The inflection point refers to the point where the node space curve changes. The inflection point may refer to the extreme point of the curve in the node space. The inflection point may be determined based on the node curvature change information in the node space.

[0073] In one embodiment, the node curvature change information includes a change trend of the node curvature, and determining whether there is an inflection point in the node space according to the node curvature change information includes:

[0074] When the change trend of the node curvature in the node space is first rising and then falling, or when the change trend of the node curvature in the node space is first falling and then rising, it is determined that there is an inflection point in the node space;

[0075] Get the curvature of the midpoint of the node space where the inflection point exists and the curvature of the nodes on both sides of the midpoint;

[0076] If the curvature of the midpoint is greater than the curvature of the nodes on both sides of the midpoint, or if the curvature of the midpoint is less than the curvature of the nodes on both sides of the midpoint, the midpoint of the node space is taken as the inflection point.

[0077] In an embodiment of the present application, by determining whether there is an inflection point in the node space based on the changing trend of the curvature in the node space, and then for the node space with an inflection point, the specific inflection point is further determined based on the curvature of the midpoint and the curvature of the nodes on both sides of the midpoint, thereby improving the recognition efficiency and accuracy of the inflection point.

[0078] S133: Obtaining the curve length between two adjacent inflection points based on the Simpson formula and the node value of the inflection point;

[0079] Specifically, the curve between two adjacent inflection points is divided into several small segments, each small segment is numerically integrated using the Simpson formula, and then the integral results of each small segment are added together to obtain the integral result of the entire curve, thereby obtaining the curve length.

[0080] S134: acquiring an interpolation speed according to the interpolation speed of the inflection point and the length of the curve between the two adjacent inflection points;

[0081] The interpolation speed of the inflection point can be obtained based on data such as the angular velocity of the robot arm detected by the posture detection device.

[0082] The curve interpolation speed can be used to control the moving speed of the excavator mechanical arm. The curve interpolation speed is related to efficiency and accuracy. Through reasonable speed planning and control, the slope brushing efficiency and speed can be improved.

[0083] S135: Back-calculate the interpolation node value through Taylor first-order expansion to obtain the interpolation distance corresponding to the interpolation speed.

[0084] The Taylor first-order expansion, also known as the linear approximation of the Taylor series, can be used to estimate the value of a function at a certain point. In an embodiment of the present application, the interpolation node value can be back-calculated based on the Taylor first-order expansion and the known node values ​​on the operation trajectory.

[0085] The interpolation distance is used to determine the distance between the trajectory calculated by the algorithm and the actual trajectory. The interpolation distance can evaluate the operation accuracy and determine whether the error meets the accuracy requirements. If it does not meet the requirements, the operation accuracy can be improved by adjusting the interpolation coefficient.

[0086] In an embodiment of the present application, an operation trajectory including several node spaces is obtained, inflection points are obtained based on the node curvature change information in the node space, and the interpolation speed and interpolation distance are calculated based on the curve length and interpolation speed between the inflection points. Thus, the excavator mechanical arm is controlled according to the interpolation speed and interpolation distance, so that the excavator can better perform the slope brushing operation and improve the slope brushing efficiency and quality.

[0087] like Figure 3 As shown, in one embodiment, the excavator further includes a handle and a brushing button for controlling the movement of the mechanical arm of the excavator; controlling the mechanical arm of the excavator to perform a brushing operation includes:

[0088] S161: Controlling the mechanical arm of the excavator to be located at a starting position for brushing the slope by using the handle;

[0089] The starting position of the slope brushing can be the starting position where the mechanical arm of the excavator is ready to perform the slope brushing operation. The starting position of the slope brushing can be the contact position between the mechanical arm of the excavator and the slope, and the starting position of the slope brushing can be determined according to the specific position of the slope and the operation track.

[0090] S162: In response to the triggering operation of the slope brushing button, the mechanical arm of the excavator is controlled to perform a slope brushing operation.

[0091] The slope brushing button can be used to control the excavator to automatically adjust the working trajectory and perform slope brushing operations.

[0092] The handle can be used to manually control the movement of the excavator's mechanical arms, such as controlling the excavator's boom, dipper stick, bucket and other mechanical arms to perform a slope brushing operation.

[0093] When the slope brushing button is not triggered, the driver can control the movement of the excavator's mechanical arm through the handle to perform manual slope brushing operations to meet the different operating requirements of the excavator.

[0094] In an embodiment of the present application, the user controls the excavator's mechanical arm to the starting position of the slope brushing by controlling the handle. After triggering the slope brushing button, the excavator is controlled to automatically perform the slope brushing operation according to the posture data and the operation trajectory data, thereby improving the excavator's slope brushing efficiency.

[0095] In one embodiment, the mechanical arm of the excavator is provided with a proportional valve for controlling the movement of the mechanical arm;

[0096] Controlling the mechanical arm of the excavator to perform a slope brushing operation includes:

[0097] The opening degree of the proportional valve corresponding to the mechanical arm and the position of the mechanical arm are adjusted to control the mechanical arm of the excavator to perform a slope brushing operation.

[0098] The proportional valve is a new type of hydraulic control device that can remotely control the pressure, flow or direction of the oil flow continuously and proportionally according to the input electrical signal. The proportional valve adopts electro-hydraulic proportional technology, which can ensure the accuracy of motion control and has good controllability.

[0099] In the embodiment of the present application, precise control of the excavator's mechanical arm is achieved by controlling the opening of the proportional valve corresponding to the mechanical arm, thereby improving the operating accuracy of the excavator.

[0100] In one embodiment, the mechanical arm of the excavator includes a boom, an arm, and a bucket.

[0101] The mechanical arm of the excavator includes a boom, a dipper stick and a bucket; the proportional valve includes a first proportional valve arranged on the boom, a second proportional valve arranged on the dipper stick and a third proportional valve arranged on the bucket, the first proportional valve is used to control the movement of the boom, the second proportional valve is used to control the movement of the dipper stick, and the third proportional valve is used to control the movement of the bucket, and the mechanical arm of the excavator is controlled to perform a slope brushing operation, including:

[0102] The openings of the first proportional valve, the second proportional valve and the third proportional valve and the positions of the boom, the arm and the bucket are adjusted to control the mechanical arm of the excavator to perform a slope brushing operation.

[0103] In the embodiment of the present application, the control of the excavator's mechanical arms such as the boom, boom and bucket is achieved by controlling the opening of the first proportional valve of the boom, the second proportional valve of the arm and the third proportional valve of the bucket, thereby improving the operating accuracy of the excavator.

[0104] In one embodiment, the excavator may include a posture detection device, and the posture detection device is used to detect the posture of each component of the mechanical arm of the excavator.

[0105] The posture detection device can be arranged on each mechanical arm of the excavator or on the joints of each mechanical arm, so as to detect the posture of each component of the mechanical arm. The mechanical arm can include components such as a boom, a dipper rod and a bucket.

[0106] The posture detection device can use an angle sensor, an inertial measurement unit, a positioning device and other posture detection devices to detect the posture of the robot arm.

[0107] See also Figure 4 , which is a schematic diagram of an excavator in one embodiment. Figure 4 As shown, the excavator includes a first displacement sensor 110, a second displacement sensor 120, a third displacement sensor 130, a first angle sensor 140, a second angle sensor 150, a third angle sensor 160 and a horizontal inclination sensor 170;

[0108] The first displacement sensor 110 is arranged at the bottom of the boom of the excavator, the second displacement sensor 120 is arranged at the top of the boom of the excavator, and the third displacement sensor 130 is arranged at the dipper arm of the excavator;

[0109] The first angle sensor 140 is disposed at the connection between the boom of the excavator and the vehicle body, the second angle sensor 150 is disposed at the connection between the boom and the arm of the excavator, and the third angle sensor 160 is disposed at the connection between the arm and the bucket of the excavator;

[0110] The horizontal inclination sensor 170 is disposed on the body of the excavator.

[0111] The first displacement sensor 110 is used to detect the displacement of the bottom of the boom.

[0112] The second displacement sensor 120 is used to detect the displacement of the top of the boom.

[0113] The third displacement sensor 130 is used to detect the displacement of the boom.

[0114] The first angle sensor 140 is used to detect the angle between the boom and the vehicle body.

[0115] The second angle sensor 150 is used to detect the angle between the boom and the arm.

[0116] The third angle sensor 160 is used to detect the angle between the arm and the bucket.

[0117] The horizontal inclination sensor 170 is used to detect the horizontal inclination of the vehicle body.

[0118] In the embodiment of the present application, by setting displacement sensors, angle sensors and horizontal inclination sensors at the positions of the excavator's boom, dipper arm, bucket and body, it is possible to detect the displacement, angle and horizontal inclination of the excavator's boom, dipper arm and bucket, thereby improving the accuracy of the excavator's posture adjustment and improving the operation accuracy.

[0119] like Figure 5 As shown, the embodiment of the present application also provides an excavator slope brushing device, which is applied to an excavator, and the device includes:

[0120] A model acquisition module 210 is used to acquire a simulation model corresponding to the robotic arm;

[0121] An angle value acquisition module 220, used to calculate the motion trajectory of the robotic arm and acquire the angle values ​​of the joints of the robotic arm based on the preset starting position information, the end position information and the simulation model;

[0122] A motion parameter acquisition module 230, for acquiring the joint trajectory of each joint based on the non-uniform rational B-spline algorithm and the angle value, and acquiring the motion parameter according to the joint trajectory;

[0123] A curve establishing module 240, configured to interpolate the joint trajectory and add time information to the joint trajectory based on the motion parameters to establish a joint space trajectory curve;

[0124] An optimization module 250 is used to optimize the joint space trajectory curve based on a preset objective function and constraint conditions using a hybrid bee colony algorithm to obtain an optimal joint space trajectory curve and trajectory equation;

[0125] The slope brushing module 260 is used to control the mechanical arm of the excavator to perform a slope brushing operation according to the optimal joint space trajectory curve and trajectory equation.

[0126] In one embodiment, the motion parameters include interpolation speed and interpolation distance, the joint trajectory includes a dry node space, and the motion parameter acquisition module 230 includes:

[0127] A curvature change information acquisition unit, used to acquire node curvature change information in each node space;

[0128] An inflection point acquisition unit, used to determine whether there is an inflection point in the node space according to the node curvature change information, and obtain a node value of the inflection point;

[0129] A curve length acquisition unit, used for acquiring the curve length between two adjacent inflection points based on the Simpson formula and the node value of the inflection point;

[0130] An interpolation speed acquisition unit, used to acquire the interpolation speed according to the interpolation speed of the inflection point and the length of the curve between the two adjacent inflection points;

[0131] The interpolation distance acquisition unit is used to back-calculate the interpolation node value through Taylor first-order expansion to obtain the interpolation distance corresponding to the interpolation speed.

[0132] In one embodiment, the node curvature change information includes a change trend of the node curvature, and the inflection point acquisition unit includes:

[0133] A node space determination unit, configured to determine that there is an inflection point in the node space when a change trend of a node curvature in the node space is first increased and then decreased, or when a change trend of a node curvature in the node space is first decreased and then increased;

[0134] A curvature acquisition unit, used to acquire the curvature of the midpoint of the node space where the inflection point exists and the curvature of the nodes on both sides of the midpoint;

[0135] The inflection point determination unit is used to take the midpoint of the node space as the inflection point if the curvature of the midpoint is greater than the curvature of the nodes on both sides of the midpoint, or if the curvature of the midpoint is less than the curvature of the nodes on both sides of the midpoint.

[0136] The excavator further includes a handle and a brushing button for controlling the movement of the mechanical arm of the excavator; the brushing module 260 includes:

[0137] A handle control unit, used to control the mechanical arm of the excavator to be located at a starting position for brushing the slope through the handle;

[0138] The first slope brushing unit is used to control the mechanical arm of the excavator to perform a slope brushing operation in response to a triggering operation of a slope brushing button.

[0139] In one embodiment, the mechanical arm of the excavator is provided with a proportional valve for controlling the movement of the mechanical arm; the slope brushing module 260 includes:

[0140] The second slope brushing unit is used to adjust the opening of the proportional valve corresponding to the mechanical arm and the position of the mechanical arm, and control the mechanical arm of the excavator to perform a slope brushing operation.

[0141] In one embodiment, the mechanical arm of the excavator includes a boom, a dipper and a bucket; the proportional valve includes a first proportional valve provided at the boom, a second proportional valve provided at the dipper and a third proportional valve provided at the bucket, the first proportional valve is used to control the movement of the boom, the second proportional valve is used to control the movement of the dipper, and the third proportional valve is used to control the movement of the bucket, and the slope brushing module 260 includes:

[0142] The third slope brushing unit is used to adjust the openings of the first proportional valve, the second proportional valve and the third proportional valve and the positions of the boom, the arm and the bucket, and control the mechanical arm of the excavator to perform a slope brushing operation.

[0143] It should be noted that the excavator slope brushing device provided in the above embodiment only uses the division of the above functional modules as an example when executing the excavator slope brushing method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment is divided into different functional modules to complete all or part of the functions described above. In addition, the excavator slope brushing device provided in the above embodiment and the excavator slope brushing method in the above embodiment belong to the same concept. The implementation process is detailed in the method embodiment and will not be repeated here.

[0144] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the excavator slope brushing method as described in any one of the above are implemented.

[0145] The embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0146] like Figure 6As shown, the embodiment of the present application further provides an excavator 300, including a memory 310, a processor 320, and a computer program stored in the memory 310 and executable by the processor 320;

[0147] When the processor 320 executes the computer program, the steps of the excavator slope brushing method as described in any one of the above are implemented.

[0148] The memory 310 includes a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0149] The processor 320 is the control core (Control Unit) of the excavator 300. It uses various interfaces and lines to connect the various components of the entire excavator 300, and executes various functions and processes data of the excavator 300 by running or executing the program or module stored in the memory 310, and calling the data stored in the memory 310. For example, when the processor 320 executes the computer program stored in the memory 310, it implements all or part of the steps of the excavator slope brushing method described in the embodiment of the present application; or implements all or part of the functions of the excavator slope brushing device. The processor 320 can be composed of an integrated circuit, for example, it can be composed of a single packaged integrated circuit, or it can be composed of multiple integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and a combination of various control chips.

[0150] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0151] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for slope brushing with an excavator, characterized in that: Applied on an excavator, the excavator includes a mechanical arm, and the method includes the following steps: Obtain the simulation model corresponding to the robotic arm; Based on the preset starting point position information, the end point position information and the simulation model, the motion trajectory of the robotic arm is calculated to obtain the angle values ​​of the joints of the robotic arm; Based on the non-uniform rational B-spline algorithm and the angle value, the joint trajectory of each joint is obtained, and the motion parameter is obtained according to the joint trajectory; Interpolating the joint trajectory and adding time information to the joint trajectory based on the motion parameters to establish a joint space trajectory curve; Based on the preset objective function and constraint conditions, the joint space trajectory curve is optimized using a hybrid bee colony algorithm to obtain the optimal joint space trajectory curve and trajectory equation; According to the optimal joint space trajectory curve and trajectory equation, the mechanical arm of the excavator is controlled to perform a slope brushing operation.

2. The excavator slope brushing method according to claim 1, characterized in that: The motion parameters include interpolation speed and interpolation distance, the joint trajectory includes a dry node space, and the motion parameters are obtained according to the joint trajectory, including: Obtain the node curvature change information in each node space; Determine whether there is an inflection point in the node space according to the node curvature change information, and obtain the node value of the inflection point; Based on the Simpson formula and the node value of the inflection point, obtaining the curve length between two adjacent inflection points; Obtaining an interpolation speed according to the interpolation speed of the inflection point and the length of the curve between the two adjacent inflection points; The interpolation node value is back-calculated through Taylor's first-order expansion to obtain the interpolation distance corresponding to the interpolation speed.

3. The excavator slope brushing method according to claim 2, characterized in that: The node curvature change information includes a change trend of the node curvature, and determining whether there is an inflection point in the node space according to the node curvature change information includes: When the change trend of the node curvature in the node space is first rising and then falling, or when the change trend of the node curvature in the node space is first falling and then rising, it is determined that there is an inflection point in the node space; Get the curvature of the midpoint of the node space where the inflection point exists and the curvature of the nodes on both sides of the midpoint; If the curvature of the midpoint is greater than the curvature of the nodes on both sides of the midpoint, or if the curvature of the midpoint is less than the curvature of the nodes on both sides of the midpoint, the midpoint of the node space is taken as the inflection point.

4. The excavator slope brushing method according to claim 1, characterized in that: The excavator further includes a handle and a brushing button for controlling the movement of the mechanical arm of the excavator; controlling the mechanical arm of the excavator to perform a brushing operation includes: The mechanical arm of the excavator is controlled by the handle to be located at the starting position of brushing the slope; In response to the triggering operation of the slope brushing button, the mechanical arm of the excavator is controlled to perform the slope brushing operation.

5. The excavator slope brushing method according to claim 1, characterized in that: The mechanical arm of the excavator is provided with a proportional valve for controlling the movement of the mechanical arm; Controlling the mechanical arm of the excavator to perform a slope brushing operation includes: The opening degree of the proportional valve corresponding to the mechanical arm and the position of the mechanical arm are adjusted to control the mechanical arm of the excavator to perform a slope brushing operation.

6. The excavator slope brushing method according to claim 5, characterized in that: The mechanical arm of the excavator includes a boom, a dipper stick and a bucket; the proportional valve includes a first proportional valve arranged on the boom, a second proportional valve arranged on the dipper stick and a third proportional valve arranged on the bucket, the first proportional valve is used to control the movement of the boom, the second proportional valve is used to control the movement of the dipper stick, and the third proportional valve is used to control the movement of the bucket, and the mechanical arm of the excavator is controlled to perform a slope brushing operation, including: The openings of the first proportional valve, the second proportional valve and the third proportional valve and the positions of the boom, the arm and the bucket are adjusted to control the mechanical arm of the excavator to perform a slope brushing operation.

7. The excavator slope brushing method according to claim 1, characterized in that: The excavator comprises a first displacement sensor, a second displacement sensor, a third displacement sensor, a first angle sensor, a second angle sensor, a third angle sensor and a horizontal inclination sensor; The first displacement sensor is arranged at the bottom of the boom of the excavator, the second displacement sensor is arranged at the top of the boom of the excavator, and the third displacement sensor is arranged at the dipper arm of the excavator; The first angle sensor is arranged at the connection between the boom of the excavator and the vehicle body, the second angle sensor is arranged at the connection between the boom of the excavator and the arm, and the third angle sensor is arranged at the connection between the arm of the excavator and the bucket; The horizontal inclination sensor is arranged on the body of the excavator.

8. An excavator slope brushing device, characterized in that: Applied on an excavator, the excavator includes a mechanical arm, and the posture detection device is used to obtain posture data of the excavator, and the device includes: A model acquisition module is used to obtain a simulation model corresponding to the robotic arm; An angle value acquisition module, used to calculate the motion trajectory of the robotic arm and acquire the angle values ​​of the joints of the robotic arm based on the preset starting position information, the end position information and the simulation model; A motion parameter acquisition module, used to acquire the joint trajectory of each joint based on a non-uniform rational B-spline algorithm and the angle value, and acquire the motion parameter according to the joint trajectory; A curve establishing module, used for interpolating the joint trajectory and adding time information to the joint trajectory based on the motion parameters to establish a joint space trajectory curve; An optimization module, used to optimize the joint space trajectory curve based on a preset objective function and constraint conditions using a hybrid bee colony algorithm to obtain an optimal joint space trajectory curve and trajectory equation; The slope brushing module is used to control the mechanical arm of the excavator to perform a slope brushing operation according to the optimal joint space trajectory curve and trajectory equation.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the excavator slope brushing method as described in any one of claims 1 to 7 are implemented.

10. An excavator, characterized in that: comprising a memory, a processor, and a computer program stored in the memory and executable by the processor; When the processor executes the computer program, the steps of the excavator slope brushing method as described in any one of claims 1-7 are implemented.

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