An intelligent automatic control method and system for the bucket trajectory of a mechanical hydraulic excavator

Abstract

The present invention provides an intelligent automatic control method and system for the bucket trajectory of a mechanical hydraulic excavator, relating to the technical field of data processing. The method includes: acquiring target trajectory data and excavation working condition data; calculating the expected force of the bucket on the target trajectory based on the mechanical characteristics of the hydraulic system, the bucket movement trajectory, and the change in soil resistance; calculating the trajectory correction compensation amount in combination with the dynamic response characteristics of the hydraulic system and historical trajectory deviation data; acquiring the real-time trajectory data of the bucket, and calculating the current trajectory offset in combination with the target trajectory data; calculating the correction control amount to obtain a correction control instruction; adjusting the control parameters of the hydraulic cylinder to correct the bucket trajectory so that the bucket runs along the target trajectory; repeatedly performing trajectory correction until the bucket completes the excavation task of the target trajectory; the present invention improves the autonomy and accuracy of the automatic control of the bucket trajectory.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and particularly to an intelligent automatic control method and system for the bucket trajectory of a mechanical hydraulic excavator. Background Art

[0002] The existing control of the bucket trajectory of a mechanical hydraulic excavator usually relies on the linkage control of hydraulic cylinders, and a predetermined trajectory is achieved through manual operation or a semi-automatic control system. The traditional method mainly uses a proportional control valve or a servo valve to regulate the flow rate of hydraulic oil, thereby controlling the movement trajectories of the boom, arm, and bucket. In some automated systems, the real-time states of key components of the excavator can be collected according to angle sensors, pressure sensors, and displacement sensors, and trajectory planning can be performed in combination with control algorithms. For example, some systems adopt a method of preset trajectory matching, that is, the trajectory is first set by manual teaching or programming, and then automatically executed by the control system. However, such methods often require a lot of manual intervention, and the trajectory accuracy is greatly affected by environmental changes. In order to improve the degree of automation, there are also systems based on visual recognition or lidar, which can be used to perceive the excavation environment and combine path planning algorithms to achieve bucket movement control, but such methods have a large amount of calculation and limited response speed, and it is difficult to adapt to complex working conditions.

[0003] The existing technology has the problem of insufficient stability in trajectory control in practical applications. Especially in a complex soil environment, the bucket trajectory is prone to deviate from the predetermined trajectory. For example, when excavating cohesive soil, due to the large soil adhesion force, the bucket will be affected by uneven resistance during the downward excavation process, resulting in trajectory deviation. Under the existing control method, the system usually relies on pressure sensors or hydraulic feedback signals for compensation adjustment. However, due to the response delay of the hydraulic system, the compensation adjustment is often lagged, which may cause the bucket to deviate greatly or generate additional vibrations during the excavation process. This not only affects the excavation accuracy, but also may cause additional stress damage to mechanical components, thereby affecting the equipment life. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent automatic control method and system for the bucket trajectory of a mechanical hydraulic excavator, aiming to solve the problems mentioned in the background art.

[0005] To solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, an intelligent automatic control method for the bucket trajectory of a mechanical hydraulic excavator, the method includes:

[0007] Obtain target trajectory data and excavation working condition data, where the excavation working condition data includes the real-time pressure of the hydraulic cylinder, the position information of the bucket, the inclination angle of the excavator, the soil resistance parameter, and the target trajectory, to obtain a working condition data set;

[0008] According to the working condition data set, based on the mechanical characteristics of the hydraulic system, the movement trajectory of the bucket, and the change of soil resistance, calculate the expected force on the bucket along the target trajectory to obtain the expected force data;

[0009] According to the expected force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, calculate the trajectory correction compensation amount to obtain the trajectory correction compensation data;

[0010] Obtain the real-time trajectory data of the bucket, and combined with the target trajectory data, calculate the current trajectory offset to obtain the trajectory deviation data;

[0011] According to the trajectory deviation data and the trajectory correction compensation data, calculate the correction control amount, including the pressure adjustment value, oil flow rate, and target displacement of the hydraulic cylinder, to obtain the correction control instruction;

[0012] According to the correction control instruction, adjust the control parameters of the hydraulic cylinder to correct the bucket trajectory, so that the bucket runs along the target trajectory to obtain the corrected trajectory data;

[0013] According to the corrected trajectory data, repeat the trajectory correction until the bucket completes the excavation task of the target trajectory.

[0014] Preferably, the acquisition of the excavation working condition data includes the real-time pressure of the hydraulic cylinder, the position information of the bucket, the inclination angle of the excavator, and the soil resistance parameters, to obtain the working condition data set, including:

[0015] Obtain the real-time pressure of the hydraulic cylinder. The hydraulic cylinder includes the boom cylinder, the arm cylinder, and the bucket cylinder. Respectively obtain the pressure signals of each hydraulic cylinder to obtain the hydraulic pressure data;

[0016] Obtain the position information of the bucket. The position information is based on the angle data measured by the position sensors installed on the bucket and the arm, and is converted into the spatial coordinates of the bucket to obtain the bucket position data;

[0017] Obtain the inclination angle of the excavator. The inclination angle is based on the attitude angle information measured by the inertial measurement unit installed on the excavator body, and is compensated in combination with the ground contact state to obtain the excavator inclination data;

[0018] Obtain the soil resistance parameters. The soil resistance parameters are based on the real-time resistance data measured by the force sensor at the front end of the bucket, and the adhesion force and internal friction coefficient of the soil are calculated in combination with the motion state of the excavator to obtain the soil resistance data;

[0019] Merge the hydraulic pressure data, the bucket position data, the excavator inclination data, and the soil resistance data to form the working condition data set.

[0020] Preferably, according to the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket movement trajectory, and the change of soil resistance, calculate the expected force of the bucket on the target trajectory to obtain expected force data, including:

[0021] Based on the mechanical characteristics of the hydraulic system, calculate the target thrust of the hydraulic cylinder, which is calculated based on the effective action area of the hydraulic cylinder and the hydraulic pressure at the target trajectory point, to form hydraulic cylinder thrust data;

[0022] Based on the bucket movement trajectory, calculate the angular change rate of the bucket at different trajectory points, and combine the geometric parameters of the bucket to calculate the rotational torque of the bucket at each trajectory point to obtain bucket rotational torque data;

[0023] Based on the change of soil resistance, analyze the soil force state at different trajectory points, and combine the adhesion and friction characteristics of the soil to calculate the target force of the bucket at different trajectory points to obtain soil force data;

[0024] According to the hydraulic cylinder thrust data, the bucket rotational torque data, and the soil force data, calculate the expected force of the bucket on the target trajectory to obtain expected force data; where,

[0025] , is the target thrust of the hydraulic cylinder at time , is the hydraulic pressure inside the hydraulic cylinder at time , is the effective action area of the hydraulic cylinder, is the soil resistance received by the bucket at time , is the bucket rotational torque, is the distance from the bucket rotation fulcrum to the force application point;

[0026] , is the soil resistance received by the bucket at time , is the soil resistance coefficient, is the bucket cutting area, is the soil density, is the bucket cutting speed, is the soil friction coefficient, is the bucket and load mass, is the acceleration due to gravity, is the bucket entry angle, is the soil compression coefficient, is the compression force per unit depth, is the bucket downward cutting depth;

[0027] , where \(m\) is the bucket mass, \(g\) is the acceleration due to gravity, \(L\) is the distance from the center of gravity of the bucket to the pivot point of rotation, \(J\) is the moment of inertia of the bucket, \(\alpha\) is the angular acceleration of the bucket, \(\rho\) is the air density, \(A\) is the windward area of the bucket, \(C_d\) is the air resistance coefficient, \(v\) is the cutting speed of the bucket, \(l\) is the moment arm of the air resistance.

[0028] Preferably, based on the desired force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, calculate the trajectory correction compensation amount to obtain the trajectory correction compensation data, including:

[0029] Obtain the dynamic response data of the hydraulic system, where the dynamic response data includes the pressure change rate of the hydraulic cylinder, the oil flow velocity, and the displacement adjustment response time of the hydraulic cylinder, to obtain the hydraulic system response parameters;

[0030] Obtain the historical trajectory deviation data, where the historical trajectory deviation data includes the trajectory offset amount and the trajectory offset trend under different working conditions, to obtain the trajectory deviation characteristic parameters;

[0031] According to the trajectory deviation characteristic parameters, the hydraulic system response parameters, and the desired force data, based on the trajectory error compensation model, calculate the trajectory correction compensation amount to obtain the trajectory correction compensation data;

[0032] The trajectory correction compensation amount includes the hydraulic cylinder pressure dynamic compensation amount, the hydraulic oil flow velocity dynamic compensation amount, and the hydraulic cylinder displacement dynamic compensation amount.

[0033] Preferably, obtain the real-time trajectory data of the bucket, and combined with the target trajectory data, calculate the current trajectory offset amount to obtain the trajectory deviation data, including:

[0034] Obtain the real-time position information of the bucket and the inclination angle of the excavator to obtain the real-time bucket position data and the real-time excavator inclination data;

[0035] According to the real-time bucket position data and the real-time excavator inclination data, calculate the actual trajectory point of the bucket at present, and compare it with the target trajectory point to obtain the trajectory offset amount;

[0036] According to the trajectory offset amount, calculate the trajectory offset trend, and perform dynamic adjustment in combination with the historical trajectory deviation data to obtain the trajectory deviation data.

[0037] Preferably, calculating a correction control amount according to the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value, oil flow rate, and target displacement amount of the hydraulic cylinder, to obtain a correction control instruction, includes:

[0038] Adjust the pressure adjustment value of the hydraulic cylinder according to the trajectory deviation data and the trajectory correction compensation data to obtain a corrected pressure parameter;

[0039] Based on the corrected pressure parameter, calculate the hydraulic oil flow rate and adjust the oil flow supply rate of the hydraulic cylinder to obtain a corrected flow rate parameter;

[0040] Based on the corrected flow rate parameter, adjust the target displacement of the hydraulic cylinder and combine with the stroke limit of the hydraulic cylinder to calculate a corrected displacement parameter;

[0041] Store the corrected pressure parameter, flow rate parameter, and displacement parameter to form a correction control instruction.

[0042] Preferably, adjusting the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory and make the bucket run along the target trajectory to obtain corrected trajectory data, includes:

[0043] Adjust the hydraulic pressure of the hydraulic cylinder according to the pressure correction data in the correction control instruction to obtain pressure adjustment data;

[0044] Adjust the hydraulic oil supply rate of the hydraulic cylinder according to the flow rate correction data to obtain flow rate adjustment data;

[0045] Adjust the target displacement of the hydraulic cylinder according to the displacement correction data and combine with the piston stroke limit condition of the hydraulic cylinder to calculate the actual displacement change to obtain displacement adjustment data;

[0046] Control the movement of the hydraulic cylinder according to the pressure adjustment data, flow rate adjustment data, and displacement adjustment data to make the bucket run along the target trajectory to obtain corrected trajectory data.

[0047] In a second aspect, an intelligent mechanical hydraulic excavator bucket trajectory automatic control system, the system includes:

[0048] A data acquisition module for acquiring target trajectory data and excavation working condition data, where the excavation working condition data includes the real-time pressure of the hydraulic cylinder, the position information of the bucket, the inclination angle of the excavator, the soil resistance parameter, and the target trajectory, to obtain a working condition data set;

[0049] An expected force generation module for calculating the expected force of the bucket on the target trajectory according to the working condition data set based on the mechanical characteristics of the hydraulic system, the bucket movement trajectory, and the soil resistance change to obtain expected force data;

[0050] A trajectory compensation data generation module, which is used to calculate a trajectory correction compensation amount according to the expected force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, so as to obtain trajectory correction compensation data;

[0051] A trajectory deviation data generation module, which is used to obtain the real-time trajectory data of the bucket and calculate the current trajectory offset amount in combination with the target trajectory data, so as to obtain trajectory deviation data;

[0052] An instruction generation module, which is used to calculate a correction control amount according to the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value, oil flow rate and target displacement amount of the hydraulic cylinder, so as to obtain a correction control instruction;

[0053] An instruction execution module, which is used to adjust the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory, so that the bucket runs along the target trajectory, and obtain corrected trajectory data;

[0054] A feedback module, which is used to repeat the trajectory correction according to the corrected trajectory data until the bucket completes the excavation task of the target trajectory.

[0055] The above solution of the present invention has at least the following beneficial effects:

[0056] First of all, by obtaining the target trajectory data and excavation working condition data, the present method constructs a working condition data set, enabling the system to perform trajectory control based on the actual working environment rather than relying on fixed trajectory planning. In the prior art, trajectory control usually relies on manual teaching or preset trajectories, and it is difficult to adapt to changes in soil conditions and equipment states. By real-time obtaining the pressure of the hydraulic cylinder, the position information of the bucket, the inclination angle of the excavator and the soil resistance parameters, the present method forms a complete working condition data set, enabling the trajectory control to be dynamically adjusted and improving the accuracy of trajectory tracking.

[0057] Secondly, based on the mechanical characteristics of the hydraulic system, the bucket movement trajectory and the change of soil resistance, the present method calculates the expected force of the bucket on the target trajectory, making the trajectory control more in line with physical laws. In the prior art, most trajectory controls are based on simple pressure compensation strategies, ignoring the non-linear characteristics of the hydraulic system and the influence of the external environment on the trajectory, resulting in lag or insufficient correction of the trajectory. By combining the force characteristics of the bucket and comprehensively considering the thrust of the hydraulic cylinder, the rotational torque of the bucket and the soil resistance, the present method makes the trajectory correction compensation more accurate and improves the stability of the trajectory control.

[0058] In addition, this method combines the dynamic response characteristics of the hydraulic system and historical trajectory deviation data to calculate the trajectory correction compensation amount, thereby effectively reducing the lag problem in the trajectory correction process. Due to the dynamic response characteristics of the hydraulic system, a single trajectory correction may not completely eliminate the trajectory error, and traditional methods often rely only on pressure feedback for compensation, resulting in the accumulation of trajectory errors. This method predicts the future trajectory deviation trend through historical trajectory deviation data and makes adjustments in advance in combination with the dynamic characteristics of the hydraulic system, making the trajectory correction process smoother, avoiding oscillation phenomena, and improving the stability of trajectory tracking.

[0059] This method also introduces the dynamic adjustment of real-time trajectory deviation calculation and correction control amount to ensure that the system can respond quickly within each trajectory correction cycle. The system obtains the real-time trajectory data of the bucket and calculates the current trajectory deviation by combining the target trajectory data to obtain the trajectory deviation data. Based on the trajectory deviation data and trajectory correction compensation data, the system further calculates the correction control amount, including the pressure adjustment value, oil flow rate, and target displacement of the hydraulic cylinder, and generates a correction control instruction to ensure that the trajectory correction can adapt to different working environments and improve the accuracy of trajectory control.

[0060] This method adopts a closed-loop control strategy to ensure that the trajectory correction can continue until the bucket completes the excavation task of the target trajectory. The system adjusts the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory and updates the corrected trajectory data in real time to ensure that the bucket can run stably along the target trajectory. Compared with traditional trajectory control methods, this method can maintain stability under complex working conditions, and can still maintain a high trajectory tracking accuracy even in an environment with large changes in soil resistance.

[0061] In summary, this method effectively improves the accuracy and stability of trajectory control by obtaining working condition data in real time, calculating the expected force, calculating the trajectory correction compensation amount in combination with the dynamic characteristics of the hydraulic system, calculating the correction control amount in real time, and executing the trajectory correction in a closed loop, reducing human intervention, improving the intelligence level of the mechanical hydraulic excavator, and enabling it to complete the excavation task along the target trajectory more precisely. Brief Description of the Drawings

[0062] Figure 1 is a flow chart of an automatic control method for the bucket trajectory of an intelligent mechanical hydraulic excavator provided by an embodiment of the present invention. Detailed Embodiment

[0063] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0064] As Figure 1 shown, an embodiment of the present invention proposes an intelligent automatic control method for the bucket trajectory of a mechanical hydraulic excavator, and the method includes:

[0065] Obtain target trajectory data and excavation working condition data, where the excavation working condition data includes the real-time pressure of the hydraulic cylinder, the position information of the bucket, the inclination angle of the excavator, the soil resistance parameter, and the target trajectory, to obtain a working condition data set;

[0066] According to the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket movement trajectory, and the change of soil resistance, calculate the expected force on the bucket on the target trajectory to obtain expected force data;

[0067] According to the expected force data, combined with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, calculate the trajectory correction compensation amount to obtain trajectory correction compensation data;

[0068] Obtain the real-time trajectory data of the bucket, and combined with the target trajectory data, calculate the current trajectory offset to obtain trajectory deviation data;

[0069] According to the trajectory deviation data and the trajectory correction compensation data, calculate the correction control amount, including the pressure adjustment value, the oil flow rate, and the target displacement amount of the hydraulic cylinder, to obtain a correction control instruction;

[0070] According to the correction control instruction, adjust the control parameters of the hydraulic cylinder to correct the bucket trajectory so that the bucket runs along the target trajectory to obtain corrected trajectory data;

[0071] According to the corrected trajectory data, repeat the trajectory correction until the bucket completes the excavation task of the target trajectory.

[0072] In the embodiment of the present invention, by collecting the target trajectory data and the excavation working condition data, combined with the mechanical characteristics of the hydraulic system, the bucket movement trajectory, and the change of soil resistance, the control parameters of the hydraulic cylinder are adjusted in real time to ensure that the bucket can run stably along the target trajectory.

[0073] In actual operation, first, obtain the target trajectory data so that the excavation path of the bucket can be determined in advance, ensuring the planning of the operation. At the same time, form a complete set of working condition data through key working condition data such as the real-time pressure of the hydraulic cylinder, the position information of the bucket, the inclination angle of the excavator, and the soil resistance parameters. These data can reflect the working state of the hydraulic system, the spatial position of the bucket, the working posture of the excavator, and the soil resistance of the working environment in real time, providing reliable data support for subsequent control calculations.

[0074] Based on the collected data, calculate the expected force of the bucket on the target trajectory to enable it to adapt to different excavation conditions. For example, in a soil environment with high resistance, the system will automatically calculate a higher thrust requirement to ensure that the bucket can move forward along the planned trajectory. In a low-resistance area, the thrust can be appropriately reduced to improve energy utilization efficiency. By combining the dynamic response characteristics of the hydraulic system and historical trajectory deviation data, further calculate the trajectory correction compensation amount. Due to the hysteresis of the hydraulic system, relying solely on real-time data adjustment may lead to oscillation or overcorrection. Therefore, the system will comprehensively consider the dynamic response of the hydraulic system and combine historical trajectory data to predict possible trajectory deviations, thereby improving the accuracy of trajectory correction.

[0075] After the system obtains the real-time trajectory data of the bucket, compare it with the target trajectory and calculate the current trajectory offset. If the offset is large, stronger correction control amounts are required, including the pressure adjustment value of the hydraulic cylinder, the oil flow rate, and the target displacement. After calculating the correction control instruction, the control parameters of the hydraulic cylinder will be automatically adjusted, enabling the bucket trajectory to gradually approach the target trajectory and iterating continuously until the bucket completes the entire excavation task exactly according to the target trajectory.

[0076] The application of this method effectively improves the motion accuracy of the bucket of the hydraulic excavator, enabling it to automatically adapt to different working environments and complete trajectory correction without manual intervention. Compared with the traditional manual control method, this method not only reduces the operation difficulty but also improves the operation efficiency and the stability of trajectory control of the excavator. In addition, the ability of real-time trajectory correction makes the excavation operation more accurate, avoids repeated operations caused by trajectory deviation, improves energy utilization efficiency, and reduces equipment wear.

[0077] Among them, in the process of trajectory correction control, in order to ensure that the bucket can accurately execute the excavation task along the target trajectory, this method adopts a closed-loop control strategy of repeatedly executing trajectory correction. This strategy corrects the trajectory through real-time feedback, enabling the bucket to continuously adjust its own position until the excavation task of the target trajectory is completed.

[0078] In practical applications, first, the system obtains the real-time trajectory data of the bucket and compares it with the preset target trajectory. If a trajectory deviation is detected, the system calculates the correction control amount based on the trajectory deviation data, generates a correction control instruction, and adjusts the control parameters of the hydraulic cylinder to guide the bucket to approach the target trajectory. However, due to many uncertain factors during the excavation process, such as changes in soil resistance, hysteresis in the hydraulic system response, and adjustment of the excavator's attitude, a single trajectory correction often cannot completely eliminate the trajectory deviation. Therefore, this method uses the way of repeatedly executing trajectory correction to ensure that the bucket can gradually fit the target trajectory and finally complete the entire excavation task.

[0079] During the execution of trajectory correction, after each adjustment is completed, the system will re-obtain the real-time trajectory data of the bucket and compare it with the target trajectory. If the trajectory deviation still exists, the system will recalculate the correction control amount based on the latest trajectory data and execute a new trajectory correction instruction. This process will continue until the trajectory error is reduced to an acceptable range, or the bucket reaches the preset end trajectory to complete the entire excavation task.

[0080] During the repeated execution of trajectory correction, in order to improve the correction efficiency and reduce trajectory oscillation, this method introduces a trajectory error convergence strategy. This strategy ensures that during each correction process, the trajectory error can gradually decrease and will not cause trajectory oscillation due to excessive adjustment of the correction control. In addition, the system will also dynamically adjust the amplitude of trajectory correction in combination with the response characteristics of the hydraulic system to adapt to changes in different operating environments. For example, in an environment with high-viscosity soil, since the force on the bucket is large, the intensity of trajectory correction needs to be appropriately increased to ensure the correction effect; while in a low-resistance environment, the correction intensity can be reduced to prevent trajectory overshoot.

[0081] The repeated trajectory correction strategy of this method can ensure that the bucket always maintains a high-precision trajectory tracking ability in complex operating environments. Compared with traditional trajectory correction methods, this method can adapt to changes in different working conditions, reduce manual intervention, and improve the automation level of excavation operations. Finally, by continuously adjusting the control parameters of the hydraulic system, the bucket completes the excavation task along the target trajectory, improving the accuracy and stability of the operation.

[0082] In a preferred embodiment of the present invention, the acquisition of excavation working condition data includes the real-time pressure of the hydraulic cylinder, the position information of the bucket, the inclination angle of the excavator, and the soil resistance parameters, and obtains a working condition data set, including:

[0083] Obtain the real-time pressure of the hydraulic cylinder. The hydraulic cylinder includes a boom hydraulic cylinder, an arm hydraulic cylinder, and a bucket hydraulic cylinder. The pressure signals of each hydraulic cylinder are respectively obtained to obtain hydraulic pressure data;

[0084] Obtain the position information of the bucket. The position information is based on the angle data measured by the position sensors installed on the bucket and the arm, and is converted into the spatial coordinates of the bucket to obtain the bucket position data;

[0085] Obtain the inclination angle of the excavator. The inclination angle is based on the attitude angle information measured by the inertial measurement unit installed on the excavator body, and is compensated in combination with the ground contact state to obtain the excavator inclination data;

[0086] Obtain the soil resistance parameters. The soil resistance parameters are based on the real-time resistance data measured by the force sensor at the front end of the bucket, and the adhesion force and internal friction coefficient of the soil are calculated in combination with the motion state of the excavator to obtain the soil resistance data;

[0087] Merge the hydraulic pressure data, bucket position data, excavator inclination data and soil resistance data to form a working condition data set.

[0088] In the embodiment of the present invention, in the excavation operation, obtaining accurate excavation working condition data is the key to automatic control. In order to ensure that the system can correctly judge the force condition and motion state of the bucket, this method uses a variety of sensors to collect the real-time pressure of the hydraulic cylinder, the position of the bucket, the inclination angle of the excavator, and the soil resistance parameters, and merges these data to form a working condition data set.

[0089] In practical applications, pressure sensors are respectively installed on the boom hydraulic cylinder, arm hydraulic cylinder and bucket hydraulic cylinder to accurately obtain the real-time pressure signals of each hydraulic cylinder, and then form a complete hydraulic system pressure data set. This data can reflect the working state of the hydraulic system and is used to calculate the thrust of the hydraulic cylinder and the force condition of the whole system.

[0090] The position information of the bucket is obtained from the angle data measured by the position sensors installed on the bucket and the arm, and through spatial coordinate conversion, the accurate position of the bucket is obtained. This information can reflect the attitude of the bucket in real time, enabling the system to adjust the trajectory according to the position error. At the same time, the inclination angle of the excavator is measured by the inertial measurement unit installed on the vehicle body and compensated in combination with the ground contact state to improve the measurement accuracy and ensure that the system can correctly perceive the attitude change of the excavator.

[0091] In addition, the acquisition of soil resistance parameters is crucial for trajectory control. The force sensor installed at the front end of the bucket can measure the soil resistance in real time, and calculate the adhesion force and internal friction coefficient of the soil in combination with the motion state of the excavator, and then predict the force of the soil on the bucket. These data can be used for trajectory correction calculation, enabling the system to automatically adjust the excavation strategy and improve the operation efficiency.

[0092] By merging the above data, a working condition data set is formed, providing complete data support for subsequent calculations. Compared with traditional excavation methods, this method can achieve real-time monitoring of the working environment and automatically adjust excavation parameters according to environmental changes, making the trajectory control of the bucket more accurate and improving the stability and adaptability of the operation.

[0093] Specifically, during the excavation operation, the spatial position of the bucket is an important parameter for trajectory control, and its accuracy directly affects the accuracy of trajectory correction calculations. This method uses position sensors installed on the bucket and the arm to measure angle data in real time and convert it into the three-dimensional spatial coordinates of the bucket for subsequent calculations and trajectory adjustments.

[0094] In the specific implementation, the motion relationship between the bucket and the arm is measured by a set of high-precision angle sensors, which can be angle encoders, gyroscopes or magnetic sensors, to obtain the included angle information between the bucket and the arm. In addition, the rotation angle of the arm relative to the boom and the angle of the boom relative to the excavator body also need to be obtained in real time to ensure that the system can comprehensively grasp the spatial position of the bucket.

[0095] After measuring these angle data, the system will use the forward kinematic model based on the geometric structure parameters of the excavator to convert the angle information into the coordinate data of the bucket in three-dimensional space. During the conversion process, the lengths, installation angles of the arm and the bucket, and the motion relationships of each connecting rod need to be considered to ensure that the calculation results can truly reflect the position of the bucket. Due to possible measurement errors or noises in the sensors, the system will also combine historical data and use filtering algorithms to optimize the measurement results to improve the stability and accuracy of the bucket position data.

[0096] Finally, the converted bucket position data can be used for trajectory control and trajectory correction calculations to ensure that the bucket can operate along the planned trajectory throughout the excavation process, improving the operation accuracy and stability.

[0097] Specifically, when the excavator operates under different terrain conditions, the tilt angle of the vehicle body will directly affect the trajectory calculation of the bucket. If the tilt angle is not compensated, the bucket trajectory calculated by the system may have a large error. Therefore, this method uses an inertial measurement unit (IMU) installed on the excavator body to measure the attitude angle information of the excavator in real time and perform compensation in combination with the ground contact state to obtain more accurate excavator tilt data.

[0098] An inertial measurement unit usually includes an accelerometer and a gyroscope, which can measure the change in the attitude angle of an excavator in three-dimensional space. Specifically, the accelerometer is used to measure the acceleration changes of the excavator in different directions, while the gyroscope is used to measure the angular velocity of the excavator. By combining these two types of data, the system can calculate the pitch angle and roll angle of the excavator relative to the horizontal plane, thereby determining its tilt angle.

[0099] However, since the excavator may operate on slopes, concave terrains, or uneven ground, the inertial measurement unit may be affected by mechanical vibrations, acceleration drift, or short-term impact forces, resulting in deviations in the measurement data. To improve the accuracy of tilt angle measurement, this method combines the ground contact state for compensation. The ground contact state can be monitored through pressure sensors installed on the support structure of the excavator or feedback data from the hydraulic system to determine the stability of the excavator on the ground and correct the measurement errors of the inertial measurement unit.

[0100] Through this compensation method, the tilt angle data of the excavator can more accurately reflect the changes in the operating environment, making the trajectory calculation more precise, reducing the trajectory deviation caused by tilt errors, and improving the reliability of trajectory control.

[0101] Specifically, during the excavation process, the soil resistance on the bucket directly affects the accuracy of the trajectory correction calculation. Since different types of soils have different physical properties, such as adhesion, friction coefficient, density, etc., if the system cannot accurately obtain the soil resistance data, it may lead to errors in the bucket thrust calculation, thereby affecting the trajectory correction effect. For this reason, this method uses a force sensor installed at the front end of the bucket to measure the soil resistance data in real time and combines the motion state of the excavator to calculate the adhesion and internal friction coefficient of the soil, so as to obtain more accurate soil resistance parameters.

[0102] The force sensor generally uses a strain gauge pressure sensor or a torque sensor, which can detect the normal pressure and cutting resistance received at the front end of the bucket and convert them into electrical signals for the system to perform real-time calculations. After obtaining the force data, the system will analyze the physical properties of the soil in combination with the motion state of the excavator, including parameters such as the cutting speed of the bucket, the entry angle, and the hydraulic cylinder thrust.

[0103] During the calculation process, the system will split the resistance received by the bucket into forward resistance, tangential friction, and lateral slip force, and combine the characteristics of the soil such as density and humidity to estimate its adhesion and internal friction coefficient. For example, when the cutting speed of the bucket is high, the adhesion of the soil will decrease, while in a high-humidity soil environment, the adhesion will increase. The system dynamically adjusts the soil resistance parameters by analyzing these variables to improve the accuracy of the trajectory correction calculation.

[0104] With this method, the acquisition of soil resistance parameters no longer depends on manual experience, but is automatically completed by sensors and calculation models. This approach not only improves the measurement accuracy but also can adapt to different types of soil conditions, making the trajectory control more intelligent, reducing the trajectory deviation caused by soil resistance changes, and improving the operation efficiency and stability.

[0105] In a preferred embodiment of the present invention, based on the working condition data set, according to the mechanical characteristics of the hydraulic system, the bucket movement trajectory, and the change of soil resistance, calculating the expected force of the bucket on the target trajectory to obtain expected force data, including:

[0106] Based on the mechanical characteristics of the hydraulic system, calculating the target thrust of the hydraulic cylinder, which is calculated based on the effective action area of the hydraulic cylinder and the hydraulic pressure at the target trajectory point, forming hydraulic cylinder thrust data;

[0107] Based on the bucket movement trajectory, calculating the angular change rate of the bucket at different trajectory points, and combining with the geometric parameters of the bucket to calculate the rotational torque of the bucket at each trajectory point, obtaining bucket rotational torque data;

[0108] Based on the change of soil resistance, analyzing the soil force state at different trajectory points, and combining with the adhesion and friction characteristics of the soil, calculating the target force of the bucket at different trajectory points, obtaining soil force data;

[0109] According to the hydraulic cylinder thrust data, the bucket rotational torque data, and the soil force data, calculating the expected force of the bucket on the target trajectory to obtain expected force data; where

[0110] , is the target thrust of the hydraulic cylinder at time , is the hydraulic pressure inside the hydraulic cylinder at time , is the effective action area of the hydraulic cylinder, is the soil resistance received by the bucket at time , is the bucket rotational torque, is the distance from the bucket rotation fulcrum to the force application point;

[0111] , is the soil resistance received by the bucket at time , is the soil resistance coefficient, is the bucket cutting area, is the soil density, is the bucket cutting speed, is the soil friction coefficient, is the bucket and the load mass, is the acceleration due to gravity, is the bucket entry angle into the soil, is the soil compression coefficient, is the compression force per unit depth, is the cutting depth of the bucket;

[0112] , is the bucket mass, is the acceleration due to gravity, is the distance from the center of gravity of the bucket to the pivot point of rotation, is the moment of inertia of the bucket, is the angular acceleration of the bucket, is the air density, is the windward area of the bucket, is the air resistance coefficient, is the cutting speed of the bucket, is the air resistance force arm.

[0113] In the embodiments of the present invention, in order to ensure reasonable force on the bucket along the target trajectory, the method calculates the expected force on the bucket along the target trajectory based on the mechanical characteristics of the hydraulic system, the bucket movement trajectory, and the change of soil resistance, so that it can maintain a stable operation state under complex working conditions.

[0114] In the analysis of the mechanical characteristics of the hydraulic system, the target thrust of the hydraulic cylinder is calculated first. This thrust is calculated based on the effective action area of the hydraulic cylinder and the hydraulic pressure at the target trajectory point, ensuring that the bucket can obtain sufficient thrust support along the target trajectory. Due to the dynamic response characteristics of the hydraulic system, the calculation of the thrust not only needs to consider the static pressure, but also needs to combine historical data to predict possible dynamic changes to prevent the system from having a response lag.

[0115] The movement trajectory of the bucket is also a key factor affecting the force. During the calculation, the system analyzes the angular change rate of the bucket at different trajectory points and calculates its rotational moment in combination with the geometric parameters of the bucket. The calculation of the rotational moment can ensure that the bucket will not deviate in attitude due to uneven force during excavation, and at the same time helps to optimize the control strategy of the hydraulic cylinder to provide reasonable moment support.

[0116] In addition, the change of soil resistance also directly affects the force state of the bucket. During the calculation, the system analyzes the soil force at different trajectory points and calculates the target force of the bucket in combination with the adhesion and friction characteristics of the soil to ensure that the bucket can cut the soil smoothly without deviating from the trajectory due to excessive resistance. By comprehensively analyzing the hydraulic cylinder thrust, the bucket rotational moment, and the soil force data, the expected force of the bucket along the target trajectory is finally calculated, providing basic data for trajectory correction.

[0117] Through the above calculation method, this method can ensure that the bucket can obtain reasonable force support under different working conditions, improving the stability of the excavation operation. Compared with the traditional method that relies on the operator's experience, this method can automatically analyze the working environment and provide accurate force calculation, enabling the bucket to run more precisely along the target trajectory during excavation, improving the operation efficiency and excavation quality.

[0118] Among them, the calculation method of the soil resistance coefficient:

[0119] The soil resistance coefficient is a parameter that reflects the resistance generated by the soil against the bucket cutting, and is usually determined by the soil type, moisture content, density, and the cutting state of the bucket. In the prior art, the soil resistance coefficient is generally calculated by the following methods:

[0120] Calculated through the soil shear strength: In soil mechanics, the shear strength of the soil determines its resistance to cutting. Usually, the soil shear strength can be measured through experiments, such as using a triaxial shear test or a direct shear test, to obtain the shear resistance of the soil under different pressures. Then, by combining the soil shear strength with factors such as the cutting area and the penetration depth of the bucket, the soil resistance coefficient is calculated.

[0121] Calculated through empirical formulas: In engineering applications, the soil resistance coefficient is often calculated through empirical formulas. For example, on the basis of the traditional Berg formula or the Mohr-Coulomb criterion, it is corrected in combination with the working conditions of the excavator.

[0122] Generally, the soil resistance is proportional to the soil density, the cutting depth of the bucket, and the cutting speed, and in high-density soil or wet soil, the resistance coefficient will increase significantly. Therefore, the system can dynamically correct the soil resistance coefficient according to the data measured by the bucket force sensor, combined with the existing soil resistance calculation model, to improve the accuracy of the trajectory correction calculation.

[0123] Among them, the calculation method of the soil friction coefficient:

[0124] The soil friction coefficient is a parameter that describes the friction characteristics between the bucket and the soil, and it determines the tangential frictional force received by the bucket during cutting. In the prior art, the calculation methods of the soil friction coefficient mainly include the following:

[0125] Calculated through the soil internal friction angle: In soil mechanics, the internal friction angle of the soil determines its shear strength and friction characteristics. The internal friction angle is usually obtained through experimental methods such as triaxial tests and direct shear tests, and the soil friction coefficient is calculated through the following empirical relationship:

[0126] For coarse-grained soils (sand, gravel), the friction coefficient is usually large, and it decreases with the increase of water content.

[0127] For fine-grained soils (clay), the friction coefficient is low, but it increases under high compression.

[0128] In this method, the system can calculate the friction coefficient of the soil by combining the normal pressure and tangential friction force of the bucket measured by the force sensor with the internal friction angle, and dynamically adjust according to the real-time motion state of the bucket.

[0129] Calculated through the bucket motion state: In the automatic control system, the soil friction coefficient can be deduced by the motion state and force state of the bucket. For example, when the cutting speed of the bucket increases, the effect of the friction force will change. The system can combine factors such as the entry angle and cutting speed of the bucket, and use the friction coefficient model calibrated by experiments to calculate the real-time friction coefficient.

[0130] Among them, the calculation method of the soil compression coefficient is as follows:

[0131] The soil compression coefficient reflects the deformation ability of the soil under the action of force, and is mainly used to calculate the force and displacement adjustment of the bucket on the target trajectory. In the prior art, the calculation methods of the soil compression coefficient include:

[0132] Calculated through soil consolidation tests: In geotechnical engineering, the compressibility of the soil is usually measured through consolidation tests. The test measures the deformation of the soil by applying different vertical pressures, and calculates the compression modulus and compression coefficient of the soil. Generally speaking, the compressibility of the soil is affected by soil type, density and water content:

[0133] The compressibility of sand is small because the particle structure is relatively stable.

[0134] The compressibility of clay is large, especially under high water content, and the pore water between particles will affect the compression characteristics.

[0135] Calculated through empirical formulas: In the automatic control system, the soil compression coefficient can be calculated through empirical formulas. For example, some soil mechanics models believe that there is a certain relationship between the soil compression coefficient and the soil resistance coefficient and cutting depth:

[0136] When the cutting depth of the bucket increases, the compressibility of the soil will decrease because the bearing capacity of the underlying soil is higher.

[0137] In high-density soils, the compression coefficient is low because the close contact between particles limits the deformation ability.

[0138] In low-density soils, the compression coefficient is high because the pores between soil particles are large and it is easy to deform.

[0139] In this method, the system combines the bucket force sensor and the motion state data, calculates the soil compression coefficient according to the calibration model, and makes dynamic adjustments in the trajectory correction calculation.

[0140] In a preferred embodiment of the present invention, calculating a trajectory correction compensation amount based on the expected force data, combining the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data to obtain trajectory correction compensation data, includes:

[0141] Obtaining the dynamic response data of the hydraulic system, where the dynamic response data includes the pressure change rate of the hydraulic cylinder, the oil flow velocity, and the displacement adjustment response time of the hydraulic cylinder, to obtain the hydraulic system response parameters;

[0142] Obtaining the historical trajectory deviation data, where the historical trajectory deviation data includes the trajectory offset amount and the trajectory offset trend under different working conditions, to obtain the trajectory deviation characteristic parameters;

[0143] Calculating the trajectory correction compensation amount based on the trajectory deviation characteristic parameters, the hydraulic system response parameters, and the expected force data, and obtaining the trajectory correction compensation data based on the trajectory error compensation model;

[0144] The trajectory correction compensation amount includes a hydraulic cylinder pressure dynamic compensation amount, a hydraulic oil flow velocity dynamic compensation amount, and a hydraulic cylinder displacement dynamic compensation amount; among them,

[0145] , is the required pressure dynamic compensation amount of the hydraulic cylinder at time , is the trajectory offset error at time t, is the proportional control gain coefficient, is the derivative control gain coefficient, is the integral control gain coefficient, , , are unit conversion parameters, respectively used to convert the units of the corresponding terms to Pa;

[0146] , is the required hydraulic oil flow velocity dynamic compensation amount of the hydraulic cylinder at time , is the flow coefficient, is the effective flow cross-sectional area, is the back pressure of the hydraulic cylinder return oil, is the hydraulic oil density;

[0147] , is the required displacement dynamic compensation amount of the hydraulic cylinder at time .

[0148] In the embodiment of the present invention, during the operation of a hydraulic excavator, the movement trajectory of the bucket is often affected by the dynamic characteristics of the hydraulic system and changes in the operating environment, resulting in trajectory deviation. To ensure that the bucket can operate stably along the target trajectory, this method calculates the trajectory correction compensation amount and adjusts the control parameters of the hydraulic system to achieve precise correction of the trajectory deviation.

[0149] In practical applications, first, the trajectory deviation error is calculated based on the trajectory deviation characteristic parameters. The calculation of the trajectory deviation error depends on the comparison between the real-time trajectory data of the bucket and the target trajectory data. By calculating the offset amount between the current trajectory point and the target trajectory point, the magnitude and direction of the trajectory error are determined. In addition, considering the dynamic characteristics of the excavation operation, this method further calculates the trajectory deviation trend, including the trajectory deviation rate and acceleration, to predict the future trajectory change trend and provide a more stable correction control.

[0150] When calculating the dynamic response characteristics of the hydraulic system, the system analyzes the pressure change rate of the hydraulic cylinder, the oil flow velocity, and the displacement adjustment response time of the hydraulic cylinder. These data are used to evaluate the dynamic behavior of the hydraulic system to ensure that there are no problems of overcorrection or lag correction during the trajectory correction process. For example, when the hydraulic system responds slowly, the system will perform trajectory correction compensation in advance to prevent the bucket from lagging in the actual operation.

[0151] In addition, the force state of the bucket is also an important factor in trajectory correction. This method calculates the additional thrust of the bucket on the target trajectory based on the expected force data to ensure that there is no trajectory deviation due to insufficient force during the trajectory correction process. For example, in a high-resistance soil environment, the system will calculate a higher compensation pressure to provide sufficient thrust support, while in a low-resistance environment, the compensation amount can be reduced to improve energy utilization efficiency.

[0152] Finally, by calculating the trajectory correction compensation amount, the system can adjust the target pressure, oil flow rate, and target displacement of the hydraulic cylinder in real time to ensure that the trajectory correction can be accurately executed. Compared with the traditional method that relies on the operator to adjust, this method can achieve full-automatic trajectory correction, improve the operation efficiency and the stability of trajectory control. At the same time, by combining the analysis of the dynamic response characteristics of the hydraulic system and the trajectory deviation trend, this method can effectively reduce the oscillation phenomenon that may occur during the trajectory correction process, make the bucket trajectory smoother, and improve the operation quality.

[0153] In a preferred embodiment of the present invention, obtaining the real-time trajectory data of the bucket, and combining the target trajectory data, calculating the current trajectory offset amount, and obtaining the trajectory deviation data, includes:

[0154] Obtain the real-time position information of the bucket and the inclination angle of the excavator to get the real-time bucket position data and the real-time excavator inclination data;

[0155] According to the real-time bucket position data and the real-time excavator inclination data, calculate the current actual trajectory point of the bucket, and compare it with the target trajectory point to obtain the trajectory offset;

[0156] According to the trajectory offset, calculate the trajectory offset trend, and perform dynamic adjustment in combination with historical trajectory deviation data to obtain the trajectory deviation data.

[0157] In the embodiment of the present invention, in order to further improve the accuracy of bucket trajectory control, this method calculates the current trajectory offset to obtain the trajectory offset data for the subsequent execution of trajectory correction control. The calculation of the trajectory offset data depends on the comparative analysis of the real-time position information of the bucket, the inclination angle of the excavator, and the target trajectory data.

[0158] In practical applications, the system first obtains the real-time position information of the bucket through sensors installed on the bucket and the boom, and measures the inclination angle of the excavator through an inertial measurement unit (IMU). Since the excavator may tilt due to terrain undulation or load changes during operation, it is necessary to compensate for the inclination angle to improve the accuracy of trajectory offset calculation. Combining the real-time bucket position data and the excavator inclination data, the system can calculate the actual trajectory point of the bucket and compare it with the target trajectory point to obtain the trajectory offset.

[0159] The calculation of the trajectory offset not only includes the current trajectory error but also involves the analysis of the trajectory offset trend. By calculating the trajectory offset rate and offset acceleration, the system can predict the future changes in the trajectory offset and perform dynamic adjustment in combination with historical trajectory deviation data. This process can effectively improve the stability of trajectory correction and avoid hysteresis or overshoot phenomena during the trajectory correction process.

[0160] In addition, the trajectory offset data is also used to adjust the control parameters of the hydraulic system. For example, when the trajectory offset is small, the system will adopt a small-scale trajectory correction control to reduce the impact on the hydraulic system. When the trajectory offset is large, the system will calculate a stronger correction control amount to ensure that the trajectory correction can converge quickly. Compared with traditional trajectory control methods, this method can dynamically adjust the trajectory correction strategy based on real-time trajectory data and trajectory offset trends, improving the intelligent level of trajectory control.

[0161] Finally, this method can ensure the accurate calculation of the bucket trajectory offset and provide reliable trajectory offset data to support subsequent trajectory correction. Through real-time trajectory calculation and trajectory offset trend analysis, this method can improve the accuracy of trajectory correction, reduce the error accumulation that may occur during the trajectory correction process, make the bucket trajectory more stable, and improve the operation efficiency and accuracy.

[0162] In a preferred embodiment of the present invention, calculating a correction control amount according to the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value, oil flow rate, and target displacement amount of the hydraulic cylinder, to obtain a correction control instruction, includes:

[0163] Adjust the pressure adjustment value of the hydraulic cylinder according to the trajectory deviation data and the trajectory correction compensation data to obtain a corrected pressure parameter;

[0164] Based on the corrected pressure parameter, calculate the hydraulic oil flow rate and adjust the oil flow supply rate of the hydraulic cylinder to obtain a corrected flow rate parameter;

[0165] Based on the corrected flow rate parameter, adjust the target displacement of the hydraulic cylinder and combine with the stroke limit of the hydraulic cylinder to calculate a corrected displacement parameter;

[0166] Store the corrected pressure parameter, flow rate parameter, and displacement parameter to form a correction control instruction.

[0167] In an embodiment of the present invention, during the bucket trajectory control process, after obtaining the trajectory offset data, the system needs to calculate a correction control amount to ensure that the trajectory can be adjusted in time and the bucket runs stably along the target trajectory. This method calculates through the trajectory offset data and the trajectory correction compensation data, adjusts the pressure adjustment value, oil flow rate, and target displacement amount of the hydraulic cylinder, and then forms a correction control instruction to ensure the efficiency and stability of trajectory correction.

[0168] In practical applications, the system first obtains the trajectory offset data, which reflects the error of the current bucket trajectory relative to the target trajectory, and combines with the trajectory correction compensation data to calculate the control parameters required for trajectory correction. During the calculation process, the system first determines the bucket trajectory adjustment angle to ensure that there is no overcorrection or lag correction during the correction process. The calculation of the trajectory adjustment angle depends on the analysis of the trajectory offset amount and the trajectory offset trend, and combines with the dynamic response characteristics of the hydraulic system to ensure that the correction control amount can be reasonably distributed.

[0169] When calculating the correction control amount, the system adjusts the target thrust of the hydraulic cylinder according to the trajectory correction compensation data, and further calculates the pressure adjustment value of the hydraulic system. The calculation of the pressure adjustment value is based on the pressure compensation amount of the trajectory correction compensation data to ensure that the hydraulic cylinder can provide appropriate thrust support. Due to the dynamic characteristics of the hydraulic system, simply adjusting the pressure may cause lag or overshoot in trajectory correction. Therefore, this method combines the response parameters of the hydraulic system to dynamically adjust the pressure adjustment value to optimize the stability of trajectory correction.

[0170] In addition, the system also needs to calculate the hydraulic oil flow rate to ensure that the hydraulic system can meet the requirements of trajectory correction. The flow rate calculation is based on the flow characteristics of the hydraulic system and combines the flow rate compensation amount of the trajectory correction compensation data to ensure that the movement speed of the hydraulic cylinder matches the trajectory correction requirements. Finally, the system calculates the target displacement of the hydraulic cylinder to adjust the movement trajectory of the bucket. The calculation of the target displacement is based on the displacement compensation amount of the trajectory correction compensation data and combines the trajectory deviation trend to ensure the smoothness of trajectory correction.

[0171] Finally, this method can accurately calculate the correction control amount and form a correction control instruction, enabling the hydraulic cylinder to precisely adjust the pressure, flow rate, and displacement, thereby achieving dynamic control of trajectory correction. Compared with traditional trajectory correction methods, this method improves the accuracy and stability of trajectory correction by combining trajectory deviation data, trajectory correction compensation data, and the dynamic characteristics of the hydraulic system, ensuring that the bucket can stably run along the target trajectory, reducing trajectory errors, and improving operation efficiency.

[0172] In a preferred embodiment of the present invention, adjusting the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory and make the bucket run along the target trajectory to obtain the corrected trajectory data includes:

[0173] Adjusting the hydraulic pressure of the hydraulic cylinder according to the pressure correction data in the correction control instruction to obtain pressure adjustment data;

[0174] Adjusting the hydraulic oil supply rate of the hydraulic cylinder according to the flow rate correction data to obtain flow rate adjustment data;

[0175] Adjusting the target displacement of the hydraulic cylinder according to the displacement correction data and combining the piston stroke limit condition of the hydraulic cylinder to calculate the actual displacement change to obtain displacement adjustment data;

[0176] Controlling the movement of the hydraulic cylinder according to the pressure adjustment data, flow rate adjustment data, and displacement adjustment data to make the bucket run along the target trajectory to obtain the corrected trajectory data.

[0177] In the embodiment of the present invention, after calculating the correction control amount, the system needs to adjust the control parameters of the hydraulic cylinder according to the correction control instruction to perform trajectory correction so that the bucket runs stably along the target trajectory. This method realizes the automatic control of trajectory correction by adjusting the hydraulic pressure, oil flow rate and target displacement of the hydraulic cylinder in real time, and ensures that the trajectory correction process can be executed stably.

[0178] In practical applications, the system first receives the correction control instruction and adjusts the hydraulic pressure of the hydraulic cylinder according to the pressure correction data to provide appropriate thrust support. During the pressure adjustment process, the system combines the dynamic response characteristics of the hydraulic cylinder to ensure smooth pressure changes and avoid system oscillations caused by too rapid pressure changes during the trajectory correction process. In addition, the system also monitors the feedback data of the hydraulic system to ensure that the pressure adjustment can be accurately executed according to the correction control instruction.

[0179] While adjusting the pressure, the system also needs to adjust the hydraulic oil flow rate to ensure that the hydraulic system can provide an appropriate oil flow supply according to the requirements of trajectory correction. The adjustment of the hydraulic oil flow rate is based on the flow rate correction data in the correction control instruction and combines the flow control characteristics of the hydraulic system to ensure that the oil flow supply matches the requirements of trajectory correction. In addition, to improve the accuracy of trajectory correction, the system will monitor the motion state of the hydraulic cylinder in real time and dynamically adjust the flow rate control strategy to optimize the trajectory correction effect.

[0180] After completing the pressure and flow rate adjustments, the system adjusts the target displacement of the hydraulic cylinder according to the displacement correction data to ensure that the trajectory correction process of the bucket can proceed smoothly. During the target displacement adjustment process, the system combines the stroke limit conditions of the hydraulic cylinder to calculate the actual displacement change and compares it with the target displacement amount in the correction control instruction to ensure that the displacement adjustment can be executed according to the plan. In addition, to avoid overcorrection or lag correction during the trajectory correction process, the system also combines the trajectory deviation trend to dynamically adjust the displacement correction strategy to improve the accuracy of trajectory correction.

[0181] Finally, this method can ensure that the control parameters of the hydraulic cylinder are accurately adjusted according to the correction control instruction, so that the bucket trajectory correction can be executed stably. Compared with the traditional manual operation method, this method can automatically adjust the control parameters of the hydraulic cylinder, improve the intelligent level of trajectory correction, and ensure the stability and accuracy of the trajectory correction process. At the same time, through real-time feedback control, this method can effectively reduce the error accumulation that may occur during the trajectory correction process, improve the reliability of trajectory control, and ensure that the bucket can complete the operation smoothly according to the target trajectory.

[0182] The embodiment of the present invention also provides an intelligent automatic control system for the bucket trajectory of a mechanical hydraulic excavator, and the system includes:

[0183] A data acquisition module, configured to obtain target trajectory data and mining working condition data, where the mining working condition data includes the real-time pressure of a hydraulic cylinder, the position information of a bucket, the inclination angle of an excavator, a soil resistance parameter, and a target trajectory, so as to obtain a working condition data set;

[0184] An expected force generation module, configured to calculate the expected force of the bucket on the target trajectory based on the working condition data set, the mechanical characteristics of the hydraulic system, the bucket movement trajectory, and the change of soil resistance, so as to obtain expected force data;

[0185] A trajectory compensation data generation module, configured to calculate a trajectory correction compensation amount based on the expected force data, combined with the dynamic response characteristics of the hydraulic system and historical trajectory deviation data, so as to obtain trajectory correction compensation data;

[0186] A trajectory deviation data generation module, configured to obtain the real-time trajectory data of the bucket, and calculate the current trajectory offset amount in combination with the target trajectory data, so as to obtain trajectory deviation data;

[0187] An instruction generation module, configured to calculate a correction control amount according to the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value, oil flow rate, and target displacement amount of the hydraulic cylinder, so as to obtain a correction control instruction;

[0188] An instruction execution module, configured to adjust the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory, so that the bucket runs along the target trajectory, so as to obtain corrected trajectory data;

[0189] A feedback module, configured to repeat the trajectory correction according to the corrected trajectory data until the bucket completes the mining task of the target trajectory.

[0190] It should be noted that this system corresponds to the above method, and all implementation manners in the above method embodiments are applicable to this embodiment and can also achieve the same technical effects.

[0191] An embodiment of the present invention further provides a computing device, including: a processor and a memory storing a computer program. When the computer program is run by the processor, it executes the method as described above. All implementation manners in the above method embodiments are applicable to this embodiment and can also achieve the same technical effects.

[0192] An embodiment of the present invention further provides a computer-readable storage medium storing instructions. When the instructions are run on a computer, the computer is made to execute the method as described above. All implementation manners in the above method embodiments are applicable to this embodiment and can also achieve the same technical effects.

[0193] The above are the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent automatic control method for the bucket trajectory of a mechanical hydraulic excavator, characterized in that, The method includes: Obtaining target trajectory data and mining working condition data to obtain a working condition data set; Based on the working condition data set, calculating the expected force of the bucket on the target trajectory according to the mechanical characteristics of the hydraulic system, the bucket movement trajectory and the change of soil resistance to obtain expected force data; According to the expected force data, calculating a trajectory correction compensation amount in combination with the dynamic response characteristics of the hydraulic system and historical trajectory deviation data to obtain trajectory correction compensation data; Obtaining the real-time trajectory data of the bucket and calculating the current trajectory offset in combination with the target trajectory data to obtain trajectory deviation data; Calculating a correction control amount according to the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value, oil flow rate and target displacement of the hydraulic cylinder, to obtain a correction control instruction; Adjusting the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory so that the bucket runs along the target trajectory to obtain corrected trajectory data; Repeating the trajectory correction according to the corrected trajectory data until the bucket completes the mining task of the target trajectory; The obtaining of the mining working condition data includes the real-time pressure of the hydraulic cylinder, the position information of the bucket, the inclination angle of the excavator and the soil resistance parameters to obtain a working condition data set, including: Obtaining the real-time pressure of the hydraulic cylinder. The hydraulic cylinder includes a boom hydraulic cylinder, a stick hydraulic cylinder and a bucket hydraulic cylinder, and respectively obtaining the pressure signals of each hydraulic cylinder to obtain hydraulic pressure data; Obtaining the position information of the bucket. The position information is based on the angle data measured by the position sensors installed on the bucket and the stick and is converted into the spatial coordinates of the bucket to obtain bucket position data; Obtaining the inclination angle of the excavator. The inclination angle is based on the attitude angle information measured by the inertial measurement unit installed on the excavator body and is compensated in combination with the ground contact state to obtain excavator inclination data; Obtaining the soil resistance parameters. The soil resistance parameters are based on the real-time resistance data measured by the force sensor at the front end of the bucket, and the adhesion force and internal friction coefficient of the soil are calculated in combination with the movement state of the excavator to obtain soil resistance data; Combining the hydraulic pressure data, the bucket position data, the excavator inclination data and the soil resistance data to form a working condition data set; The calculating of the expected force of the bucket on the target trajectory according to the working condition data set, based on the mechanical characteristics of the hydraulic system, the bucket movement trajectory and the change of soil resistance to obtain expected force data, includes: Calculating the target thrust of the hydraulic cylinder based on the mechanical characteristics of the hydraulic system. The target thrust is calculated based on the effective action area of the hydraulic cylinder and the hydraulic pressure at the target trajectory point to form hydraulic cylinder thrust data; Calculating the angular change rate of the bucket at different trajectory points based on the bucket movement trajectory, and calculating the rotational torque of the bucket at each trajectory point in combination with the geometric parameters of the bucket to obtain bucket rotational torque data; Analyzing the soil force state at different trajectory points based on the change of soil resistance, and calculating the target force of the bucket at different trajectory points in combination with the adhesion force and friction characteristics of the soil to obtain soil force data; Calculating the expected force of the bucket on the target trajectory according to the hydraulic cylinder thrust data, the bucket rotational torque data and the soil force data to obtain expected force data; wherein, , is the target thrust of the hydraulic cylinder at time . is the hydraulic pressure inside the hydraulic cylinder at time . is the effective acting area of the hydraulic cylinder. is the soil resistance on the bucket at time . is the bucket rotation moment. is the distance from the bucket rotation fulcrum to the force application point. , is the soil resistance on the bucket at time . is the soil resistance coefficient, is the cutting area of the bucket, is the soil density, is the cutting speed of the bucket, is the soil friction coefficient, is the mass of the bucket and its load, is the acceleration due to gravity, is the entry angle of the bucket into the soil, is the soil compression coefficient, is the compression force per unit depth, is the depth of the bucket's downward cut; , is the bucket mass, is the acceleration due to gravity, is the distance from the center of gravity of the bucket to the pivot point of rotation, is the moment of inertia of the bucket, is the angular acceleration of the bucket, is the air density, is the windward area of the bucket, is the air resistance coefficient, is the cutting speed of the bucket, is the air resistance moment arm.

2. The automatic control method for the bucket trajectory of an intelligent mechanical hydraulic excavator according to claim 1, characterized in that, Calculating a trajectory correction compensation amount based on the expected force data, in combination with the dynamic response characteristics of the hydraulic system and the historical trajectory deviation data, to obtain trajectory correction compensation data, including: Obtaining the dynamic response data of the hydraulic system, where the dynamic response data includes the pressure change rate of the hydraulic cylinder, the oil flow velocity, and the displacement adjustment response time of the hydraulic cylinder, to obtain the hydraulic system response parameters; Obtaining the historical trajectory deviation data, where the historical trajectory deviation data includes the trajectory offset amount and the trajectory offset trend under different working conditions, to obtain the trajectory deviation characteristic parameters; Calculating the trajectory correction compensation amount based on the trajectory deviation characteristic parameters, the hydraulic system response parameters, and the expected force data, based on the trajectory error compensation model, to obtain the trajectory correction compensation data; The trajectory correction compensation amount includes the hydraulic cylinder pressure dynamic compensation amount, the hydraulic oil flow velocity dynamic compensation amount, and the hydraulic cylinder displacement dynamic compensation amount.

3. The automatic control method for the bucket trajectory of an intelligent mechanical hydraulic excavator according to claim 2, characterized in that, Obtaining the real-time trajectory data of the bucket, and in combination with the target trajectory data, calculating the current trajectory offset amount to obtain the trajectory deviation data, including: Obtaining the real-time position information of the bucket and the inclination angle of the excavator to obtain the real-time bucket position data and the real-time excavator inclination data; Calculating the actual trajectory point of the bucket currently based on the real-time bucket position data and the real-time excavator inclination data, and comparing it with the target trajectory point to obtain the trajectory offset amount; Calculating the trajectory offset trend based on the trajectory offset amount, and dynamically adjusting it in combination with the historical trajectory deviation data to obtain the trajectory deviation data.

4. The automatic control method for the bucket trajectory of an intelligent mechanical hydraulic excavator according to claim 3, characterized in that Calculating the correction control amount based on the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value of the hydraulic cylinder, the oil flow rate, and the target displacement amount, to obtain the correction control instruction, including: Adjusting the pressure adjustment value of the hydraulic cylinder according to the trajectory deviation data and the trajectory correction compensation data to obtain the corrected pressure parameter; Calculating the hydraulic oil flow rate based on the corrected pressure parameter, and adjusting the oil flow supply rate of the hydraulic cylinder to obtain the corrected flow rate parameter; Adjusting the target displacement of the hydraulic cylinder based on the corrected flow rate parameter, and in combination with the stroke limit of the hydraulic cylinder, calculating the corrected displacement parameter; Storing the corrected pressure parameter, flow rate parameter, and displacement parameter to form the correction control instruction.

5. The automatic control method for the bucket trajectory of an intelligent mechanical hydraulic excavator according to claim 4, characterized in that Adjusting the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory and make the bucket run along the target trajectory to obtain the corrected trajectory data, including: Adjusting the hydraulic pressure of the hydraulic cylinder according to the pressure correction data in the correction control instruction to obtain the pressure adjustment data; Adjusting the hydraulic oil supply rate of the hydraulic cylinder according to the flow rate correction data to obtain the flow rate adjustment data; Adjusting the target displacement of the hydraulic cylinder according to the displacement correction data, and in combination with the piston stroke limit condition of the hydraulic cylinder, calculating the actual displacement change to obtain the displacement adjustment data; Controlling the movement of the hydraulic cylinder according to the pressure adjustment data, the flow rate adjustment data, and the displacement adjustment data to make the bucket run along the target trajectory to obtain the corrected trajectory data.

6. An intelligent automatic control system for the bucket trajectory of a mechanical hydraulic excavator, characterized in that, Applied to the method according to any one of claims 1 to 5, the system includes: A data acquisition module, configured to obtain target trajectory data and mining condition data, where the mining condition data includes the real-time pressure of a hydraulic cylinder, the position information of a bucket, the inclination angle of an excavator, a soil resistance parameter, and a target trajectory, to obtain a condition data set; An expected force generation module, configured to calculate the expected force of the bucket on the target trajectory based on the condition data set, the mechanical characteristics of the hydraulic system, the bucket movement trajectory, and the change in soil resistance, to obtain expected force data; A trajectory compensation data generation module, configured to calculate a trajectory correction compensation amount based on the expected force data, in combination with the dynamic response characteristics of the hydraulic system and historical trajectory deviation data, to obtain trajectory correction compensation data; A trajectory deviation data generation module, configured to obtain the real-time trajectory data of the bucket and, in combination with the target trajectory data, calculate the current trajectory offset amount, to obtain trajectory deviation data; An instruction generation module, configured to calculate a correction control amount based on the trajectory deviation data and the trajectory correction compensation data, including the pressure adjustment value of the hydraulic cylinder, the oil flow rate, and the target displacement amount, to obtain a correction control instruction; An instruction execution module, configured to adjust the control parameters of the hydraulic cylinder according to the correction control instruction to correct the bucket trajectory, so that the bucket runs along the target trajectory, to obtain corrected trajectory data; A feedback module, configured to repeat the trajectory correction according to the corrected trajectory data until the bucket completes the mining task of the target trajectory.

7. A computing device, characterized in that, Comprising: One or more processors; A storage device, configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, A program is stored in the computer-readable storage medium, and when the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

Images