Excavator control method, device and equipment, storage medium and excavator

Abstract

The invention provides an excavator control method, device and equipment, a storage medium and an excavator, and relates to the technical field of excavators. The method comprises the steps that according to a preset excavation track of a tail end action point of a task mechanical arm of the excavator, given information of the tail end action point at a next track point is obtained; acquiring real-time state information of a task mechanical arm of the excavator and state information of a current track point of the tail end action point on a preset excavation track; and according to the stress of the tail end action point, the given information of the next track point and the state information of the current track point, an excitation control signal of the task mechanical arm at the next track point is calculated, and the excitation control signal is used for controlling the task mechanical arm to execute the mining task at the next track point. According to the method, the motion and force control strategy of the excavator can be automatically adjusted so as to adapt to new working conditions, and the effectiveness and safety of operation are ensured.

Description

Technical Field

[0001] The present application relates to the technical field of excavators, and more specifically, to a control method, device, equipment, storage medium and excavator for an excavator. Background Art

[0002] With the rapid development of intelligent and automated technologies, unmanned excavators have become an important development trend in the construction machinery field. Unmanned excavators can perform autonomous operations, effectively reducing labor costs, improving operation efficiency and safety, and having particular advantages in complex and dangerous working environments.

[0003] In the automatic control technology of excavators, force control is a key link. For example, in excavation operations, it is necessary to precisely control the force between the bucket and the working environment such as soil to ensure excavation efficiency and quality and avoid over-excavation or under-excavation. When performing operations such as crushing and lifting, it is also necessary to accurately control the magnitude and direction of the force to ensure the safety and stability of the operation.

[0004] Currently common excavator control methods can, to a certain extent, achieve basic positioning and motion control of the bucket, but it is difficult to achieve specific impedance characteristics and cannot fully meet the high-precision requirements of construction. For example, when excavating hard soil or rock, the excavator needs to have a large impedance to overcome the resistance, but the existing technology cannot automatically adjust the impedance according to the actual contact force and motion state, which may lead to excessive wear or damage of the mechanical components of the excavator. Moreover, due to the inability to meet the high-precision requirements of construction, the existing methods cannot complete tasks in the shortest time and cannot guarantee the execution efficiency. Summary of the Invention

[0005] In view of the above deficiencies in the prior art, the present application provides a control method, device, equipment, storage medium and excavator for an excavator to solve the problems existing in the prior art.

[0006] The technical solutions adopted in the embodiments of the present application are as follows:

[0007] In a first aspect, an embodiment of the present application provides a control method for an excavator, including:

[0008] Obtaining given information of the end action point at the next trajectory point according to a preset excavation trajectory of the end action point of the task arm of the excavator;

[0009] Obtaining real-time state information of the task arm of the excavator and state information of the end action point at the current trajectory point on the preset excavation trajectory, where the real-time state information of the task arm at least includes: the force on the end action point;

[0010] Calculate an excitation control signal of the task manipulator at the next trajectory point according to the force on the end effector, the given information of the next trajectory point, and the status information of the current trajectory point, where the excitation control signal is used to control the task manipulator to perform an excavation task at the next trajectory point.

[0011] In a second aspect, an embodiment of the present application provides a control device for an excavator, including:

[0012] A first acquisition module, configured to acquire the given information of the end effector at the next trajectory point according to a preset excavation trajectory of the end effector of the task manipulator of the excavator;

[0013] A second acquisition module, configured to acquire the real-time status information of the task manipulator of the excavator and the status information of the current trajectory point of the end effector on the preset excavation trajectory, where the real-time status information of the task manipulator at least includes: the force on the end effector;

[0014] A calculation module, configured to calculate an excitation control signal of the task manipulator at the next trajectory point according to the force on the end effector, the given information of the next trajectory point, and the status information of the current trajectory point, where the excitation control signal is used to control the task manipulator to perform an excavation task at the next trajectory point.

[0015] In a third aspect, an embodiment of the present application provides a control device, including: a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the control device runs, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to implement the control method of the excavator described in the above embodiment.

[0016] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which program instructions are stored. When the program instructions are run by a processor, the control method of the excavator described in the above embodiment is implemented.

[0017] In a fifth aspect, an embodiment of the present application provides an excavator, including: a control device, a plurality of hydraulic cylinders, and a plurality of solenoid valves;

[0018] The plurality of hydraulic cylinders are respectively arranged at a plurality of joint positions on the task manipulator of the excavator, and the plurality of hydraulic cylinders are respectively connected to the plurality of solenoid valves;

[0019] The plurality of solenoid valves are respectively connected to the control device, and the control device is configured to execute the control method of the excavator described in the above embodiment.

[0020] The beneficial effects of the present application are as follows: The present application provides a control method for an excavator. When the robotic arm is in different environments or performing different tasks, according to the real-time end force and trajectory information, it can automatically adjust the motion and force control strategies of the next trajectory point to adapt to the new working conditions. For example, when performing contact operations with objects of different hardnesses, it can adjust the force according to the force feedback to ensure the effectiveness and safety of the operation. Moreover, by automatically adjusting the motion and force control strategies of the next trajectory point to adapt to the new working conditions, adaptive excavation is achieved, and the execution efficiency of the excavation task is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0022] Figure 1 Structural schematic diagram of the excavator provided by the present application;

[0023] Figure 2 One of the flow schematic diagrams of the control method of the excavator provided by the embodiment of the present application;

[0024] Figure 3 Another flow schematic diagram of the control method of the excavator provided by the embodiment of the present application;

[0025] Figure 4 Another flow schematic diagram of the control method of the excavator provided by the embodiment of the present application;

[0026] Figure 5 Another flow schematic diagram of the control method of the excavator provided by the embodiment of the present application;

[0027] Figure 6 Another flow schematic diagram of the control method of the excavator provided by the embodiment of the present application;

[0028] Figure 7 Another flow schematic diagram of the control method of the excavator provided by the embodiment of the present application;

[0029] Figure 8 Overall task flow schematic diagram of the control method of the excavator provided by the present application;

[0030] Figure 9 Structural schematic diagram of the control device of the excavator provided by the embodiment of the present application;

[0031] Figure 10 Structural schematic diagram of the control device provided by the embodiment of the present application. Detailed implementation manners

[0032] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application.

[0033] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0034] In the description of the present application, it should be noted that if terms such as "upper", "lower", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use, it is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0035] In addition, terms such as "first", "second", etc. in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0036] In the description of the present application, it should also be noted that unless otherwise clearly defined and limited, the terms "installed" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a direct connection or an indirect connection through an intermediate medium. It can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0037] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0038] As a key earthwork construction machinery, excavators play an indispensable role in many fields such as earthwork projects, road construction, and mine development. Traditional excavator operations rely on manual operation, which not only requires extremely high skills from operators, but also involves high labor intensity and low work efficiency. At the same time, in some harsh environments and high-risk working conditions, there are also relatively large safety risks.

[0039] With the rapid development of intelligent and automation technologies, unmanned excavators have become an important development trend in the construction machinery field. Unmanned excavators can achieve autonomous operations, effectively reducing labor costs, improving operation efficiency and safety, and having particularly obvious advantages in complex and dangerous working environments.

[0040] In the automatic control technology of excavators, force control is a key link. As an indirect force control method, admittance control has unique advantages. By real-time monitoring of the current motion deviation and environmental contact force, it can dynamically adjust the position trajectory to achieve the given impedance characteristics.

[0041] However, there are still some problems to be solved urgently in applying admittance control to the automatic excavation of excavators. For example, existing admittance control algorithms may have problems such as insufficient adaptability and low control accuracy when facing complex and changeable excavation conditions. It is necessary to further introduce and improve the admittance control algorithm to better meet the actual needs of automatic excavation of excavators and improve the performance and reliability of automatic operations of excavators. Therefore, the research and solution of these problems have important practical significance and application value, and are also the key problems that this application aims to solve.

[0042] The following will be an exemplary description of the control method, device, equipment, storage medium and excavator of the excavator provided by this application in combination with the accompanying drawings.

[0043] First, the structure of the excavator of this application will be described. Figure 1 is a schematic diagram of the structure of the excavator provided by this application. As Figure 1 shown, the excavator includes a task manipulator 01 and a vehicle body 02. Among them, the multiple joints of the task manipulator 01 include a bucket 101, a forearm 102 and a boom 103. Referring to Figure 1 , the part between point A and point B is the bucket 101, the part between point B and point C is the forearm 102, the part between point O and point C is the boom 103, θ1 represents the angle between the bucket 101 and the forearm 102, θ2 represents the angle between the forearm 102 and the boom 103, θ3 represents the angle between the boom 103 and the horizontal plane, point A represents the bucket tooth tip point (i.e., the end action point of the task manipulator), and F A represents the force on the bucket tooth tip point A of the task, and F A can be detected and calculated by sensors.

[0044] At multiple joint positions on the working manipulator 01 of the excavator, a plurality of hydraulic cylinders (not shown in the figure) are respectively provided. The plurality of hydraulic cylinders are respectively connected to a plurality of solenoid valves, and the plurality of solenoid valves are respectively connected to a control device. Based on this connection, the control device can send an excitation control signal to the solenoid valves so that the plurality of solenoid valves control the telescopic movement of the hydraulic cylinders according to the excitation control signal, thereby driving the movement of each joint. Among them, the multiple joint positions can be, for example: the connection joint point B between the bucket 101 and the forearm 102, the connection joint point C between the forearm 102 and the boom 103, and the connection joint point O between the boom 103 and the vehicle body 02.

[0045] Then, in combination with Figure 1 the schematic structural diagram of the excavator shown, the control method for the excavator provided by this application will be described. This method can be generated by any control device with computing and processing capabilities. The control device can be, for example, a computer device facing the terminal or a backend server.

[0046] Figure 2 One of the flow schematic diagrams of the control method for the excavator provided by the embodiments of this application is as shown in Figure 2 and includes the following steps:

[0047] S101. Obtain the given information of the end effector at the next trajectory point according to the preset excavation trajectory of the end effector of the excavator.

[0048] The preset excavation trajectory is a movement path that the end effector A needs to follow, which is pre-planned according to factors such as the requirements of the excavation task and the working environment before the excavation operation. For example, in the operation of leveling the site, a horizontal straight line plus an inclined downward trajectory may be preset; when excavating a foundation pit, a rectangular or trapezoidal contour trajectory may be preset, etc. The preset excavation trajectory can be set through computer programming, an automated control system, or by an operator according to experience. The preset excavation trajectory includes information (such as naming) of multiple trajectory points and the given information of multiple trajectory points.

[0049] Among them, the given information of the next trajectory point is the movement information of the end effector at the next trajectory point that the excavator needs to know during the process of performing the excavation operation according to multiple trajectory points. The given information includes but is not limited to position coordinates, movement speed, movement direction, attitude angle, etc. For example, the position coordinates are used to determine the spatial position that the bucket should reach at the next moment; the movement speed determines how fast the bucket reaches the next trajectory point, affecting the excavation efficiency and the smoothness of the operation; the movement direction ensures that the bucket can move along the correct path to avoid deviation; the attitude angle is very important for controlling the excavation depth, force, and the contact angle with the excavation surface of the bucket, etc., which is related to the excavation effect and energy consumption.

[0050] S102. Obtain the real-time status information of the task robotic arm on the excavator and the status information of the current trajectory point on the preset excavation trajectory.

[0051] The real-time status information of the task robotic arm refers to various situations of the robotic arm that are constantly changing and need to be immediately grasped during the operation of the excavator. In this embodiment, the real-time status information of the task robotic arm at least includes the force F at the end action point A , that is, the force F at the bucket tooth tip point A A .

[0052] When the excavator performs excavation operations, the bucket tooth tip contacts materials such as soil and rock, generating acting forces, including the resistance and cutting force of the materials on the bucket teeth. Obtaining this force information is very important. The excavation resistance can be judged by the magnitude of the force. If the force suddenly increases, it may indicate encountering a hard object, preventing the robotic arm from being damaged due to overload; the excavation strategy can also be adjusted according to the force situation to achieve efficient excavation. In addition, the normal condition of the robotic arm structure can be monitored based on the change of the force. If abnormal force occurs, it may mean that there are problems such as faults in the robotic arm or loose connection components.

[0053] The status information of the current trajectory point refers to the actual situation of the end action point of the robotic arm at the current trajectory point during the excavation operation of the excavator according to the preset excavation trajectory, including but not limited to the position coordinates, movement speed, movement direction, attitude angle, etc. of the end action point of the robotic arm at the current trajectory point.

[0054] S103. Calculate the excitation control signal of the task robotic arm at the next trajectory point according to the force at the end action point, the given information of the next trajectory point, and the status information of the current trajectory point.

[0055] Finally, according to the force at the end action point, the given information of the next trajectory point, and the status information of the current trajectory point, the excitation control signal of the task robotic arm at the next trajectory point can be calculated. The excitation control signal is used to control the status of the task robotic arm when performing excavation tasks at the next trajectory point.

[0056] In summary, the embodiment of the present application provides a control method for an excavator. When the robotic arm is in different environments or performing different tasks, according to the real-time end force and trajectory information, the motion and force state control strategies at the next trajectory point can be automatically adjusted to adapt to new working conditions. For example, when operating in contact with objects of different hardness, the force can be adjusted according to the force feedback to ensure the effectiveness and safety of the operation. Moreover, by automatically adjusting the motion and force control strategies at the next trajectory point to adapt to new working conditions, adaptive excavation is achieved, and the execution efficiency of excavation tasks is improved.

[0057] Figure 3This is the second schematic flow chart of the control method for an excavator provided by an embodiment of the present application. As shown in Figure 3 Figure Figure 3 , calculating the excitation control signal of the task manipulator at the next trajectory point according to the force on the end effector, the given information of the next trajectory point, and the state information of the current trajectory point in S103 may include:

[0058] S201. According to the force on the end effector and the state information of the current trajectory point, use a preset admittance control algorithm to calculate the control quantity to be adjusted at the next trajectory point.

[0059] The preset admittance control algorithm is as shown in formula (1):

[0060]

[0061] The state information of the current trajectory point includes the velocity and position of the end effector of the task manipulator at the current trajectory point. According to the force F A on the end effector, the velocity and position at the current trajectory point, using formula (1), the acceleration to be adjusted at the next trajectory point can be calculated. Among them, M, B, and K are all control parameters of admittance dynamics. M is the inertia parameter, B is the damping parameter, and K is the stiffness parameter.

[0062] Integrating further, such as formula (2) and formula (3), to obtain the velocity quantity to be adjusted and the position quantity x to be adjusted e t+1 :

[0063]

[0064] Among them, Δt is the control period, which refers to the control time interval between trajectory points and is the time for the end effector of the task manipulator to move from one trajectory point to the next trajectory point. That is, the control quantity to be adjusted at the next trajectory point includes the velocity quantity to be adjusted and the position quantity x to be adjusted e t+1 .

[0065] S202. Determine the excitation control signal of the task manipulator at the next trajectory point according to the control quantity to be adjusted and the given information of the next trajectory point.

[0066] After obtaining the control quantity to be adjusted, according to the control quantity to be adjusted and the given information of the next trajectory point, the excitation control signal of the task manipulator at the next trajectory point can be determined.

[0067] In this embodiment, the admittance control algorithm is introduced into the excavation operation process of the excavator, which can significantly improve the adaptability of the excavator under various soil conditions and operating conditions, avoid damage to the equipment caused by excessive contact force during excavation, or problems such as low excavation efficiency due to too small contact force, and can well achieve the balance between excavation efficiency and safety.

[0068] The real-time status information of the task manipulator also includes the status information of each joint on the task manipulator, such as Figure 4 As shown, step S202 of determining the excitation control signal of the task manipulator at the next trajectory point according to the to-be-adjusted control amount and the given information of the next trajectory point may include:

[0069] S301. Determine the joint speed control commands of each joint on the task manipulator according to the to-be-adjusted control amount and the given information of the next trajectory point.

[0070] Referring to Figure 1 , the task manipulator has a connecting joint point B between the bucket 101 and the forearm 102, a connecting joint point C between the forearm 102 and the boom 103, and a connecting joint point O between the boom 103 and the vehicle body 02. The movements of multiple joints are respectively controlled by multiple solenoid valves. Therefore, determining the excitation control signal of the task manipulator at the next trajectory point is actually to determine the excitation control signals of multiple solenoid valves corresponding to multiple joints respectively.

[0071] Among them, first, it is necessary to determine the joint speed control commands of each joint on the task manipulator according to the to-be-adjusted control amount and the given information of the next trajectory point. Specifically, as Figure 5 shown, it includes:

[0072] S401. Calculate the speed control command of the end effector according to the to-be-adjusted control amount and the given information of the next trajectory point.

[0073] Assume that the trajectory point sequence is {p 1 , p 2 , p 3 ,...}, where the t-th trajectory point p t includes the preset speed command of the end effector A. After calculating the to-be-adjusted control amount of the next trajectory point by using the preset admittance control algorithm, since the to-be-adjusted control command includes the to-be-adjusted speed quantity The given information of the next trajectory point includes the preset given speed of the next trajectory point. Adding the to-be-adjusted speed quantity to the preset given speed , as shown in formula (4), the final speed control command

[0074]

[0075] The principle of obtaining the position control command of the end effector point A of the next trajectory point is the same as that of the speed control command. Add the position quantity x to be adjusted e t+1 to the preset given position, and the position control command of the end effector point A of the next trajectory point can be obtained, which will not be elaborated here.

[0076] S402. Determine the joint speed control commands of each joint according to the speed control command of the end effector point.

[0077] After obtaining the speed control command of the end effector point A, if the task manipulator of the excavator needs to be speed-controlled, it is also necessary to map the joint speed control commands of each joint according to the speed control command of the end effector point A for the joint speed control commands of each joint so as to control the solenoid valves corresponding to each joint respectively. The mapping relationship with is as follows:

[0078]

[0079] Among them, contains the joint speed control commands of each joint. J represents the Jacobian matrix, which is the derivative of the position of the end effector point A (expressed in coordinates x, y, z) with respect to the arm joints q1, q2, q3:

[0080]

[0081] Among them, q1 refers to the angle θ1 between the bucket 101 and the forearm 102, q2 refers to the angle θ2 between the forearm 102 and the upper arm 103, and q3 refers to the angle θ3 between the upper arm 103 and the horizontal plane.

[0082] S302. Generate the excitation control signals of each joint according to the state information of each joint and the joint speed control commands of each joint.

[0083] After obtaining the joint speed control commands of each joint, according to the state information of each joint and the joint speed control commands of each joint, the excitation control signals of each joint can be generated. That is, the excitation control signal of the next trajectory point includes the excitation control signals of each joint.

[0084] Specifically, as Figure 6 shown, generating the excitation control signals of each joint can include:

[0085] S501. Use a feedforward controller to generate the feedforward excitation control quantity of each joint according to the state information of each joint and the joint speed control commands of each joint.

[0086] The state information of each joint may include the joint angle qi and the joint dynamics compensation torque τ of each joint dyn_i , and the feedforward controller actually stores functions regarding the joint angle qi, the joint torque τi, and the joint speed control instructions of each joint. The feedforward controller can be represented by look-up tables or neural networks. Here, i represents the ith joint of the excavator, and the joint angle qi can be obtained, for example, by an inclination sensor installed at the joint point Specifically, as shown in

[0087] , S501 generating the feedforward excitation control quantity of each joint by using a feedforward controller according to the state information of each joint and the joint speed control instructions of each joint may include Figure 7 :

[0088] S601. Calculating the joint torque of each joint according to the joint dynamics compensation torque of each joint and the force on the end effector

[0089] Calculating the joint torque τi of each joint according to formula (6):

[0090] τ i = τ dyn_i +(J*F A ) i (6)

[0091] where i represents the ith joint of the excavator, τ i is the joint torque received by the excavator, (J*F A ) represents the force F on the end effector A mapped to the torques of each joint, τ dyn_i is the body dynamics compensation torque of each joint, which is calculated through the dynamics equation. For example, τ dyn_B represents the dynamics compensation torque of joint point B, τ dyn_C represents the dynamics compensation torque of joint point C, τ dyn_O represents the dynamics compensation torque of joint point O; τ B represents the joint torque of joint point B, τ C represents the joint torque of joint point C, τ O represents the joint torque of joint point O

[0092] S602. Generating the feedforward excitation control quantity of each joint by using a feedforward controller according to the joint angle, joint torque, and joint speed control instructions of each joint

[0093] After obtaining the joint torque of each joint, according to the joint angle q i of each joint, the joint torque τ i, and the joint speed control commands for each joint By using a feedforward controller, the feedforward excitation control quantity σ for each joint can be generated f_i , as shown in Equation (7):

[0094]

[0095] Wherein, is a function stored in the feedforward controller regarding the joint angle qi, the joint torque τ i , and the joint speed control commands for each joint , represents the feedforward excitation control quantity for each joint. For example, represents the feedforward excitation control quantity of joint point B generated according to the joint angle q1, the joint torque τ B , and the joint speed control command ; represents the feedforward excitation control quantity of joint point C generated according to the joint angle q2, the joint torque τ C , and the joint speed control command ; represents the feedforward excitation control quantity of joint point O generated according to the joint angle q3, the joint torque τ O , and the joint speed control command .

[0096] S502. According to the state information of each joint, use a feedback controller to generate the feedback excitation control quantity for each joint.

[0097] Feedback control refers to a closed-loop tracking control method for joint speed using the joint speed feedback quantity. Preferably, it can be proportional-integral-derivative control (PID). The state information of each joint may include, for example, the joint angular velocity of each joint. The joint angular velocity can be obtained by sensors installed at the joint points. According to the joint angular velocity of each joint, using a feedback controller, the feedback excitation control quantity for each joint can be generated Wherein, is the angular velocity of the i-th joint of the excavator, is the joint speed control command of the i-th joint.

[0098] For example, for the joint point B connecting the bucket 101 and the forearm 102, generate the feedback excitation control quantity is the angular velocity of joint B of the excavator, is the joint speed control command for joint point B; for the joint point C where the forearm 102 is connected to the upper arm 103, a feedback excitation control quantity is generated is the angular velocity of the excavator joint C, is the joint speed control command for joint point C; for the joint point O where the upper arm 103 is connected to the vehicle body 02, a feedback excitation control quantity is generated is the angular velocity of the excavator joint O, is the joint speed control command for joint point O.

[0099] S503. According to the feedforward excitation control quantity of each joint and the feedback excitation control quantity of each joint, excitation control signals for each joint are respectively generated.

[0100] Adding the feedforward excitation control quantity of each joint and the corresponding feedback excitation control quantity can respectively generate the excitation control signals for each joint. These are the final control signals used to drive the solenoid valves or other actuators of each joint. It combines the pre-compensation of the system dynamic characteristics by feedforward control and the real-time adjustment of errors by feedback control, enabling the joints to more accurately and quickly track the desired motion trajectory.

[0101] For example, the feedforward excitation control quantity of the joint point B where the bucket 101 is connected to the forearm 102 and the feedback excitation control quantity of point B are added to generate the excitation control signal σ of joint point B B ; the feedforward excitation control quantity of the joint point C where the forearm 102 is connected to the upper arm 103 and the feedback excitation control quantity of point C are added to generate the excitation control signal σ of joint point C C ; the feedforward excitation control quantity of the joint point O where the upper arm 103 is connected to the vehicle body 02 and the feedback excitation control quantity of point O are added to generate the excitation control signal σ of joint point O O .

[0102] After obtaining the excitation control signals of each joint, the excitation control signals are sent to the solenoid valves corresponding to each joint. The solenoid valves can then control each joint to execute the excavation task of the next trajectory point. And, the real-time state of executing the excavation task of the next trajectory point is obtained through sensors, so as to complete the closed-loop control of the subsequent continuous trajectory point of the next trajectory point according to the real-time state of the next trajectory point when executing the subsequent continuous excavation task of the next trajectory point.

[0103] In one embodiment, during the actual excavation process, the actual positions of the joints and the actual excitation amounts of the joints are collected in real time. Therefore, before generating the feedforward excitation control amounts of the joints using the feedforward controller according to the joint angles, joint torques, and joint speed control commands of the joints in S602, the feedforward controller can also be updated according to the joint torques, actual positions, and actual excitation amounts of the joints. That is, the functions stored in the feedforward controller regarding the joint angle qi, joint torque τi, and joint speed control commands of each joint are updated. The update method can be table update or gradient update of the neural network. After the update is completed, the new feedforward joint controller is used in the next round of excavation process. After the update is completed, the new feedforward joint controller is used in the next round of excavation process.

[0104] In summary, the control method of the excavator provided in this application has the overall task process as Figure 8 shown Figure 8 In the figure, the dashed boxes represent different levels, the solid lines represent the real-time transmission of control signals, and the dashed lines represent the signal transmission between excavation rounds (the signals are transmitted after one round of excavation is completed). The method of this application has the following advantages:

[0105] 1. Adopting the admittance force control strategy, according to the real-time end force and trajectory information, automatically adjusts the control strategy of the movement and force of the next trajectory point to adapt to new working conditions. For example, when operating in contact with objects of different hardness, it can adjust the force according to the force feedback, avoiding damage to the equipment caused by excessive contact force during excavation, or problems such as low excavation efficiency due to too small contact force, ensuring the effectiveness and safety of the excavation operation. Moreover, automatically adjusting the control strategy of the movement and force of the next trajectory point to adapt to new working conditions realizes adaptive excavation and improves the execution efficiency of the excavation task.

[0106] 2. Using the method of combining the feedforward excitation control amount and the feedback excitation control amount improves the response ability of the joint speed control command during the excavation process to ensure the effect of the upper-layer admittance control.

[0107] 3. According to the actual data collected during the actual excavation process, the feedforward controller is updated to gradually improve the overall excavation effect.

[0108] The following continues to explain the device, equipment, and storage medium for implementing the control method of the excavator provided in any of the above embodiments of this application. The specific implementation process and the technical effects generated are the same as those of the corresponding method embodiments. For a brief description, for the parts not mentioned in the following embodiments, reference can be made to the corresponding content in the method embodiments.

[0109] As Figure 9 shown, this application provides a control device for an excavator, including:

[0110] The first acquisition module 10 is configured to acquire given information of the end effector at the next trajectory point according to a preset excavation trajectory of the end effector of the working arm of the excavator.

[0111] The second acquisition module 20 is configured to acquire real-time state information of the working arm of the excavator and state information of the end effector at the current trajectory point on the preset excavation trajectory, wherein the real-time state information of the working arm of the excavator at least includes: the force on the end effector.

[0112] The calculation module 30 is configured to calculate an excitation control signal of the working arm at the next trajectory point according to the force on the end effector, the given information of the next trajectory point, and the state information of the current trajectory point, and the excitation control signal is used to control the working arm to perform an excavation task at the next trajectory point.

[0113] Optionally, the calculation module 30 is further configured to calculate an adjustment control quantity to be adjusted at the next trajectory point by using a preset admittance control algorithm according to the force on the end effector and the state information of the current trajectory point; and determine the excitation control signal of the working arm at the next trajectory point according to the adjustment control quantity to be adjusted and the given information of the next trajectory point.

[0114] Optionally, the real-time state information of the working arm further includes: state information of each joint on the working arm; the calculation module 30 is further configured to determine a joint speed control command of each joint on the working arm according to the adjustment control quantity to be adjusted and the given information of the next trajectory point; and generate an excitation control signal of each joint according to the state information of each joint and the joint speed control command of each joint, and the excitation control signal at the next trajectory point includes: the excitation control signal of each joint.

[0115] Optionally, the calculation module 30 is further configured to calculate a speed control command of the end effector according to the adjustment control quantity to be adjusted and the given information of the next trajectory point; and determine the joint speed control command of each joint according to the speed control command of the end effector.

[0116] Optionally, the state information of the current trajectory point includes: the speed and position of the end effector at the current trajectory point; the calculation module 30 is further configured to calculate an adjustment speed quantity to be adjusted and an adjustment position quantity to be adjusted at the next trajectory point respectively by using a preset admittance control algorithm according to the force on the end effector and the speed and position of the current trajectory point, and the adjustment control quantity to be adjusted at the next trajectory point includes: the adjustment speed quantity to be adjusted and the adjustment position quantity to be adjusted.

[0117] Optionally, the calculation module 30 is further configured to generate a feedforward excitation control quantity for each joint by using a feedforward controller according to the state information of each joint and the joint speed control instruction of each joint; generate a feedback excitation control quantity for each joint by using a feedback controller according to the state information of each joint; and generate an excitation control signal for each joint respectively according to the feedforward excitation control quantity and the feedback excitation control quantity of each joint.

[0118] Optionally, the state information of each joint includes: the joint angle and the joint dynamic compensation torque of each joint; the calculation module 30 is further configured to calculate the joint torque of each joint according to the joint dynamic compensation torque of each joint and the force applied to the end effector; and generate a feedforward excitation control quantity for each joint by using a feedforward controller according to the joint angle, the joint torque and the joint speed control instruction of each joint.

[0119] Optionally, the state information of each joint further includes: the joint angular velocity of each joint; the calculation module 30 is further configured to generate a feedback excitation control quantity for each joint by using a feedback controller according to the joint angular velocity of each joint.

[0120] Optionally, the state information of each joint further includes: the actual position of each joint and the actual excitation quantity of each joint; the device of the present application further includes an update module, configured to update the feedforward controller according to the joint torque, the actual position and the actual excitation quantity of each joint.

[0121] The above device is used to execute the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0122] The above modules may be one or more integrated circuits configured to implement the above method, for example: one or more application specific integrated circuits (ASICs), or, one or more microprocessors, or, one or more field programmable gate arrays (FPGAs), etc. Again, when a certain module above is implemented in the form of a processing element dispatching program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processors that can call program code. Again, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0123] Such as Figure 10As shown, the present application also provides a control device, including: a processor 100, a storage medium 200, and a bus 300. The storage medium stores program instructions executable by the processor. When the control device runs, the processor communicates with the storage medium through the bus. The method implemented by the processor executing the program instructions includes:

[0124] Obtain the given information of the end effector at the next trajectory point according to the preset excavation trajectory of the end effector of the task manipulator of the excavator;

[0125] Obtain the real-time state information of the task manipulator of the excavator and the state information of the end effector at the current trajectory point on the preset excavation trajectory. Among them, the real-time state information of the task manipulator at least includes: the force on the end effector;

[0126] Calculate the excitation control signal of the task manipulator at the next trajectory point according to the force on the end effector, the given information of the next trajectory point, and the state information of the current trajectory point. The excitation control signal is used to control the task manipulator to perform the excavation task at the next trajectory point.

[0127] Optionally, calculating the excitation control signal of the task manipulator at the next trajectory point according to the force on the end effector, the given information of the next trajectory point, and the state information of the current trajectory point includes:

[0128] According to the force on the end effector and the state information of the current trajectory point, adopt a preset admittance control algorithm to calculate the control quantity to be adjusted at the next trajectory point;

[0129] Determine the excitation control signal of the task manipulator at the next trajectory point according to the control quantity to be adjusted and the given information of the next trajectory point.

[0130] Optionally, the real-time state information of the task manipulator further includes: the state information of each joint on the task manipulator;

[0131] Determining the excitation control signal of the task manipulator at the next trajectory point according to the control quantity to be adjusted and the given information of the next trajectory point includes:

[0132] Determine the joint speed control instructions of each joint on the task manipulator according to the control quantity to be adjusted and the given information of the next trajectory point;

[0133] Generate the excitation control signal of each joint according to the state information of each joint and the joint speed control instructions of each joint. The excitation control signal at the next trajectory point includes: the excitation control signal of each joint.

[0134] Optionally, determining the joint speed control instructions of each joint on the task manipulator according to the control quantity to be adjusted and the given information of the next trajectory point includes:

[0135] Calculate the velocity control command of the end effector according to the control quantity to be adjusted and the given information of the next trajectory point;

[0136] Determine the joint velocity control commands of each joint according to the velocity control command of the end effector.

[0137] Optionally, the state information of the current trajectory point includes: the velocity and position of the end effector at the current trajectory point;

[0138] Calculate the control quantity to be adjusted for the next trajectory point according to the force on the end effector and the state information of the current trajectory point, using a preset admittance control algorithm, including:

[0139] Calculate the velocity quantity to be adjusted and the position quantity to be adjusted for the next trajectory point respectively according to the force on the end effector and the velocity and position of the current trajectory point, using a preset admittance control algorithm. The control quantity to be adjusted for the next trajectory point includes: the velocity quantity to be adjusted and the position quantity to be adjusted.

[0140] Optionally, generate the excitation control signals for each joint according to the state information of each joint and the joint velocity control commands of each joint, including:

[0141] Generate the feedforward excitation control quantity for each joint using a feedforward controller according to the state information of each joint and the joint velocity control commands of each joint;

[0142] Generate the feedback excitation control quantity for each joint using a feedback controller according to the state information of each joint;

[0143] Generate the excitation control signals for each joint respectively according to the feedforward excitation control quantity and the feedback excitation control quantity of each joint.

[0144] Optionally, the state information of each joint includes: the joint angle and the joint dynamic compensation torque of each joint;

[0145] Generate the feedforward excitation control quantity for each joint using a feedforward controller according to the state information of each joint and the joint velocity control commands of each joint, including:

[0146] Calculate the joint torque of each joint according to the joint dynamic compensation torque of each joint and the force on the end effector;

[0147] Generate the feedforward excitation control quantity for each joint using a feedforward controller according to the joint angle, joint torque and joint velocity control commands of each joint.

[0148] Optionally, the state information of each joint further includes: the joint angular velocity of each joint;

[0149] According to the state information of each joint, a feedback controller is used to generate a feedback excitation control quantity for each joint, including:

[0150] According to the joint angular velocity of each joint, a feedback controller is used to generate a feedback excitation control quantity for each joint.

[0151] Optionally, the state information of each joint further includes: the actual position of each joint and the actual excitation quantity of each joint;

[0152] Before generating a feedforward excitation control quantity for each joint by using a feedforward controller according to the joint angle, joint torque, and joint speed control command of each joint, the method further includes:

[0153] Updating the feedforward controller according to the joint torque, actual position, and actual excitation quantity of each joint.

[0154] This application also provides a readable storage medium, on which program instructions are stored. When the program instructions are run by a processor, the implemented method includes:

[0155] According to the preset excavation trajectory of the end effector of the task manipulator of the excavator, obtaining the given information of the end effector at the next trajectory point;

[0156] Obtaining the real-time state information of the task manipulator of the excavator and the state information of the end effector at the current trajectory point on the preset excavation trajectory, where the real-time state information of the task manipulator at least includes: the force on the end effector;

[0157] According to the force on the end effector, the given information of the next trajectory point, and the state information of the current trajectory point, calculating an excitation control signal for the task manipulator at the next trajectory point, and the excitation control signal is used to control the task manipulator to perform an excavation task at the next trajectory point.

[0158] Optionally, calculating an excitation control signal for the task manipulator at the next trajectory point according to the force on the end effector, the given information of the next trajectory point, and the state information of the current trajectory point includes:

[0159] According to the force on the end effector and the state information of the current trajectory point, using a preset admittance control algorithm to calculate the control quantity to be adjusted at the next trajectory point;

[0160] Determining an excitation control signal for the task manipulator at the next trajectory point according to the control quantity to be adjusted and the given information of the next trajectory point.

[0161] Optionally, the real-time state information of the task manipulator further includes: the state information of each joint on the task manipulator;

[0162] Determine the excitation control signal of the task manipulator at the next trajectory point according to the control quantity to be adjusted and the given information of the next trajectory point, including:

[0163] Determine the joint speed control commands of each joint on the task manipulator according to the control quantity to be adjusted and the given information of the next trajectory point;

[0164] Generate the excitation control signals of each joint according to the state information of each joint and the joint speed control commands of each joint. The excitation control signal of the next trajectory point includes: the excitation control signals of each joint.

[0165] Optionally, determine the joint speed control commands of each joint on the task manipulator according to the control quantity to be adjusted and the given information of the next trajectory point, including:

[0166] Calculate the speed control command of the end effector according to the control quantity to be adjusted and the given information of the next trajectory point;

[0167] Determine the joint speed control commands of each joint according to the speed control command of the end effector.

[0168] Optionally, the state information of the current trajectory point includes: the speed and position of the end effector at the current trajectory point;

[0169] Calculate the control quantity to be adjusted at the next trajectory point according to the force on the end effector and the state information of the current trajectory point by using a preset admittance control algorithm, including:

[0170] Calculate the speed quantity to be adjusted and the position quantity to be adjusted at the next trajectory point respectively according to the force on the end effector and the speed and position of the current trajectory point by using a preset admittance control algorithm. The control quantity to be adjusted at the next trajectory point includes: the speed quantity to be adjusted and the position quantity to be adjusted.

[0171] Optionally, generate the excitation control signals of each joint according to the state information of each joint and the joint speed control commands of each joint, including:

[0172] Generate the feedforward excitation control quantity of each joint by using a feedforward controller according to the state information of each joint and the joint speed control commands of each joint;

[0173] Generate the feedback excitation control quantity of each joint by using a feedback controller according to the state information of each joint;

[0174] Generate the excitation control signals of each joint respectively according to the feedforward excitation control quantity and the feedback excitation control quantity of each joint.

[0175] Optionally, the state information of each joint includes: the joint angle and the joint dynamic compensation torque of each joint;

[0176] According to the state information of each joint and the joint speed control command of each joint, a feedforward controller is used to generate the feedforward excitation control quantity of each joint, including:

[0177] Calculate the joint torque of each joint according to the joint dynamic compensation torque of each joint and the force on the end effector.

[0178] According to the joint angle, joint torque of each joint and the joint speed control command of each joint, a feedforward controller is used to generate the feedforward excitation control quantity of each joint.

[0179] Optionally, the state information of each joint further includes: the joint angular velocity of each joint;

[0180] According to the state information of each joint, a feedback controller is used to generate the feedback excitation control quantity of each joint, including:

[0181] According to the joint angular velocity of each joint, a feedback controller is used to generate the feedback excitation control quantity of each joint.

[0182] Optionally, the state information of each joint further includes: the actual position of each joint and the actual excitation quantity of each joint;

[0183] Before generating the feedforward excitation control quantity of each joint according to the joint angle, joint torque of each joint and the joint speed control command of each joint, the method further includes:

[0184] Update the feedforward controller according to the joint torque, actual position of each joint and the actual excitation quantity of each joint.

[0185] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces. The indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

[0186] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0187] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0188] The above-mentioned integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units stored in a storage medium include several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (English: Read-Only Memory, abbreviated as: ROM), random access memories (English: Random Access Memory, abbreviated as: RAM), magnetic disks, or optical discs that can store program codes.

[0189] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for an excavator, characterized in that: include: According to a preset excavation trajectory of the end action point of the task mechanical arm of the excavator, obtaining given information of the end action point at the next trajectory point; Acquire the real-time status information of the task mechanical arm of the excavator and the status information of the current track point of the end action point on the preset excavation track, wherein the real-time status information of the task mechanical arm at least includes: the force of the end action point; Based on the force applied to the end action point, the given information of the next trajectory point and the state information of the current trajectory point, an excitation control signal of the task robot arm at the next trajectory point is calculated, and the excitation control signal is used to control the task robot arm to perform the excavation task at the next trajectory point.

2. The method according to claim 1, characterized in that: The step of calculating the excitation control signal of the task robot arm at the next trajectory point according to the force applied to the end action point, the given information of the next trajectory point and the state information of the current trajectory point comprises: According to the force on the end action point and the state information of the current trajectory point, a preset admittance control algorithm is used to calculate the control amount to be adjusted for the next trajectory point; According to the control amount to be adjusted and the given information of the next trajectory point, an excitation control signal of the task robot arm at the next trajectory point is determined.

3. The method according to claim 2, characterized in that The real-time status information of the task robot arm also includes: status information of each joint on the task robot arm; Determining the excitation control signal of the task robot arm at the next trajectory point according to the control amount to be adjusted and the given information of the next trajectory point includes: Determining the joint speed control instructions of each joint on the task robot arm according to the control amount to be adjusted and the given information of the next trajectory point; According to the state information of each joint and the joint speed control instruction of each joint, an excitation control signal of each joint is generated, and the excitation control signal of the next trajectory point includes: the excitation control signal of each joint.

4. The method according to claim 3, characterized in that Determining the joint speed control instructions of each joint on the task robot arm according to the control amount to be adjusted and the given information of the next trajectory point includes: Calculating a speed control instruction of the end point according to the control amount to be adjusted and the given information of the next trajectory point; The joint speed control instructions of each joint are determined according to the speed control instruction of the end action point.

5. The method according to claim 2, characterized in that: The state information of the current trajectory point includes: the speed and position of the end action point at the current trajectory point; The method of calculating the control amount to be adjusted of the next trajectory point by using a preset admittance control algorithm according to the force of the end action point and the state information of the current trajectory point includes: According to the force on the end action point and the speed and position of the current trajectory point, the preset admittance control algorithm is used to calculate the speed to be adjusted and the position to be adjusted of the next trajectory point respectively, and the control amount to be adjusted of the next trajectory point includes: the speed to be adjusted and the position to be adjusted.

6. The method according to claim 3, characterized in that The step of generating the excitation control signal of each joint according to the state information of each joint and the joint speed control instruction of each joint comprises: According to the state information of each joint and the joint speed control instructions of each joint, a feedforward controller is used to generate a feedforward excitation control amount of each joint; According to the state information of each joint, a feedback controller is used to generate a feedback excitation control amount of each joint; The excitation control signals of the joints are generated respectively according to the feedforward excitation control amount of the joints and the feedback excitation control amount of the joints.

7. The method according to claim 6, characterized in that The state information of each joint includes: the joint angle and joint dynamics compensation torque of each joint; The method of using a feedforward controller to generate a feedforward excitation control amount of each joint according to the state information of each joint and the joint speed control instruction of each joint includes: Calculating the joint torque of each joint according to the joint dynamics compensation torque of each joint and the force of the end action point; According to the joint angles, joint torques and joint speed control instructions of each joint, the feedforward controller is used to generate feedforward excitation control quantities of each joint.

8. The method according to claim 6, characterized in that The state information of each joint also includes: the joint angular velocity of each joint; The method of using a feedback controller to generate feedback excitation control quantities of each joint according to the state information of each joint comprises: According to the joint angular velocity of each joint, the feedback controller is used to generate the feedback excitation control amount of each joint.

9. The method according to claim 7, characterized in that: The state information of each joint also includes: the actual position of each joint and the actual excitation amount of each joint; Before the feedforward controller is used to generate the feedforward excitation control amount of each joint according to the joint angle, joint torque and joint speed control instructions of each joint, the method further comprises: The feedforward controller is updated according to the joint torque, the actual position and the actual excitation amount of each joint.

10. A control device for an excavator, characterized in that: include: A first acquisition module is used to acquire given information of the end action point at the next track point according to a preset excavation track of the end action point of the task mechanical arm of the excavator; A second acquisition module is used to acquire the real-time status information of the task mechanical arm of the excavator and the status information of the current track point of the end action point on the preset excavation track, wherein the real-time status information of the task mechanical arm at least includes: the force of the end action point; A calculation module is used to calculate the excitation control signal of the task robot arm at the next trajectory point based on the force of the end action point, the given information of the next trajectory point and the state information of the current trajectory point. The excitation control signal is used to control the task robot arm to perform the excavation task at the next trajectory point.

11. A control device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when the control device is running, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to implement the control method of the excavator described in any one of claims 1 to 9.

12. A readable storage medium, characterized in that: The readable storage medium stores program instructions, and when the program instructions are executed by a processor, the control method of the excavator according to any one of claims 1 to 9 is implemented.

13. An excavator, characterized in that: include: Control equipment, multiple hydraulic cylinders, multiple solenoid valves; The multiple hydraulic cylinders are respectively arranged at multiple joint positions on the task mechanical arm of the excavator, and the multiple hydraulic cylinders are respectively connected to the multiple solenoid valves; The plurality of solenoid valves are respectively connected to the control device, and the control device is used to execute the control method of the excavator according to any one of claims 1 to 9.

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